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。     

Bayesian analysis of a marked point process: Application in seismic hazard assessment

Point processes are the stochastic models most suitable for describing physical phenomena that appear at irregularly spaced times, such as the earthquakes. These processes are uniquely characterized by their conditional intensity, that is, by the probability that an event will occur in the infinitesimal interval (t, t+Δt), given the history of the process up tot. The seismic phenomenon displays different behaviours on different time and size scales; in particular, the occurrence of destructive shocks over some centuries in a seismogenic region may be explained by the elastic rebound theory. This theory has inspired the so-called stress release models: their conditional intensity translates the idea that an earthquake produces a sudden decrease in the amount of strain accumulated gradually over time along a fault, and the subsequent event occurs when the stress exceeds the strength of the medium. This study has a double objective: the formulation of these models in the Bayesian framework, and the assignment to each event of a mark, that is its magnitude, modelled through a distribution that depends at timet on the stress level accumulated up to that instant. The resulting parameter space is constrained and dependent on the data, complicating Bayesian computation and analysis. We have resorted to Monte Carlo methods to solve these problems.     

Real nonparametric regression using complex wavelets

Summary.  Wavelet shrinkage is an effective nonparametric regression technique, especially when the underlying curve has irregular features such as spikes or discontinuities. The basic idea is simple: take the discrete wavelet transform of data consisting of a signal corrupted by noise; shrink or remove the wavelet coefficients to remove the noise; then invert the discrete wavelet transform to form an estimate of the true underlying curve. Various researchers have proposed increasingly sophisticated methods of doing this by using real-valued wavelets. Complex-valued wavelets exist but are rarely used. We propose two new complex-valued wavelet shrinkage techniques: one based on multiwavelet style shrinkage and the other using Bayesian methods. Extensive simulations show that our methods almost always give significantly more accurate estimates than methods based on real-valued wavelets. Further, our multiwavelet style shrinkage method is both simpler and dramatically faster than its competitors. To understand the excellent performance of this method we present a new risk bound on its hard thresholded coefficients.     

Temporal pattern in number of staff on sick leave: the effect of downsizing

Summary.  The pattern of absenteeism in the downsizing process of companies is a topic in focus in economics and social science. A general question is whether employees who are frequently absent are more likely to be selected to be laid off or in contrast whether employees to be dismissed are more likely to be absent for the remaining time of their working contract. We pursue an empirical and microeconomic investigation of these theses. We analyse longitudinal data that were collected in a German company over several years. We fit a semiparametric transition model based on a mixture Poisson distribution for the days of absenteeism per month. Prediction intervals are considered and the primary focus is on the period of downsizing. The data reveal clear evidence for the hypothesis that employees who are to be laid off are more frequently absent before leaving the company. Interestingly, though, no clear evidence is seen that employees being selected to leave the company are those with a bad absenteeism profile.     

国有企业的特殊性与我国国有企业的布局定位

国有企业特殊性的真实内涵表现为,它有着特殊的所有者和所有者代表、特殊的社会目标、特殊的社会经济功能和特殊的产权组织运作机制。因此,越是在以社会目标为主的产业领域,国有企业就越有存在的价值。尽管国有企业的布局是一种趋向性和开放式的动态布局,但它所传递的信息表明国有企业会在特殊产业领域中以合适的方式继续存在并扮演重要角色。     

A general inverse sampling scheme and its application to adaptive cluster sampling

Not having a variance estimator is a seriously weak point of a sampling design from a practical perspective. This paper provides unbiased variance estimators for several sampling designs based on inverse sampling, both with and without an adaptive component. It proposes a new design, which is called the general inverse sampling design, that avoids sampling an infeasibly large number of units. The paper provide estimators for this design as well as its adaptive modification. A simple artificial example is used to demonstrate the computations. The adaptive and non‐adaptive designs are compared using simulations based on real data sets. The results indicate that, for appropriate populations, the adaptive version can have a substantial variance reduction compared with the non‐adaptive version. Also, adaptive general inverse sampling with a limitation on the initial sample size has a greater variance reduction than without the limitation.     

Testing symmetry under a skew Laplace model

We develop tests of hypothesis about symmetry based on samples from possibly asymmetric Laplace distributions and present exact and limiting distribution of the test statistics. We postulate that the test statistic derived under the Laplace model is a rational choice as a measure of skewness and can be used in testing symmetry for other, quite general classes of skew distributions. Our results are applied to foreign exchange rates for 15 currencies.     

Seemingly unrelated regression on the autoregressive (Ar(p)) singular equation system

This paper studies the estimation of seemingly unrelated regressions (SUR) of singular equation systems with an autoregressive error process (AR(p)) for each equation.Parameter estimates of the autoregressive singular equation system are not generally invariant to the equation deleted. Under the model specification restriction on the autoregressive parameters, the invariance property is preserved, and this paper shows that a single equation generalized least squares (GLS) estimation for a general autoregressive error process is equivalent to the SURGLS estimation of the AR(p) singular equation system.     

密度分布非均匀的反馈控制Logistic单种群模型平衡态的稳定性

本文对种群密度在非均匀分布情形下,考虑了具反馈控制的滞后 Logistic 生态模型平衡位置的稳定性;分别给出了在常时滞和弱连续时滞以及强连续时滞情况下的稳定性条件;其结果是对 Gopalsamy 在密度均匀分布情形下相应结果的推广.     

多源模型的新进展

本文总结了高能核—核碰撞的多源模型自1987年提出到1990年以来的主要进展,着重介绍多源模型的基本物理思想及其在两种不同方案下的发展动态.通过与最新实验数据比较,说明多源模型能够成功地解释高能重离子碰撞的整体性质.