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The purpose of this paper is to evaluate three categories of four-degrees of freedom (4-DOFs) upper limb rehabilitation exoskeleton mechanisms from the perspective of relative movement offsets between the upper limb and the exoskeleton, so as to provide reference for the selection of exoskeleton mechanism configurations.

According to the configuration synthesis and optimum principles of 4-DOFs upper limb exoskeleton mechanisms, three categories of exoskeletons compatible with upper limb were proposed. From the perspective of human exoskeleton closed chain, through reasonable decomposition and kinematic characteristics analysis of passive connective joints, the kinematic equations of three categories exoskeletons were established and inverse position solution method were addressed. Subsequently, three indexes, which can represent the relative movement offsets of human–exoskeleton were defined.

Based on the presented position solution and evaluation indexes, the joint displacements and relative movement offsets of the three exoskeletons during eating movement were compared, on which the kinematic characteristics were investigated. The results indicated that the second category of exoskeleton was more suitable for upper limb rehabilitation than the other two categories.

This paper has a certain reference value for the selection of the 4-DOFs upper extremity rehabilitation exoskeleton mechanism configurations. The selected exoskeleton can ensure the safety and comfort of stroke patients with upper limb dyskinesia during rehabilitation training.

Allyn Young′s lectures, as recorded by the young Nicholas Kaldor, survey the historical roots of the subject from Aristotle through to the modern neo‐classical writers. The focus throughout is on the conditions making for economic progress, with stress on the institutional developments that extend and are extended by the size of the market. Organisational changes that promote the division of labour and specialisation within and between firms and industries, and which promote competition and mobility, are seen as the vital factors in growth. In the absence of new markets, inventions as such play only a minor role. The economic system is an inter‐related whole, or a living “organon”. It is from this perspective that micro‐economic relations are analysed, and this helps expose certain fallacies of composition associated with the marginal productivity theory of production and distribution. Factors are paid not because they are productive but because they are scarce. Likewise he shows why Marshallian supply and demand schedules, based on the “one thing at a time” approach, cannot adequately describe the dynamic growth properties of the system. Supply and demand cannot be simply integrated to arrive at a picture of the whole economy. These notes are complemented by eleven articles in the Encyclopaedia Britannica which were published shortly after Young′s sudden death in 1929.

This paper addresses revolutionary changes in the education, fertility and market work of U.S. families formed in the 1870s–1920s: Fertility fell from 5.3 to 2.6; the graduation rate of their children increased from 7% to 50%; and the fraction of adulthood wives devoted to market-oriented work increased from 7% to 23% (by one measure).

These trends are addressed within a unified framework to examine the ability of several proposed mechanisms to quantitatively replicate these changes. Based on careful calibration, the choices of successive generations of representative husband-and-wife households over the quantity and quality of their children, household production, and the extent of mother’s involvement in market-oriented production are simulated.

Rising wages, declining mortality, a declining gender wage gap, and increased efficiency and public provision of schooling cannot, individually or in combination, reduce fertility or increase stocks of human capital to levels seen in the data. The best fit of the model to the data also involves: (1) a decreased tendency among parents to view potential earnings of children as the property of parents and (2) rising consumption shares per dependent child.

Greater attention should be given the determinants of parental control of the work and earnings of children for this period.

One contribution is the gathering of information and strategies necessary to establish an initial baseline, and the time paths for parameters and targets for this period beset with data limitations. A second contribution is identifying the contributions of various mechanisms toward reaching those calibration targets.

Aim of the present monograph is the economic analysis of the role of MNEs regarding globalisation and digital economy and in parallel there is a reference and examination of some legal aspects concerning MNEs, cyberspace and e‐commerce as the means of expression of the digital economy. The whole effort of the author is focused on the examination of various aspects of MNEs and their impact upon globalisation and vice versa and how and if we are moving towards a global digital economy.

