A redundant subspace weighting procedure for clock ensemble

A redundant-subspace-weighting(RSW)-based approach is proposed to enhance the frequency stability on a time scale of a clock ensemble.In this method,multiple overlapping subspaces are constructed in the clock ensemble,and the weight of each clock in this ensemble is defined by using the spatial covariance matrix.The superimposition average of covariances in different subspaces reduces the correlations between clocks in the same laboratory to some extent.After optimizing the parameters of this weighting procedure,the frequency stabilities of virtual clock ensembles are significantly improved in most cases.

Redundant Data Detection and Deletion to Meet Privacy Protection Requirements in Blockchain-Based Edge Computing Environment

With the rapid development of information technology,IoT devices play a huge role in physiological health data detection.The exponential growth of medical data requires us to reasonably allocate storage space for cloud servers and edge nodes.The storage capacity of edge nodes close to users is limited.We should store hotspot data in edge nodes as much as possible,so as to ensure response timeliness and access hit rate;However,the current scheme cannot guarantee that every sub-message in a complete data stored by the edge node meets the requirements of hot data;How to complete the detection and deletion of redundant data in edge nodes under the premise of protecting user privacy and data dynamic integrity has become a challenging problem.Our paper proposes a redundant data detection method that meets the privacy protection requirements.By scanning the cipher text,it is determined whether each sub-message of the data in the edge node meets the requirements of the hot data.It has the same effect as zero-knowledge proof,and it will not reveal the privacy of users.In addition,for redundant sub-data that does not meet the requirements of hot data,our paper proposes a redundant data deletion scheme that meets the dynamic integrity of the data.We use Content Extraction Signature(CES)to generate the remaining hot data signature after the redundant data is deleted.The feasibility of the scheme is proved through safety analysis and efficiency analysis.

《公司法》改革:投资兴业与债权保障的高质量协同

新修订的《公司法》于2024年7月1日正式施行,其在公司资本制度、股东出资责任与权益保护等方面作出重大调整,尤其是第四十七条对股东认缴出资期限进行了明确规定,要求全体股东自公司成立起五年内缴足出资。这一制度旨在保持注册资本认缴登记制的基础上,进一步完善出资制度,强化资本充实和交易安全,防止股东滥用出资期限逃避责任,损害债权人利益。文章立足注册资本的本质功能,分析新《公司法》如何在资本充实与交易安全之间寻找平衡,评估限期认缴制对促进经济发展的作用与潜在的市场抑制效应。通过解读新制度的创新与不足,旨在揭示其服务型和护权型特性,并探讨如何通过制度优化实现经济效率与债权保障的双重目标,为我国公司治理制度的进一步完善提供理论支持和实践建议。

Reliability Analysis of a Mixed Redundant Model in C 3I System

Aim To define a mixed redundant model(MRM), improving the reliability of C 3I system. Methods The model combined the technology characters of two? unit system with one warm stand by unit and function substitute system. The reliability and availability equations of MRM were deduced. Results and Conclusion Compared with several other reliability models, it has obvious effect upon improving the system reliability. The effect? cost rate is very high among these models. The model can be used in reliability design, evaluation and check of C 3I system. Only a little attached cost is needed to improve C 3I system reliability effectively.

A Decentralized Autonomous Control on Highly Redundant Robot Manipulators

The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.

关于债权让与的争论及其评论

债权让与是债权变动,是事实行为。原则上不应承认将来的债权作为让与合同的标的物。受让人明知或有重大过失地不知有禁止债权让与的约定时,债务人有拒绝向受让人为清偿的权利;但对于金钱债权,即使受让人知晓之,债务人也无权拒绝受让人的清偿请求。应对倒签债权让与合同的签署日期、把后顺序的受让人当作第一受让人通知给债务人之类的案型,一方面,坚持受让人取得从权利不因该从权利未办理转移登记手续或未转移占有而受到影响;另一方面应设但书——未经公示不得对抗善意第三人。在债权连环让与的情况下,可例外地、宽松地对待合同的相对性,在一定条件下,可允许受让人二越过受让人一径直请求让与人(债权人)承担债权的瑕疵担保责任,突破合同的相对性。

论债权多重转让中的责任承担——以《合同编通则司法解释》第50条为中心

依据《合同编通则司法解释》第50条,债务人在明知受让人最先通知的情况下,只能向该受让人履行才能免责,这就在客观上确立了通知优先规则;让与人违反对受让人承担的瑕疵担保义务,应该承担违约责任.最先通知的受让人可以同时请求债务人继续履行债务和请求让与人依据债权转让协议承担违约责任.债务人完成继续履行或者让与人承担违约责任后,可以向对方追偿;该通知优先规则并非完全作为的受让人权利顺位规则,最先通知的受让人请求接受履行的受让人承担返还责任,需要证明接受履行的受让人明知存在在先通知的受让人.最先通知的受让人可以向恶意的在后通知的受让人主张不当得利返还请求权或者侵权损害赔偿请求权;第50条第1款第2句第2分句但书不应适用于应收账款债权多重转让的情形.

