基于关节限位的自治水下机器人机械手系统运动规划研究

对自治水下机器人搭载的四功能水下电动机械手进行了简要描述。考虑到自治水下机器人机械手系统的运动学冗余,将关节限位算法用于系统逆运动学求解,避免载体大幅度姿态变化。利用Matlab仿真表明该算法在解决系统冗余的同时有效的限制了关节位移。

组织中的规则行为：合法性、个体差异的认同-内化作用

This study employed the compliance, identification, and internalization model of attitude change to explore the mechanism of rule-following behaviors in organizations. The objectives of this study were to examine the effects of individual utilitarianism and formalism on rule compliance, deference and rule-breaking behaviors, and the relationships between legitimacy, organizational identification, and value internalization. I surveyed 262 employees from a high-tech corporation in Beijing. After Confirmative Factor Analysis, Regression Analysis, and Structural Equation Modeling, I summarized main conclusions as follow. First, rule legitimacy and organizational identification have different effects on different rule behaviors. Perceived rule legitimacy and organizational identification have direct positive effect on rule deference. But the effects of legitimacy on rule-compliance and rule-breaking are moderated by organizational identification and value internalization. Only under high identification or value congruence with organization, could legitimacy perception predict rule compliance and breaking. Second, individual formalism (IF) has positive effect on rule compliance. IF’s positive effect on rule deference only appear under high value congruence between individuals and organization. Third, organizational identification works as a “valve” in the relationship between individual viewpoints and rule-breaking. Organizational identification turns off the tendency of utilitarianism to break rules, and turns on the tendency of formalism to inhibit rule-breaking. Forth, attitudinal and behavioral facets of utilitarianism and formalism have different influences on rule-following behaviors. Only individuals who are both attitudinal and behavioral formalists show deference to rules, while formalism as behavioral tendency predicts less rule-breaking. Fifth, innovation behaviors coexist independently with compliance and deference to rules. But the division between innovation and rule-breaking is obscure. Organizational identification facilitate both rule following and innovation. Sixth, women comply with rules more than men do, while men break more rules than women do. More aged people develop deeper identification with their organizations, and higher deference to rules. Individuals with higher education are fewer formalists, and accordingly defer to rules less and break more.