The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is propo...The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.展开更多
Tax cost is one of the costs of business activities,and tax planning has become an indispensable financial activity.How to carry out effective tax planning has been the focus of enterprises.Therefore,this paper intend...Tax cost is one of the costs of business activities,and tax planning has become an indispensable financial activity.How to carry out effective tax planning has been the focus of enterprises.Therefore,this paper intends to discuss how to carry out tax planning from the penetration point and techniques of tax planning,with an aim to provide reference for enterprises’tax planning activities.展开更多
The paper discusses an extended entropy model for the prediction of trip amount and provides a method to solve it, called the simple block iterative algorithm, from the point of view of the system of nonlinear equatio...The paper discusses an extended entropy model for the prediction of trip amount and provides a method to solve it, called the simple block iterative algorithm, from the point of view of the system of nonlinear equations. Because the algorithm gives consideration to the characteristic of the model, it has better effect in our practice. The paper also studies the existence and uniqueness of the solution and convergence of the algorithm.展开更多
基金This project is supported by National 863 Hi-tech Foundation of China(No. 2001AA422210).
文摘The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.
基金2021 Curriculum Ideological and Political Demonstration Curriculum Construction Subjects(Tax Law)of Liaoning Institute of Science and Technology(The Second Batch)(Number:202103022)。
文摘Tax cost is one of the costs of business activities,and tax planning has become an indispensable financial activity.How to carry out effective tax planning has been the focus of enterprises.Therefore,this paper intends to discuss how to carry out tax planning from the penetration point and techniques of tax planning,with an aim to provide reference for enterprises’tax planning activities.
文摘The paper discusses an extended entropy model for the prediction of trip amount and provides a method to solve it, called the simple block iterative algorithm, from the point of view of the system of nonlinear equations. Because the algorithm gives consideration to the characteristic of the model, it has better effect in our practice. The paper also studies the existence and uniqueness of the solution and convergence of the algorithm.
