2R-1P3R双臂雕刻机器人操作手雅可比矩阵的建立

在异形曲面加工中采用２Ｒ－１Ｐ３Ｒ型双臂机器人结构，建立了该机器人各机械臂的雅可比矩阵，从而实现由各关节运动和力到操作手末端运动和力的传递。     

河流污染协同治理行为及相关福利分析——基于不同经济空间结构的视角

运用演化博弈方法研究流域上下游地区在不同经济空间结构下,河流污染的跨区域治理行为及其对应的福利状况,并通过仿真技术对稳态均衡结果(ESS)进行了模拟。研究表明,虽然可能付出一定的制度成本,但无论处于何种经济空间结构,补偿机制必须与力度足够的惩罚机制相互配合,河流污染的协同治理才有可能成为稳态均衡。在惩罚机制缺失的条件下,地区间经济的互补性越强,上游地区经济越发达,机制失效造成的潜在福利损失越大。在补偿机制与惩罚机制并存的条件下,地区间经济的同质性越强,下游地区经济越发达,河流污染协同治理产生的福利改进空间就越大。     

Stochastic Jacobian and Riccati ODE in affine term structure models

In affine term structure models (ATSM) the stochastic Jacobian under the forward measure plays a crucial role for pricing, as discussed in Elliott and van der Hoek (Finance Stoch 5:511–525, 2001). Their approach leads to a deterministic integro-differential equation which, apparently, has the advantage of by-passing the solution to the Riccati ODE obtained by the standard Feynman-Kac argument. In the generic multi-dimensional case, we find a procedure to reduce such integro-differential equation to a non linear matrix ODE. We prove that its solution does necessarily require the solution of the vector Riccati ODE. This result is obtained proving an extension of the celebrated Radon Lemma, which allows us to highlight a deep relation between the geometry of the Riccati flow and the stochastic calculus of variations for an ATSM. We are grateful to two anonymous referees for their careful reading of the paper.     

Using a Demand System to Estimate Extended Input–Output Multipliers

The interface between household income and expenditure has always been considered to be a key component in the construction of input–output models. However, it can be argued that households are too often treated as if they were just another in dustry in the input–output table. In this paper, we seek to address this problem by developing a new modelling framework in which a micro demand system is used to estim ate the relationship between income and expenditure. This demand system is conjoined with an input–output table for the UK economy, and the system as a whole is solved as a computable general equilibrium model. Comparisons are made between the Jacobian multipliers generated by this model and those derived from a more traditional input–output model in which the income-expenditure linkage is estimated using static coefficients.