论债权人撤销权的实现

债权人撤销权判决在不同场合下,或者具有回复物权的效力,或者具有请求返还不当得利的效力。对于前者,债务人可基于物权请求权要求相对人返还原物,撤销权判决因而获得了强制执行力。债务人若怠于追回原物,债权人可直接申请强制执行为相对人占有的财物。对于后者,债务人须另行主张权利,撤销权判决无强制执行力。债务人若怠于行使权利,债权人可代位提起返还不当得利等诉讼。当债务人与相对人借助诉讼方式诈害债权并获得了相关裁判文书时,债权人则只能借助第三人撤销之诉来保全债权。由于第三人撤销之诉判决本身不具备执行的条件,债务人若怠于追回其责任财产,债权人同样需要代位提起不当得利返还等诉讼,或者代位申请执行回转。

债权人保护视域下公司信息披露法律制度:问题与对策

以债权人保护为视角进行分析,发现我国现行公司信息披露制度在法律效力位阶、信息披露内容、信息披露程序和信息披露法律责任等方面均存在问题,不利于公司债权人保护。为提升债权人保护水平,在推进公司资本制度改革进程中,必须针对我国公司信息披露制度存在的问题,采取创新公司信息披露立法模式、完善公司信息披露内容、完善公司信息披露程序性规则、强化公司信息披露法律责任等对策予以解决,系统推进公司信息披露制度的完善。

Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

Friction stir welding(FSW)has been widely applied in many fields as an alternative to traditional fusion welding.Although serial robots can provide the orientation capability required to weld along curved surfaces,they cannot adequately support the huge axial downward forces that FSW generates.Available parallel mechanism architectures,particularly redundantly actuated architectures for FSW,are still very limited.In this paper,a redundantly actuated 2 UPR-2 RPU parallel robot for FSW is proposed,where U denotes a universal joint,R denotes a revolute joint and P denotes a prismatic pair.First,its semi-symmetric structure is described.Next,inverse kinematics analysis involving an analytical representation of rotational axes is implemented.Velocity analysis is also conducted,which leads to the formation of a Jacobian matrix.Sensitivity performance is evaluated utilizing level set and convex optimization methods,where the local sensitivity indices are unit consistent,coordinate free,and of definite physical significance.Furthermore,global and hierarchical sensitivity indices are proposed for the design process.Finally,dimension synthesis is conducted based on the sensitivity indices and the optimal link parameters of the parallel robot are obtained.In summary,this paper proposes a dimensional synthesis method for a redundantly actuated parallel robot for FSW based on sensitivity indices.

Performance Degradation and Reliability Analysis for Redundant Actuation System

Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model of quad redundant actuator （QRA）, investigates the force equalization algorithm and carries out the performance degradation simulation and reliability analysis under the first failure and the second failure. The results indicate that the optimal equalization algorithm can solve the force fighting effectively, and the QRA can operate at degradation performance continuously under the first failure and the second failure. With the dynamic fault tree analysis, this paper calculates the reliability based on the performance of QRA and proves that the redundant actuator has very high reliability and safety.

债权人保护视角下的离婚财产协议

离婚协议中有关财产及债务处理的条款存在诈害债权的情形时,可根据其性质参照适用或直接适用债权人撤销权的规定,且原则上应当属于无偿处分财产权益。相关条款无偿性的判断以法定的或司法裁判确定的财产分配比例为参考基准,当事人在条款中约定的分配比例显著超出合理基准,且实际影响债权人债权实现的,其超出部分构成可被撤销的诈害行为。债权人应当承担条款具有诈害性的举证责任,其行使撤销权的范围限于其债权和超出部分的数额,且应当在除斥期间内行使,以避免债权撤销权对离婚协议意思自治的过度介入。

Design of a Servo Mechanical Press with Redundant Actuation

A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise, excellent efficiency and high precision for metal forming operations. Similar to multi-link mechanical presses, a servo mechanical press tends to grow in size as the tonnage increases that calls for larger, heavy duty servo motors, which could be expensive and may not even be available. In this paper, a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft, i.e. one-point-two-motor mode that makes it possible to produce a larger press with available servomotors. Then the punching mechanism design is detailed. The performance indices are set up including mechanical advantage reciprocal and link force ratios. A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions. The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization. Finally, case studies are given to illustrate the design method with visual global optimization, and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press. The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.

