GKD-l RRC 机器人控制器与力反馈顺应控制研究

GKD-1 RRC是为开展机器人力反馈顺应控制的研究而设计的新型机器人实时控制器。本文介绍了它的主要性能、特点,并对用它在PUMA 562机械手上完成的几个典型的力/位置混合控制实验及其控制策略、实验结果进行了说明。实验表明,以GKD-1 RRC为核心的机器人力控制系统,控制周期仅为4.88ms,力控制稳态误差平均小于100g,位置控制精度不低于机械手原有水平,证明GKD-1 RRC控制器性能优越。     

OF HAWKS AND DOVES

The policies toward countries aspiring to acquire nuclear weapons continue to be heavily contested, differing even among countries that consider nuclear proliferation as one of the main threats to international security. This article maps the actual policies of liberal democracies toward Iran and North Korea along a continuum from confrontation to accommodation. Using data from an expert survey, the authors outline four main findings. First, policies toward both Iran and North Korea have become increasingly confrontational over time. Second, no policy convergence was observed among the states studied; that is, notwithstanding the adoption of joint sanctions, differences remained between states preferring confrontation and those opting for accommodation. Third, states maintained remarkably stable policy profiles over time. Finally, despite obvious differences between the norm violations of North Korea and Iran, states generally followed remarkably similar policies toward both countries. The authors’ findings indicate that states exhibit stable preferences for either confrontation or accommodation toward nuclear aspirants. Although a comprehensive examination of the causes of these policy differences is beyond the scope of this article, the authors present evidence that a major cleavage exists between members and non-members of the Non-Aligned Movement, indicating that the degree to which nuclear aspirants’ sovereignty should be respected is a main issue of contention.     

仪器柔度标定误差对杨氏模量压入识别的影响

针对材料杨氏模量仪器化压入识别的2种代表性方法——Oliver-Pharr方法和Ma方法,通过有限元数值模拟分析了仪器柔度标定误差对杨氏模量识别精度的影响。结果表明：仪器柔度及压入载荷越大,由标定误差导致的杨氏模量识别误差越大;当材料较软且压入深度较大时,仪器柔度的标定误差甚至可能导致材料杨氏模量的识别结果为负值;通过比较证明,Ma方法比Oliver-Pharr方法具有较低的仪器柔度敏感性和较高的测试精度。     

Create compliance and cohesion: how rebel organizations manage to survive

Established conflict theories focus on the role of incentives in the decision to join, stay, or leave an insurgency. These theories, however, disregard the pressure that an organization can impose on its members. Similar to legal organizations, we assert that a rebel organization can sustain itself by effective human resource management. Using narratives resulting from psychological trauma therapy of former combatants of the Lord's Resistance Army (LRA), these management strategies are examined. The analysis shows that the LRA sustains itself in the first place by the use of brute force. However, they also manage themselves by a careful selection process of their fighters, by the conscious creation of social control, and by offering their members an alternative social network in which promotion and compensation play a role.     

Deferred verification: the role of new verification technologies and approaches

ABSTRACT

Researchers have recently proposed a new approach to nuclear-arms-control verification, dubbed “deferred verification.” The concept forgoes inspections at sensitive nuclear sites and of nuclear weapons or components in classified form. To implement this concept, a state first divides its nuclear program into a closed segment and an open segment. The total fissile-material inventory in the closed segment, which includes the weapon complex, is known and declared with very high accuracy. Essentially no inspections take place in the closed segment. In contrast, inspectors have access to the open segment, which includes in particular the civilian nuclear sector. The fissile-material inventory in the open segment is known with less accuracy, but uncertainties can be reduced over time using nuclear-archaeology methods. Deferred verification relies primarily on established safeguards techniques and avoids many unresolved verification challenges, such as the need for information barriers for warhead confirmation measurements. At the same time, deferred verification faces some unique challenges. Here, we explore some of these challenges and offer possible solutions; to do so, we examine possible noncompliance strategies in which a state would seek to withhold a higher-than-declared inventory.     

基于时间切片的通信计划合规性评估模型

针对体系作战背景下通信计划规划任务多线性和关系复杂的问题,提出了一种通信计划合规性评估模型。该模型通过构建计划时间切片,描述了多个通信保障任务主线在各阶段的全局关系视图,并定义了通信链路连接矩阵、电磁频谱三级规划和指控系统命名类量化,描述了通信计划的基本内容,同时定义了3类评估规则和3种评估运算法则,形成了完整的合规性评估体系。最后,通过实例分析验证了模型有效性,结果表明,评估模型能够较好地区分不同信息需求下的通信计划合理程度。     

The interaction between local and international power in EU police reform in Bosnia and Herzegovina

ABSTRACT

This article explores the interaction between local and international power structures in EU peacebuilding. While citizens in a state only face order from one authority (the state), local actors in a peacebuilding context are subject to orders from two institutions (the domestic state and the peacebuilding mission). This article explores the nature of interactions of these two institutions and their effect on local police officers’ compliance and resistance. Specifically, it analyzes the example of the police restructuring process in Bosnia and Herzegovina. It demonstrates that the choices of local officers to comply or resist depended on whether the interactions between the EU Police Mission and the local police organization were positive and mutually supportive, or whether they were competitive and contradictory. The findings of the article contribute to the debates on the role of local power and the importance of local legitimacy in peacebuilding.     

材料力学性能纳米压入测试仪器发展综述

综述了材料力学性能纳米压入测试仪器的发展现状。阐述了纳米压入测试技术的发展历程;从驱动、载荷测量和位移测量3方面对目前材料力学性能纳米压入测试仪器的基本结构进行了比较分析;介绍了材料力学性能纳米压入测试仪器集成技术,包括影响压入深度测量精度的集成技术、观测技术、大载荷模块和高温试验模块等;最后,对未来材料力学性能纳米压力测试仪器的发展趋势作了展望。