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Based on the chemical equilibrium flow assumption, the electron density at the exit of the nozzle is determined using the minimum free energy rule. A numerical model based on auxiliary difference equation is derived to simulate the plasma in the time domain and the calculating results are compared with that using Z transform.

以化学平衡流动为前提，采用最小自由能方法确定火箭发动机喷口处的电子密度；验证了基于辅助差分方程和Z变换方法对羽流电磁特性进行时域建模的正确性。

The auxiliary variable system was constituted, and the recursive algorithm that can reduce the measurement noise interference has been developed. The bias property of LS with input/output measurement noise has been derived, and the self-adaptive deviation compensation principle of measurement noise variance has been proposed, and the corresponding algorithm is designed. The influence of parameters of wavelet modulating on estimation precision is investigated with simulation examples.

2构造了能降低测量噪声干扰的辅助变量系统及递推算法，研究了输入输出端测量噪声影响下最小二乘估计的偏差特性，提出了两种基于测量噪声方差估计的自适应偏差补偿原理并设计相应算法，用仿真算例研究了调制滤波器参数对辨识精度的影响。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The averaging method is extended to the multiple degree-of-freedom system, and the averaged equation is derived.

推广平均法的基本思想到多自由度系统，导出了平均化方程，进而可得到了系统响应的幅频特性。

Note: The title Padishah for king was derived from the old Avestan term Pati-Kshatra which means head of the warriors.

注： 标题为国王padishah来自旧M.Avestan病人来说-kshatra即团长的勇士。

" The Greek military leader and historian Xenophon, who served with Greek mercenaries in Persia, first used the Greek word paradeisos adopted from the Avestan word to refer to the Persian kings' and nobles' parks or pleasure grounds. This Greek word extended to mean "garden" or "orchard was an obvious choice for translators of the Bible into Greek to use both for the Garden of Eden and the Abode of the Blessed, or heaven. The Greek word was adopted into Late Latin and was used much as we might expect in its biblical senses in ecclesiastical Latin. The Old English word paradis taken from Latin is found, but our word probably really established itself in Middle English (first recorded before 1200), derived both from Latin and from Old French, which had adopted the word from Latin. paradise.

曾随希腊雇佣军到波斯服役的希腊军事将领和历史学家色诺芬，首先使用了希腊语词paradeisos，，该词采用了阿维斯陀词，指波斯国王和贵族们的花园或游乐场，这个希腊词衍生到表示"花园"或"果园"，显然是译者在把《圣经》翻译成希腊文时所做出的选择，以用来表明伊甸园和天国或天堂，有这两种含义的希腊词被引入后期的拉丁语中且当它们在教会拉丁文（后期拉丁语paradisus 中意为《圣经》方面的意义时被更广泛地使用，古英语paradis 一词来自拉丁文，但我们用的这个词可能在中古英语（首次记录在1200年前）中真正确立了起来，人们发现它源于拉丁文和从拉丁文中采纳了这个词的古法语

E. SC-P34M54_(378), SC-P32M59_(147) and SC-P36M53_(99).3. The genetic relationship between the 3 SCAR markers and SSR marker (Xwmc441) were test with 208 segregating F_2 plants derived from a cross between Avocet S and the NIL YrSp/6xAvocet S.

用208株Avocet S和YrSp/6 x Avocet S杂交制备的F_2代分离群体，对获得的3个SCAR标记和YrSp的SSR标记Xwmc441之间的遗传关系进行了检验。

Genetic linkage was tested on 121 segreg ating F2 plants derived from a cross between Avocet S and Yr5 /6 Avocet S.It was showed that the polymorphic DNA fragment S1320 207 was completely linked to Yr5 gene,and S1348 363 closely linked to Yr5 gene.

用121株Avocet S和 Yr5 /6 Avocet S杂交制备的 F2代分离群体进一步进行的遗传连锁性检测表明，多态性DNA片段 S1320 207 和S1348 363 分别与 Yr5 基因完全连锁和紧密连锁。

Expression of DLG bias as a function of operating point and axial magnetic field was derived from classic theory of gas laser.

利用气体激光的经典理论，推导了DLG零偏与工作点和轴向磁场的函数关系，给出了色散平衡的理论证明。

In studying the linear response of the dressed quark propagator in the presence of the variable external field, we derive a general expression for the vacuum susceptibility, based on the two-point external field formula in the Quantum Chromodynamical sum rule. The expressions we have derived for the calculation of vacuum susceptibility are model independent. Then we use the expressions to calculate the renormalised axial vector, vector and tensor vacuum susceptibilities.

接下来在研究夸克传播子在外场中的线性响应时，我们利用QCD求和规则两点外场公式推导出了一般的计算真空磁化率的公式（以变化的轴矢量外场为例），我们这里推导出的真空磁化率的计算公式是模型无关的。

You can snipe the second and third union leaders from this position.

您可以鹬第二和第三工会领袖从这一立场出发。

Aiming at the currently shortage of XML streams quality detecting, this paper proposes a new forecasting method of XML streams quality by least squares support vector machines, which is used the method of XML keys' vector matrix as windows, and vector product wavelet transform to multilevel decompose and refactor the XML streams series, that can fulfill real-time checking demand of XML quality, and ensure constraint, consist- ency and integrality. For even more adapting net load, it proposes a control strategy by weight and adaptive adjustment to ensure XML streams quality.

针对当前XML数据流质量检测存在的不足，提出构建XML键的矢量矩阵作为窗口，利用矢量积小波变换多级分解与重构XML数据流，再结合最小二乘支持向量机对XML数据流质量进行预测的一种方法，满足XML数据流质量重构时实时检测的要求，保证XML数据的约束性、一致性与完整性；为了更好的适应网络负载，采取加权与自适应窗口调整等调度策略充分保证XML数据流的质量检测。