Mission-oriented dynamic optimization model of carrying spares for warship redundant system

Redundancy is a common structure for warship system,and it is an effective way to improve the reliability of the system.In this paper, warship system is taken as the object of study,based on the system reliability equivalence principle, a spares demand rate calculation method for redundant system is proposed through structure transformation. According to the system analysis method, the general modeling data structure of spares support echelon and system indenture is established, and the mission success probability is taken as the optimization target to build the dynamic optimization model of carrying spares during the process of multi-phase. By introducing the Lagrange multiplier, the spares weight, volume and cost are transformed to the single target of the spares total scale, and the initial Lagrange factors and its dynamic adjustment policy is proposed. In a given example, the main influence factors of the carrying spares project are analyzed, and the study results are in accordance with the reality, which can provide a new approach to mission-oriented carrying spares optimization for the redundant system.

Collision Avoidance of Cooperative Dual Redundant Manipulators

Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.

Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

债权人撤销权行使的法律效果

《民法典》第542条关于债权人撤销权行使效果的规定近年来争议颇大。根据《合同编通则解释》的最新规定,撤销权行使既可致使债务人的行为自始绝对无效,也可发挥债权人得请求相对人向债务人承担返还财产等法律后果的效力。根据我国现行强制执行规则,要使撤销权的请求力发挥一种不可替代的作用,应允许行使撤销权的债权人代位受领相对人向债务人提出的给付。为与代位权制度保持适度的规范体系平衡,行使撤销权的债权人可以通过《民法典》有关抵销的规定,代为受领相对人的给付而直接实现债权。当债务人为企业法人时,债权人撤销权的行使效果应注意与《企业破产法》规定的破产管理人撤销权的衔接适用。

Homologous fault monitoring technology of redundant INS in airborne avionics systems

Redundant technology plays an important role in improving the reliability and fault-tolerance of the airborne avionics systems. A Markov state transition model is introduced to the reliability analysis of the redundant inertial navigation system （RINS） in airborne navigation systems. An information processing mechanism based on difference filtering is put forward to strengthen the consistency between the outputs of the equal-precision inertial navigation system （INS）. On this basis, the homologous fault monitoring algorithm is designed to realize the homologous fault monitoring of RINS. The simulation is carried out based on the above algorithms, and the results verify the effectiveness of the proposed fault monitoring algorithm based on difference filtering. Research results have good reference value for the configuration and design of RINS in airborne integrated avionics systems.

由“堵”到“疏”:对赌协议中目标公司债权人保护的路径选择

《九民纪要》针对既往司法实践中重债权人保护而轻投资方保护的状况,提出了兼顾债权人交易安全与投资方投资安全的理念。但也仍存在限制协议履行加剧企业融资困境,程序要求未能保护债权人利益的双重逻辑悖论,导致对债权人过度保护与保护不周延问题同时存在。在法经济学视角下,当前履行障碍模式对于私法自治的介入是过度而低效的,应采柔性父爱主义立场,以信息披露之“疏”替代履行障碍之“堵”。通过信息披露机制与会计处理规则强化债权人知情权,可以为债权人进行交易决策、行使异议权力提供有效保障。最后,应当明确不当信息披露法律后果,放宽对赌协议履行限制,以在保护债权人利益的同时,发挥对赌协议投资激励效果,缓解企业融资困境。

股东对债权人直接承担出资赔偿责任:司法解释之误区与新《公司法》之否弃

司法解释确立了股东向公司债权人直接承担责任的规范模式。此种模式的理论基础不明,如果是以代位权为据,则表明此类规定既不必要也不准确;如果是以第三人侵害债权为据,则显属错误。实践中,直接责任模式容易造成个别清偿,且效率不彰。新《公司法》未采纳直接责任模式,不存在法律漏洞。否定直接责任模式,回归民事实体法与程序法的一般规则,可以兼顾公平与效率,不影响对债权人的激励。突破法律逻辑创设直接责任模式,不仅于外在形式上有损法律体系的融贯与协调,而且于内在价值上造成利益失衡,得不偿失。同时,一般法在公司法领域的适用有其限度,需充分尊重公司法的规定及其内在逻辑。新《公司法》第54条关于债权人特别权利和“入库规则”的规定,已排除民法上代位权效果和执行法上债权执行制度的适用。股东及公司管理者有关出资的各项义务和责任,债权人有权请求其向公司履行和承担。