First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter ...First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.展开更多
In this paper, we study the joint limit distributions of point processes of exceedances and partial sums of multivariate Gaussian sequences and show that the point processes and partial sums are asymptotically indepen...In this paper, we study the joint limit distributions of point processes of exceedances and partial sums of multivariate Gaussian sequences and show that the point processes and partial sums are asymptotically independent under some mild conditions. As a result, for a sequence of standardized stationary Gaussian vectors, we obtain that the point process of exceedances formed by the sequence （centered at the sample mean） converges in distribution to a Poisson process and it is asymptotically independent of the partial sums. The asymptotic joint limit distributions of order statistics and partial sums are also investigated under different conditions.展开更多
China's shift from a subscribed capital system to an authorized capital system signifies a profound theoretical advancement in reform of the corporate capital regime,signaling a new era in legal governance for joi...China's shift from a subscribed capital system to an authorized capital system signifies a profound theoretical advancement in reform of the corporate capital regime,signaling a new era in legal governance for joint stock limited company financing.Central to this system is balancing corporate financing autonomy with shareholder interests—both incumbent and prospective.By empowering the board of directors to issue shares through articles of association or shareholder resolution,this framework not only streamlines company establishment but also redefines governance structures within corporate financing,underscoring board decision-making prerogatives.Integrating authorized capital with class shares and adopting a paid-in approach caters to diverse investor preferences,fostering novel capital transaction channels between corporations and shareholders while mitigating concerns over registered capital dilution.To balance and protect the interests of both new and existing shareholders under the model where shareholders have preemptive rights,it is essential to strengthen the fiduciary duties of directors.This should be supported by a judicial remedies of the primary purposes of new share issuances and legal remedies for any issuance defects.展开更多
基金Supported by Beijing Municipal Natural Science Foundation Committee and the High Technology Research and Development Programme of China （No.2003AA404140）.
文摘First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.
基金Supported by National Natural Science Foundation of China(Grant No.11171275)the Program for Excellent Talents in Chongqing Higher Education Institutions(Grant No.120060-20600204)supported by the Swiss National Science Foundation Project(Grant No.200021-134785)
文摘In this paper, we study the joint limit distributions of point processes of exceedances and partial sums of multivariate Gaussian sequences and show that the point processes and partial sums are asymptotically independent under some mild conditions. As a result, for a sequence of standardized stationary Gaussian vectors, we obtain that the point process of exceedances formed by the sequence （centered at the sample mean） converges in distribution to a Poisson process and it is asymptotically independent of the partial sums. The asymptotic joint limit distributions of order statistics and partial sums are also investigated under different conditions.
文摘China's shift from a subscribed capital system to an authorized capital system signifies a profound theoretical advancement in reform of the corporate capital regime,signaling a new era in legal governance for joint stock limited company financing.Central to this system is balancing corporate financing autonomy with shareholder interests—both incumbent and prospective.By empowering the board of directors to issue shares through articles of association or shareholder resolution,this framework not only streamlines company establishment but also redefines governance structures within corporate financing,underscoring board decision-making prerogatives.Integrating authorized capital with class shares and adopting a paid-in approach caters to diverse investor preferences,fostering novel capital transaction channels between corporations and shareholders while mitigating concerns over registered capital dilution.To balance and protect the interests of both new and existing shareholders under the model where shareholders have preemptive rights,it is essential to strengthen the fiduciary duties of directors.This should be supported by a judicial remedies of the primary purposes of new share issuances and legal remedies for any issuance defects.
