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I know this is an old question, but I feel like the most obvious answer is missing.

How to avoid (or minimize) slavery in the this world? give them modern technology.

It's not just the goverment, or even our culture, preventing slavery in fist world countries. Even if you somehow changed the rules and made everyone okay culturally with slavery in the US you would see very little slavery (well, probably sexual slavery, but that's a whole different issue...).

The reason why is because it's not economical.

Once upon a time it made sense to have slaves because you needed someone to an your physically difficult menial labor. Now of days we don't really have that much menial labor, not compared to the old days. We have machines to lift and move heavy things, we have automated factories building our resources and cars moving items from A to B. It no longer makes sense to have a person doing much of this work because they do it so much worse then technology.

However, a slave still requires you feed, cloath, and house them, which is expensive. Minimum wage arguably isn't enough for someone to live on their own, so there is a standard for what it costs just to keep someone alive to be your slave. Now sure your not going to spend as much on housing as even a minimum wage worker does, you can save some money there. However, you also need to pay to restrain and gaurd them; and slaves generally work far less efficently then non-slaves (less motivation obviously) so your getting less work out of them. You can afford to pay someone well..not minimum wage, but not all that far off from it for the expense of having them as a slave.

So, for a slave to be worthwhile at minimum they must be performing work that is notiable worth more then minimum wage.

Lets look at modern jobs. All the high paying ones require education, you don't want to throughly educate slaves because it gives them too much power, and because without motivation to work hard for you it's unlikely your get as much value out of them then you would paying an already educated person.

There are some hard working physical labor jobs where slaves are still useful, but not that many. In addition most of them are the sort of thing where no one person benefits from a slave. Sure having someone to weed my yard is great and I may want my slave to do that, he has earned his room and board for the day. But tomorrow my yard is weeded...and I still have a slave. I don't have enough personal tasks I need done. I may be able to sell my slave out to others to have him weed their yard, taking the profit. However, the profit isn't that high and in addition to the effort of figuring out where to send him to I need to figure out how to make sure he doesn't escape, it's too logistically expensive for a job that doesn't pay that much higher then what it costs to keep him unless I do it in large numbers to benefit from economy of scales; and there just aren't that many large number of jobs out there that need physical labor.

Service industry is the biggest place for people without college or even high school degrees to work, but slaves aren't as well suited for this. Part of the service industries existance is because people feel better talking to people then machines, we only want service from humans if it makes us feel better. Seeing a beaten and abused slave who obviously hates where they are at isn't going to make us feel as good. lowering the value of a human representative at all.

So there would be some physical jobs and some service jobs where slaves would be useful, but not that many and for limited profit. However, for slaves to work a goverment needs to support the system, it needs to put money into catching escape slaves for instance. This is not a trival amount of money, as all your slaves are going to want to run away. The goverment thus will want to tax anyone with slaves to help pay for the "slave catching services", that tax can be enough to remove any profit the slaves have. And, as already mentioned, there is an issue of economy of scales, unless you have allot of jobs that slaves are good at it doesn't become worth setting up the logistical effort for getting slaves where they need to be and making sure they don't escape.

The net result of all this is that slaves really aren't worth the expense in a first world country. Finally, people naturally are opposed to slavery in general, so if slaves made only minor profit someone who would have been tempted to go along with slavery if it was a strong profit may find the tiny benefit isn't worth violating their instinctual (yes instinctual, there are evolutionarily engraded instincts at work here) ethics against slavery. Even if someone is a sociopath and has no moral qualms others will, and they may lose business to those who take offense. Without a strong financial benefit, enough to tempt those with questionable morals and encourage the fully immoral to put expense into indoctrinating others into accepting slavery, it's just not worth trying to get people to accept the moral violations.

So in short, with modern technology slavery just isn't worth having, at least in any quantity. Some individuals may keep slaves, but that slave is best kept secret so they don't have to worry about how others react to it. This will be the exception though, I don't see regular slaves being any more common then they are in today America (because yes, slaves do exist today, not legally but there are always some who require it).

That is with the exception of sexual slavery, which I could see being more common in such a situation. Look to the other answers to address that. The big point was simply that it's not that hard to do away with slavery because there isn't that much of a motivation for it anyways today.

*all these arguments assumes world that has modern technology. That means third world countries, where human knowledge exists but the same access to machines is not as available, would still benefit from slaves more.