冗余度机器人的运动规划碰撞算法

在考虑了操作机的关节极限、自碰撞和静态障碍物的情况下,从给定的初始位形出发,发现一条到末端效应器目标位置和姿态的相连可到达路径。方法给出了机器人操作机点到点逆运动学问题求解算法,利用碰撞算法实现了冗余度机器人运动规划,仿真验证了该方法的有效性,并表明了该方法具有较大的实用价值。     

Gender,lineage, and fertility‐related outcomes in Ghana

A growing literature examines the empirical relationship between the joint reproductive preferences of marital partners and reproductive outcomes in Africa. Less explored is how spousal power in decision making may be influenced by lineage type. Using pooled data from Ghana, we investigate how lineage affects gendered reproductive decision outcomes and find some evidence that matrilineal women are more able than nonmatrilineal women to translate their reproductive preferences into action consistent with their goals.     

治安管理处罚方式的新发展

处罚方式是关于具体的处罚手段与类型的法律规定,在治安管理处罚中具有非常重要的作用。随着社会主体多元化,社会关系复杂化,治安管理处罚方式必然要多样化。国外的社区矫正制度尤其值得借鉴。     

企业经营管理中的税收筹划

税收筹划的存在具有客观必然性,它是市场经济的必然产物,是纳税人应有的权利,是企业理财的有效途径。企业的筹资、投资和经营等诸多环节与活动都与纳税有关,因此税收筹划在企业经营管理中的运用是全方位的,它贯穿于企业整个经营管理活动的始终。企业要进行税收筹划必须要全面掌握税法,正确认识税收筹划与避税的区别,避免纸上谈兵。     

土地治权的变动与政权变迁

在传统农耕社会的制度框架中,土地不仅是一种经济学意义上的自然资源,更为重要的是作为一种政治活动的对象而存在。国家以政权的形式赋予土地所有权、土地经营方式以合法性的依据。土地治权与国家政权之间存在着一种内在的张力,土地治权作为国家意志在土地之中的凝结,其变动是对于社会利益的一种强制性的分割,与传统社会的政权变动有着内在性的相关。     

城市规划公众参与初探

在公众参与城市规划理念产生背景的基础上,简要回顾了国外公众参与理论,介绍了我国公众参与的影响因素及现状,提出了公众参与实现的三个方面的转变及公众参与的三个促进机制,论述了公众参与存在的几个问题及应对措施.     

烷基多苷的去污力和分散力及润湿力研究

对不同碳链和不同聚合度的烷基多苷的去污力、钙皂分散力、润湿力进行了研究和评价。发现C10-APG具有优良的润湿和去污性能以及良好的耐盐性,长碳链的烷基多苷和高聚合度的烷基多苷具有较强的钙皂分散能力。     

Scheduling Updates of Probabilistic Risk Assessments: The Arkansas Nuclear One-Unit 1 Experience

This paper presents the results of a study that identified how often a probabilistic risk assessment (PRA)should be updated to accommodate the changes that take place at nuclear power plants. Based on a 7-year analysis of design and procedural changes at one plant, we consider 5 years to be the maximum interval for updating PRAs. This conclusion is preliminary because it is based on the review of changes that occurred at a single plant, and it addresses only PRAs that involve a Level 1 analysis (i.e., a PRA including calculation of core damage frequency only). Nevertheless, this conclusion indicates that maintaining a useful PRA requires periodic updating efforts. However, the need for this periodic update stems only partly from the number of changes that can be expected to take place at nuclear power plants–changes that individually have only a moderate to minor impact on the PRA, but whose combined impact is substantial and necessitates a PRA update. Additionally, a comparison of two generations of PRAs performed about 5 years apart indicates that PRAs must be periodically updated to reflect the evolution of PRA methods. The most desirable updating interval depends on these two technical considerations as well as the cost of updating the PRA. (Cost considerations, however, were beyond the scope of this study.)     

地方矿产资源规划研究的一般理论

矿产资源规划是保证矿产资源安全的重要措施。本文论述了地方矿产资源规划的产生原因、发展过程和要解决的基本问题,介绍了矿产资源规划的主要内容和编制方法。     

税收筹划——实现财务管理目标的有效途径

企业税收筹划是实现财务管理目标的一个有效途径,它已有机地融入了企业经营管理的全过程,应从企业的投资、筹资、日常经营及利润分配等方面加强并搞好税收筹划工作。