谈谈财务欺诈审计中的技术策略

注册会计师是当今社会打击防范财务欺诈的中坚力量,在审计实务中探索了一些财务欺诈审计的技术方法,文章从三个方面阐述了目前针对财务欺诈注册会计师审计时切实可行的一些技术策略.     

Inverse Kinematics Analysis of Weld Inspection Manipulator at Pipe Joint in Nuclear Industry

A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.