操作手IKP的迭代－解析混合求解法及其求解软件

本文系统地讨论了操作手运动学逆问题封闭式解的存在性和求解策略。文章总结了系列Ｄ－Ｈ矩阵相乘的运算化简规律，以通用的形式有效地推导了ＩＫＰ封闭式解的有关存在条件，讨论了这些封闭式解的一般解析求解步骤，在此基础上，文章提出了一种快速有效求解的新方法：迭代－解析混合法（ＩＡＭＭ）。根据这些理论和方法，用Ｃ语言在微机上成功地开发了ＩＫＰ的通用求解软件系统ＲＯＢＩＫＰ。

New Formulation for Arbitrary Cracks Problem and Its Stress Intensity Factor of Plane Elasticity

Aim The general arbitrary cracked problem in an elastic plane was discussed. Methods For the purpose of acquiring the solution of the problem, a new formulation on the problem was proposed. Compared with the classical plane elastic crack model, only the known conditions were revised in the new formulation, which are greatly convenient to solve the problem, and no other new condition was given. Results and Conclusion The general exact analytic solution is given here based on the formulation though the problem is very complicated. Furthermore, the stress intensity factors K Ⅰ, K Ⅱ of the problem are also given.

双频雷达动目标近场定位算法

利用双频雷达对运动目标进行定位现已受到广泛关注。虽然已有文献对双频雷达进行了一些研究,但这些方法都是基于远场假设的。因此,提出了一种简单的基于菲涅耳模型的利用单站双频雷达进行近场定位的新方法。有别于现有方法需要联合搜索或者需要复杂的矩阵运算,该方法仅使用简单的代数运算就能提供闭式解,可直接应用于低成本的嵌入式设备。此外,推导了单站双频雷达定位问题的克拉美罗下界(CRLB),为性能评估提供了基准。仿真结果验证了该方法的有效性。

Dynamic Portfolio Choice under Uncertainty about Asset Return Model

The effect of uncertainty about stochastic diffusion model on dynamic portfolio choice of an investor who maximizes utility of terminal portfolio wealth was studied.It applied stochastic control method to obtain the closed-form solution of optimal dynamic portfolio,and used the Bayesian rule to estimate the model parameters to do an empirical study on two different samples of Shanghai Exchange Composite Index.Results show,model uncertainty results in positive or negative hedging demand of portfolio,which depends on investor's attitude toward risk;the effect of model uncertainty is more significant with the increasing of investment horizon,the decreasing of investor's risk-aversion degree,and the decreasing of information;predictability of risky asset return increases its allocation in portfolio,at the same time,the effect of model uncertainty also strengthens.

A Remark on General Solution for Motion of Relativistic Strings in Minkowski Space ■^(1+n)

This note concerns the motion of relativistic strings in the Minkowski space R^(1+n).We rederive the generalsolution formula in closed form for the equation for the motion of relativistic string.Our method is different completelyfrom others.

Generalised Closed-Form Symbol Error Rate Analysis for Orthogonal Space-Time Block Coded OFDM System

In this paper,the Symbol Error Rate(SER)performance for Orthogonal Space-Time Block Coded(OSTBC)Orthogonal Frequency Division Multiplexing(OFDM)systems over Nakagami-m fading channels is analysed.A novel closed-form SER expression is proposed,which incorporates the Gauss hypergeometric function and Appell hypergeometric function into the conventional Probability Density Function(PDF)approach.The proposed exact closed-form SER expression is a generalised solution since it perfectly captures OSTBCOFDM systems’performances when having different antenna configurations that employ various modulation schemes and which experience various fading conditions.Finally,Monte Carlo simulation results are provided to demonstrate the exact match between the simulation results and the proposed analytical expressions.

Algebraic test of relative form closure grasps with its implementation

This paper presents an approach to algebraic detection of relative form closure for a multi-fingered grasp G and gives an attention to the classification of relative form closures.Whether or not a grasp G is of relative form closure has been verified by the geometric criterion 0?rintC[G](Xiong Y L,Xiong X R.Algebraic structure and geometric interpretation of rigid complex fixture system.IEEE Trans Autom Sci Eng,2007,4:252–264;Xiong Y L.Theory of point contact restraint and qualitative analysis of robot grasping.Sci China Ser A-Math,1994,37:629–640).Our aim is at transferring the geometric criterion into an algebraic formulation by a theorem that a grasp G is relative form closure,if,and only if the origin 0 can be represented as a positive convex combination of G.So we develop a constructive procedure called ri-simplex algorithm to find a positive convex combination of G when it has relative form closure.Form closure is considered as a special case of relative form closure,when the grasp G can affinely span the whole space,while partly relative form closure is referred to as form closed relative to a subset G1 of G.