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This book is a collection of contributions related to IndiaChina relationship beyond the issue of borders. It focuses on those elements that play important role in defining, continuing, and strengthening the interaction between the two countries. In doing so, it explores roles of language and linguistics, history and culture, politics and economy, and philosophy and sociology that mediated ancient and modern interfaces. The book observes the role of silk route in the economic, political, and scholarly exchanges between ancient civilizations and in the movement of Buddhism to China and other Asian nations. The contributors highlight how the two countries have co-existed in various eras and tackled issues of conflict and cooperation during lows and highs in the past and present. It pays special attention to the role of language and linguistic competence as an important component of socio-cultural comprehension of a society and introduces major innovations and challenges in teaching and learning the Chinese language. The wide-ranging contributions make the book an attractive resource for academics, think-tanks, diplomats, and researchers working on Asian/IndiaChina studies across the globe.

This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.

This article implies an improved backstepping control technique for the operational-space position tracking of a kinematically redundant mobile manipulator. The mobile manipulator thought-out for the analysis has a vehicle base with four mecanum wheels and a serial manipulator arm with three rotary actuated joints. The recommended motion controller provides a safeguard against the system dynamic variations owing to the parameter uncertainties, unmodelled system dynamics and unknown exterior disturbances. The Lyapunov's direct method assists in designing and authenticating the system's closed-loop stability and tracking ability of the suggested control strategy. The feasibility, effectiveness and robustness of the recommended controller are demonstrated and investigated numerically with the help of computer based simulations. The mathematical model used for the computer-based simulations is derived based on a real-time mobile manipulator and the derived model is further verified with an inbuilt gazebo model in a robot operating system (ROS) environment. In addition, the proposed scheme is verified on an in-house fabricated mobile manipulator system. Further, the recommended controller performance is correlated with the conventional backstepping control design in both computer-based simulations and in real-time experiments.

This paper considers a resolved kinematic motion control approach for controlling a spatial serial manipulator arm that is mounted on a vehicle base. The end-effector's motion of the manipulator is controlled by a novel kinematic control scheme, and the performance is compared with the well-known operational-space control scheme. The proposed control scheme aims to track the given operational-space (end-effector) motion trajectory with the help of resolved configuration-space motion without using the Jacobian matrix inverse or pseudo inverse. The experimental testing results show that the suggested control scheme is as close to the conventional operational-space kinematic control scheme.