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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。

A theoretical model is built to investigate the simulation of the infrared characteristic of the metal structure with the PCM false target.Structure parameters of the PCM false target that suit for the simulation are investigated numerically.According to the results,further request on the improvement of the thermal conductivity of PCM is presented.An experimental platform is built and the numerical model is validated experimentally.Three key thermal characteristic components of the false tank(barbette,wheel and front armor plate) are manufactured and tested,and good results are obtained.A method for the thermal conductivity enhancing of PCM by using aluminum fins is studied,the influence of the structure parameters of PCM plates to the simulation effects are investigated numerically,and the reasonable configuration parameters of the PCM plates used to simulate the steel plates of different thickness are obtained.In the study of the application of heat convection method in IR false target,a passive infrared simulation system is designed to simulate the infrared characteristic of metal constructions.The system is made up of pipe-plate,pump,receiver,and working fluid.

在相变材料应用于红外示假的研究中，通过数值模拟，研究确定了适用于制作假目标的相变材料各物性参数的范围，分析了相变材料制作假目标的可行性，并根据所得结果，选取石蜡为研究对象，建立了相变材料模拟金属构件红外特征的理论模型，研究了适用于模拟各金属构件红外特征的相变材料假目标的相关结构参数，得出了相变材料假目标模拟各金属构件红外特征的理论结果，并对相变材料的导热系数这一物性提出了进一步的改进要求；搭建了假目标实验平台，验证了所建理论模型的准确性；以坦克假目标为研究对象，制作了炮塔、负重轮和前上装甲板三个坦克假目标的关键红外热特征部件，并进行了野外实验，取得了较好的结果；以添加铝肋片作为改进相变材料导热能力的手段，理论研究了此类导热增强型相变材料的相关结构参数对模拟效果的影响，得出了模拟不同厚度钢板红外特征的导热增强型相变材料的结构参数及模拟效果。

The Main Door of Helm's Deep was built so heavily and so well that the real battering ram that was built to knock down the gates failed to do so until the door was weakened.

圣盔谷的正门实在是太结实了，就连特意为它制造的真正的攻城槌都没有把它一次击倒。

The jaws of the ancient greet wall, an important posthouse in the Silk Road, the important main road between central area and west region, and the important battlement of the great wall built in Ming Dynasty as well, 35km to south part of Shandan County, near to 312 National Highway and G245 Freeway, covering an area of 190,000km 2, was built in

建设条件：长城硖口古城坐落于山丹县城南 35公里，旁依 G245高速公路和312国道，始建于明万历元年（公元1552年），总面积19万平方米，是丝绸之路的重要驿站，也是古时中原通往西域的交通要道，更是汉明长城的重要城障，现已列入全国重点文物保护单位。

Town planning is the bibcock that the city is built and develops, must be built for the city again at the same time and expand a service.

城市规划是城市建设和发展的龙头，同时又必须为城市建设和发展服务。

The speed-skating rink was built to look like an overturned ship, and placed so as not to disturb a bird sanctuary. dug into a mountainside, the hockey arena is well concealed and efficient. the bobsled run is built out of wood not metal and hidden among trees.

他们将速度滑冰场的形状设计成像一艘侧翻的船，并在选址时注意避开鸟类保护区；冰球场则建在山腹之中，具有很好的隐蔽性和效能，而建造大雪橇滑道的材料是以木头替代金属，并隐藏在树丛中。

With the Pharaoh Cheops who built the biggest thing ever built.

基奥普斯法老建造了有史以来最大的金字塔--大金字塔。

There was a sequence of Pharaohs culminating3 around 2615 B.C., with the Pharaoh Cheops who built the biggest thing ever built, the Great Pyramid, also known as Khufu.

在公元前2615年左右，几任法老相继统治埃及，基奥普斯法老建造了有史以来最大的金字塔——大金字塔，也被称为胡夫金字塔。

There was a sequence of Pharaohs culminating3 around 2615 B.C., with the Pharaoh Cheops who built the biggest thing ever built, the Great Pyramid, also known as Khu瞗u.

在公元前2615年左右，几任法老相继统治埃及，基奥普斯法老建造了有史以来最大的金字塔——大金字塔，也被称为胡夫金字塔。

There was a sequence of Pharaohs culminating3 around 2615 B.C., with the Pharaoh Cheops who built the biggest thing ever built, the Great Pyramid, also known as Khu?

在公元前2615年左右，几任法老相继统治埃及，基奥普斯法老建造了有史以来最大的金字塔——大金字塔，也被称为胡夫金字塔。

The reasons of iron ions content overproof in grade Ⅱ desalting water system,such as variation water quality,contamination of regenerant , operation adjustment of pretreatment system and switching operation of bed were discussed.

对二级脱盐水系统中铁离子含量超标的原因，如来水水质发生波动、再生剂受到污染、预处理系统操作调整、床体运行切换等进行了论述。

You were hired to drum up new business, so go and do it.

公司雇你招徕新业务，你就做你的事好了。