China’s “new normal” in international investment agreements

As it emerges as both a significant inward and a significant outward FDI country, China is adopting new approaches to international investment agreements. This Perspective discusses China’s “new normal” in international investment agreements, namely that China is adapting to prevailing international investment law standards

The next generation of Chinese investment treaties: A balanced paradigm in an era of change

China’s Foreign Investment Law reflects substantial changes in China’s foreign investment legal regime. This Perspective discusses two new characteristics of the new generation of Chinese investment treaties: they are based on a balanced paradigm and they are becoming more influential at the domestic level

A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.Comment: 12 pages, submitted to ASME Journal of Mechanisms and Robotics 2022, under review. arXiv admin note: substantial text overlap with arXiv:2206.0624

中国下一代投资协定：变革时代的平衡范式

China’s Foreign Investment Law reflects substantial changes in China’s foreign investment legal regime. This Perspective discusses two new characteristics of the new generation of Chinese investment treaties: they are based on a balanced paradigm and they are becoming more influential at the domestic level

中国在国际投资协定中的“新常态”

As it emerges as both a significant inward and a significant outward FDI country, China is adopting new approaches to international investment agreements. This Perspective discusses China’s “new normal” in international investment agreements, namely that China is adapting to prevailing international investment law standards

Vibration analysis of marine propulsion shafting by the coupled finite element method

Marine propulsion shafting connects the main engine and propeller, and plays an important role in promoting the movement of ships. Along with the operation of shafting system, various vibration forms couple with each other and cause different kinds of coupled vibrations, which seriously threaten the safety and reliability of ships. In this paper, a finite element model of marine propulsion shafting is established with coupled constraint on the elements of propeller, and the coupled torsional and transverse vibration under idling and loading conditions are studied at different rotational speeds. According to comparison of numerical simulation results and experimental tests, the coupled finite element method can reveal the basic principles of coupled dynamics of marine propulsion shafting and provide good technical support for predicting the coupled vibration, thus improving the safety and reliability of sailing performance of the ships