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The problem isdiscussed and the error caused by using the approximate formula proves to be superior to that caused by using the homogeneous Taylor's polynomial and an expression is proved to be similatr to the remainder in Taylor's formula.

由讨论这个问题出发，证明了用这种近似式产生的误差，优于用同阶Taylor多项式产生的误差，并给出这个误差的一个类似于Taylor公式余项的表达式。

For the ill conditioned load flow caused by the error produced in the transformation from electricity quantities to average power, direct current load flow and sensitivity vector are presented to find out the ill node, then by adjusting the load curve and generation curve in a certain principle, which is shown in detail with several flow charts, a new operation mode is reestablished to ensure the convergence of the calculation. Optimal multiplier method is proposed to work out the least square solution according to ill conditioned structural power network. The electricity quantities flow method enhances the reliability and accuracy of the calculation of the power transmission losses.

该方法可根据当前输电网中各个变电站24小时的电量记录，利用电量潮流计算对输电网总线损和各条线路损耗进行计算，使计算的精度满足降损措施分析和指标考核的要求；并且对于由负荷出力曲线转化成平均功率计算潮流时引入的误差，进而导致潮流计算不收敛的情况，采用直流潮流法，依据相角对有功功率的灵敏度向量判断出"网络异常点"，并且给出了解决此种情况的方法流程图；针对结构病态的电力系统潮流计算不收敛的情况，运用非线性约束优化方法中的最优乘子法求解潮流方程的最小二乘解，从而解决了电量潮流法计算理论线损时的收敛性问题，增强了该方法的适用性。

After convolutional encoding , the data is reordered by the interleaver. At the receiver , the data pass through deinterleaver for the purpose of dividing possible consecutive error bursts into inconsecutive code , so it can be corrected by convolutional decoding. Matrix interleaver with CPLD is designed , because it is convenient to program. Considering various matrix interleaver , an all - purpose matrix interleaver is designed. You can ap2 ply it to your own project only altering initial parameters.

交织编码在3G系统中已经大量使用，数据通过卷积编码后进行分组交织，在接收端完成反交织，将连续误码分散成非连续误码，从而使得误码在纠错允许的范围内得到纠正； CPLD 具有方便的在线编程功能，可以用来实现交织编码；考虑到矩阵交织器的多样性而设计的通用矩阵交织器，只须通过修改一些参数值即可实现不同的交织器，大大节省了设计时间。

The findings knew that the ships collision is a type of an act of tort , its liability asks to recompense is looks carefully the state of fault to decide , generally may divide into the force majeure or the unknown cause collision , the mutual fault of both sides collision and so on , because if the force majeure or the unknown cause collision , undertake voluntarily by the victim , if an error of the side undertakes the damage compensate responsibility by the inflicter , when if both sides have mutually to cause its faults , basically it depends on the fault to share , but if it's unable to judge the proportion then the average to share is necessary.

研究结果得知，船舶碰撞为一典型之侵权行为，其责任求偿乃端视过失型态而定，一般可分为不可抗力或不明原因之碰撞、单方过失碰撞及双方互有过失碰撞等，而若因不可抗力或不明原因之碰撞者，由受害人自行承担，若纯为一方之过失者则由加害者承担损害赔偿责任，若因双方互有过失所造成时，原则上依过失程度分担，但若无法判定比例时则平均分担。

In mechanics kinematics, Jacobin matrix may be calculated and simplified by vector constructing; Inverse solution and its restricting condition be given; Forward solution be solved by new-raphson method. The method need shorter time than optimization and has a lot of advantages in applying program; some relationship of velocity, acceleration, force and error of mapping from input to output have been given. Analyzing of theory base these researches.

在机构运动学研究方面，通过矢量构造的方式计算出了速度雅克比矩阵，简化了计算量；给出了机构位置逆解的计算过程及约束条件；利用Newton—Raphson法计算出了机构位置的正解，该算法比优化法计算时间短，而且利于实际编程；给出了机构输入、输出端速度、力、误差的映射关系，这些研究是机构理论分析的基础。

The results are the following: When calculating the motion mass, it is better to use idler's equivalent mass instead of the rotating part mass and serial idler's rotating inertias and equivalent mass are calculated. The accurate analysis result for the deflection curve length of the belt shows: The error calculated by the approximate parabola length is lower than 10〓. Thus the approximate method is accurate enough for calculation. The relations between the running resistances coefficient and the belt velocity are studied by experiment, which are the bases for calculating the linear coefficient values between them.

得出：在计算参与运动质量时对托辊应采用托辊的等效质量而不是目前采用的托辊旋转部分质量，并计算出了系列的托辊转动惯量和等效质量；对输送带的挠曲线长度进行了精确的分析，结果表明：采用近似的抛物线长度计算方法其误差在10〓以下，因而得到在计算输送带挠曲线长度时采用近似的抛物线具有足够的精度；对输送机运行阻力系数与带速间的关系进行的实验研究，得出阻力系数与带速线性关糸的系数值。

We placed the lens holder, testing lens, and the assistant lens in the testing optical path. When the testing lens was mounted in the lens holder, we took five dynamic interferograms. After rotating the testing lens by 180 degrees along the edge of the testing lens, we took another set of interferograms. Then, we could evaluate the centering error of the testing optical element by analysing these two sets of interferograms.

在待测光程中加入透镜治具、待测透镜与辅助透镜，当待测透镜贴靠於透镜治具，此时撷取五张连续相移干涉图，之后由待测透镜配合透镜治具沿待测透镜外缘旋转180度，再撷取另一组干涉图形，最后由两组干涉图进行分析，以测量光学元件的偏心误差值。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

The interpolation error is not detected directly by instruments of high accuracy but evaluated by errors of Lissajous figure, and reference instruments and time consuming comparisons are avoided in this method.

这种间接评定方法适用于含有五种误差形式的光栅信号，即高次谐波、非正交误差、不等幅误差、直流电平漂移和随机误差。

The effect of the magnetic interference on the output of magnetic compass was analyzed and a ellipse model for the compass deviation was established. By analysis on the singularity of a coefficient matrix, the error coefficients of the ellipse model were identified by the least square ellipse fitting method.

分析了外界磁干扰对磁罗盘输出的影响，建立了罗差的椭圆模型，通过对系数矩阵的奇异性进行分析，采用最小二乘方法实现了对椭圆模型误差系数的辨识。

In the negative and interrogative forms, of course, this is identical to the non-emphatic forms.

。但是，在否定句或疑问句里，这种带有"do"的方法表达的效果却没有什么强调的意思。

Go down on one's knees;kneel down

屈膝跪下。。。下跪祈祷