Tree branches near the electric power transmission lines are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. Traditional structures of the multirotor aerial robot have the problem of fixed structure and limited performance, which affects the stability and efficiency of pruning operation. In this article, in order to obtain better environmental adaptability, an active deformable trees-pruning aerial robot is presented. The deformation of the aerial (...) robot is implemented through two ways, arm telescopic and folding. In order to suppress the influence of internal and external disturbances on the system, Active Disturbance Rejection Control technology is adopted to build the flight controller. Firstly, active deformation aerial robot structure is given, followed by system dynamic model establishment under wind disturbance using the Newton–Euler method. Also, the analysis of the gusts influence on the system is considered. Then, the active deformation aerial robot system is decoupled into a combination of six SISO systems, so that a disturbance rejection controller is designed. Finally, the expanded state observer and the nonlinear state error feedback law are used to inspect and compensate the disturbance. Simulation results of attitude and position tracking as well as the antidisturbance capability show that the active deformation aerial robot with the ADRC flight controller designed in this paper has excellent attitude control capabilities during flight and trees-pruning operation. (shrink)

International differences in how market exchanges are conducted (e.g., the mode of entry, level of ownership, and conflict resolution) have been attributed mainly to national culture and cultural distance. However, the cultural arguments cannot explain why economies/countries with similar cultural backgrounds (e.g., Hong Kong and China) exhibit differences in exchange arrangements. Thus, the cultural arguments provide little strategic guidance to multinational corporations (MNCs) in international marketing. We propose that in addition to culture, the governance environment in a country, namely, the (...) political, economic, and social institutions that facilitate or constrain the choice of governance mechanisms, influences the way organizations conduct market exchanges. This important factor heretofore has been ignored. Specifically, we introduce a typology of rule-based and relation-based governance environment to explain how the environment affects marketing channel behaviors, such as barriers to entry, channel exclusivity, information access, trust, and dispute resolution. We analyze the diamond industry in the rule-based governance environment in the U.S. and in the relation-based governance environment in China, and using the diamond industry in Hong Kong as a validation, to develop theoretical propositions and strategic implications for MNCs. (shrink)