Precise vehicle localization is a basic and critical technique for various intelligent transportation system (ITS) applications. It also needs to adapt to the complex road environments in real-time. The global positioning system and the strap-down inertial navigation system are two common techniques in the field of vehicle localization. However, the localization accuracy, reliability and real-time performance of these two techniques can not satisfy the requirement of some critical ITS applications such as collision avoiding, vision enhancement and automatic parking. Aiming at the problems above, this paper aims to propose a precise vehicle ego-localization method based on image matching.

This study included three steps, Step 1, extraction of feature points. After getting the image, the local features in the pavement images were extracted using an improved speeded up robust features algorithm. Step 2, eliminate mismatch points. Using a random sample consensus algorithm to eliminate mismatched points of road image and make match point pairs more robust. Step 3, matching of feature points and trajectory generation.

Through the matching and validation of the extracted local feature points, the relative translation and rotation offsets between two consecutive pavement images were calculated, eventually, the trajectory of the vehicle was generated.

The experimental results show that the studied algorithm has an accuracy at decimeter-level and it fully meets the demand of the lane-level positioning in some critical ITS applications.

This paper aims to present a prototype of medical transportation robot whose positioning accuracy can reach millimeter-level in terms of patient transportation. By using this kind of mobile robot, a fully automatic image diagnosis process among independent CT/PET devices and the image fusion can be achieved.

Following a short introduction, a large-load 4WD-4WS (four-wheel driving and four-wheel steering) mobile robot for carrying patient among multiple medical imaging equipments is developed. At the same time, a specially designed bedplate with self-locking function is also introduced. For further improving the positioning accuracy, the authors proposed a calibration method based on Gaussian process regression (GPR) to process the measuring data of the sensors. The performance of this robot is verified by the calibration experiment and Image fusion experiment. Finally, concluding comments are drawn.

By calibrating the robot’s positioning system through the proposed GPR method, one can obtain the accuracy of the robot’s offset distance and deflection angle, which are 0.50 mm and +0.21°, respectively. Independent repeated trials were then set up to verify this result. Subsequent phantom experiment shows the accuracy of image fusion can be accurate within 0.57 mm in the front-rear direction and 0.83 in the left-right direction, respectively, while the clinical experiment shows that the proposed robot can practically realize the transportation of patient and image fusion between multiple imaging diagnosis devices.

The proposed robot offers an economical image fusion solution for medical institutions whose imaging diagnosis system basically comprises independent MRI, CT and PET devices. Also, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated.

The general bedplate presented in Section 2 that can be mounted on the CT and PET devices and the self-locking mechanism has realized the catching and releasing motion of the patient on different medical devices. They also provide a detailed method regarding patient handling and orientation maintenance, which was hardly mentioned in previous research. By establishing the positioning system between the robot and different medical equipment, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated.

The GPR-based method proposed in this paper offers a novel method for enhancing the positioning accuracy of the industrial AGV while the transportation robot proposed in this paper also offers a solution for modern imaging fusion diagnosis, which are basically predicated on the conjoint analysis between different kinds of medical devices.

Individuals earn their income from different sources in an economy. Persons being engaged with different occupations have different income levels. Welfare level thus varies from person to person. Obviously an indignant feeling arises out of interpersonal shortages of income which is viewed as relative deprivation of the person to whom shortages are inflicted. This paper attempts to analyse geometrically inter‐temporal variations in relative deprivation.

Temporal movement has been analysed in terms of iso‐deprivation curves.

Reduction in relative deprivation is the cherished goal of every welfare economy. But how it should be pursued is a matter of concern to the policy makers. In the present analysis five paths are discussed along which the deprivation level may be reduced. The most desirable path is identified.

Different components and their relative contributions to changes in relative deprivation have been identified in a geometrical decomposition framework. The analysis is of use in framing policies for reduction in relative deprivation and increase in social well‐being.

To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator.

First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process.

The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots.

Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.