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A new symbol-constrained joint source-channel decoding algorithm for VLCs is presented.By constructing double-tree VLCs sources,the propagation-error problem is evidently alleviated.Meanwhile,by applying symbol-constrained method to MAP algorithm,not only the a priori probability of VLCs sources is efficiently utilized,but also the Symbol Error Rate is reduced enormously.

提出了一种新的针对不等长编码信源的符号约束MAP联合译码算法，利用VLCs双树信源的构造方法，有效地抑制了VLCs的错误扩散；同时，通过将"符号约束"的思想应用于最大后验概率译码算法，不仅充分利用了信源先验信息，而且极大地降低了误符号率。

Cased hole formation resistivity logging calculates apparent formation resistivity by measuring slight potential difference on metal casing,its measurement error of the apparent formation resistivity is decided by the measurement error of the potential difference on the casing.

过套管电阻率测井通过测量金属套管上的微小电位差来计算地层视电阻率，套管上电位差的测量误差决定了地层视电阻率的测量误差。

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。

Finishing calculation of mean value, standard deviation, skewness, kurtosis of Beta distribution.(2) Fitting parameters of many kinds of typical distribution and using residual deviation to evaluate fitting precision.(3) Using Beta distribution as an agreed indication distribution applied to many kinds of practical photoelectric measurement distributions.(4) Deriving theory formula of Bayes point estimation about Beta distribution parameters and mean value and standard deviation on the condition of mean square error loss function and supposed the prior distribution is uniform distribution.(5) Generating MCMC sample from post distribution by the method of Gibbs sample algorithm. Calculating bayes point estimation from sample on the condition of mean square error loss function. Calculating confidence interval by an approximate method to complete interval estimation.

本文的主要工作有：(1)解决了Beta分布参数a和b的精确计算以及均值、标准差、偏度、峰度的计算问题；(2)拟合出10余种典型分布的Beta分布的两个参数，并且采用剩余标准差评价该Beta分布的拟合精度；(3)对多种典型的光学与光电测量系统的测量分布进行了Beta分布统示表示；(4)在假设先验分布为均匀分布前提下，得到参数a和b以及均值μ和标准差σ在均方误差损失函数下的贝叶斯点估计理论计算公式；(5)利用直接抽样的Gibbs抽样算法，从后验分布中产生MCMC样本，从样本直接计算均方误差损失函数下的贝叶斯点估计，并使用一种近似方法计算其置信区间，完成区间估计。

Our success is made doubtful by that besetting error of ours, the error of trying to do too much by vote.

我们的成就已经被我们那种令人烦恼的错误弄成值得怀疑的东西了，这错误就是试图通过投票作过多的事情。

To assure parts' machining precision and to improve productivity, touch probe is used to inspect cylinder of parts on machining centers, thus coordinate of points on features are acquired from numerical control system by a data collecting program, and cylindricity error is calculated by computer. This method has broken the restriction of probe's macro processor that couldn't work out cylindricity error. Data saved in computer are beyond the limited memory of numerical control system, which improves operation speed.

为了保证零件加工精度和提高生产率，在数控加工中心中采用触发式零件检测测头对被加工件的圆柱面进行在机检测，并利用数据读取程序从数控系统内部提取被检测点坐标信息，在计算机内部完成圆柱度误差的计算，克服了零件检测测头自带宏程序无法对圆柱等被测特征进行误差运算的局限性；并且检测数据存储于计算机内，不再受数控系统内存小及运算速度慢的限制。

Along with several typical problems as the measurement of small low-frequency current, the restraint and compensation of Rogowski measuring error caused by environmental temperature change, the design of integral unit, the influence of Rogowski coil geometrical error on its measuring error and the restraint of Rogowski coil environmental electromagnetic disturb, this paper introduces the related research status of the applied research of Rogowski coil.

本文阐述了Rogowski 线圈的应用研究领域的国内外现状，特别针对Rogowski 线圈应用研究中的低频小电流的测量、线圈温度效应误差的抑制和补偿、积分环节的设计、线圈几何特性误差对线圈测量误差的影响以及外界对线圈电磁干扰的抑制等几个问题，文章做了详细的介绍。

Along with several typical problems as the measurement of small low-frequency current, the restraint and compensation of Rogowski measuring error caused by environmental temperature change, the design of integral unit, the influence of Rogowski coil geometrical error on its measuring error and the restraint of Rogowski coil environmental electromagnetic disturb, this paper introduces the related research status of the applied research of Rogowski coil.

2004高压年会，，中国电机工程学会高电压专业委员会本文阐述了Rogowski 线圈的应用研究领域的国内外现状，特别针对Rogowski 线圈应用研究中的低频小电流的测量、线圈温度效应误差的抑制和补偿、积分环节的设计、线圈几何特性误差对线圈测量误差的影响以及外界对线圈电磁干扰的抑制等几个问题，文章做了详细的介绍。

First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.

首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。

First, this section analyzes the error drifts in bit rate adaptation transcoding, including error drift caused by motion re-estimation and error drift of the pixel-domain transcoding compared with the compressed transcoding.

首先，分析了码率调整型转码算法中存在的若干错误漂移问题：运动估计带来的错误漂移；相对于压缩域转码器，像素域转码器的错误漂移。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。