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大学自治权的法源探析——基于学术自由制度性保障的视角 被引量:7
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作者 马晓燕 《复旦教育论坛》 CSSCI 2008年第2期52-56,共5页
大陆法系国家宪法学中的"学术自由的制度性保障"理论奠定了西方大学自治的法理基础,并使大学自治权获得了宪法上的保障。本文在分析"学术自由的制度性保障"理论的基础上对大学自治权的法律性质及其界限等问题进行... 大陆法系国家宪法学中的"学术自由的制度性保障"理论奠定了西方大学自治的法理基础,并使大学自治权获得了宪法上的保障。本文在分析"学术自由的制度性保障"理论的基础上对大学自治权的法律性质及其界限等问题进行了探讨,期望能对我国的相关方面的研究起到推动和借鉴作用。 展开更多
关键词 学术自由 学术自由制度性保障 大学自治权
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意思表示真实的神话可以休矣 被引量:6
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作者 解亘 《苏州大学学报(法学版)》 2018年第2期39-46,共8页
《民法总则》沿袭《民法通则》的立场,将意思表示真实规定为法律行为有效的一般要件。但无论是司法实践还是民法学说,均从反面将意思表示不真实限缩解释为意思表示的瑕疵。这样的解释颠覆了有关意思表示之于法律行为效力的原则与例外,... 《民法总则》沿袭《民法通则》的立场,将意思表示真实规定为法律行为有效的一般要件。但无论是司法实践还是民法学说,均从反面将意思表示不真实限缩解释为意思表示的瑕疵。这样的解释颠覆了有关意思表示之于法律行为效力的原则与例外,足以令人怀疑该规范的正当性和必要性。意思自治在本质上不过是一种制度性的自由,意思在其中固然扮演重要的角色,但并非唯一。较之于意思表示的真实与否,意思在多大程度上真实才是更符合实际的描述方式。意思表示真实之教义的荒谬之处,在于其无视其他原理的作用,仅将意思原理绝对化、神圣化。 展开更多
关键词 意思表示真实 教义 意思自治 制度性自由
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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots 被引量:5
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作者 熊根良 谢宗武 +3 位作者 黄剑斌 刘宏 蒋再男 孙奎 《Journal of Central South University》 SCIE EI CAS 2010年第4期807-815,共9页
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Compar... A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has "explosion of terms" problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the "explosion of terms" problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were nchieved successfully as depicted theoretically. 展开更多
关键词 Cartesian impedance control dynamic surface control BACKSTEPPING PPSeCo flexible joint robots
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A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty 被引量:10
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作者 Juwari Purwo sutikno Badhrulhisham Abdul aziz +1 位作者 Chin Sim yee Rosbi Mamat 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第9期1030-1037,共8页
Internal model control (IMC) yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC (2DOF-IMC) has been developed to overcom... Internal model control (IMC) yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC (2DOF-IMC) has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak (Mp) criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin (GM) criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program (IMCTUNE) as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time (FOPDT) and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties. 展开更多
关键词 tuning 2DOF-IMC model uncertainty dead time process Mp-GM tuning IMCTUNE
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