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In the light of the complex, high-level and non-linear feature of the mathematical model which describe the transport of the coalbed methane, this paper study the fully-implicit solving method of the mathematical model in detail. Based on the complexity of the algebraic equations which are formed eventually, according to the alternating direction implicit difference pattern, this paper use the iterative method and the fully main element Gauss-Jordan eliminating method to solve equations, which is to use the iterative method to determine coefficient matrix and use the fully main element Gauss-Jordan method to solve th linear algebraic equation group, at the same time of studying the solving method of the mathematical model, according to the devising requirement of FORTRAN77 program structure, this paper draw up computer program and form the corresponding computer model, and verify the validity and reliability of the model in theory by operating the model.

重点研究了模型内、外边界及有关参数的处理，针对描述煤层甲烷运移的数学模型是一个复杂、高阶非线性数学模型的特点，详细研究了模型的全隐式求解方法，根据最后形成的代数方程组的复杂性，按交替方向隐式差分格式，采用迭代与全选主元高斯约当消去法相结合的方法求解方程：即确定系数矩阵采用迭代法，求解线性方程组时采用全选主元高斯约当消去法，在研究模型解法的同时按FORTRAN结构化程序设计的要求，编制计算机程序，形成相应的CBMRS计算机模型，并通过模型的运行从理论上证明了模型的正确性与可靠性。

By analyzing several currently-used visual displaying schemes for cranes simulation training, a display concept based on enhanced virtuality is proposed and some key issues in it are discussed. Manipulation based human-computer interaction technology is studied and two typical virtual controller are realized by associating the time or the location parameter of modeling with its movement parameters. A implement method of physical controller is presented based on virtual keyboard mapping technology and a compact and flexible control box prototype is obtained. Using it, users can operate the virtual crane conveniently.

分析了目前起重机模拟培训常用的几种视景显示方案，提出了一种基于增强现实的显示概念，并对其中若干问题的实现方法进行了探讨；研究了基于操纵的人机交互技术，通过时间或造型位置与起重机运动参数之间建立的联系，实现了两种典型的虚拟控制器；提出了一种基于虚拟键盘映射技术的物理控制器解决方案，设计了一个小巧、灵活的控制盒原型，可以方便地操作虚拟起重机并实现有关运动。

In this dissertation, we develop the research work of the following three aspects based on existed work.First, using the scale-invariant property of multiscale model, i.e. Markovian among scales, a method of qth-order tree-based for multiscale representation of a class of 1-D stochastic process is presented. The multiscale stochastic model is established. The representation forms of parameter matrices, such as, the state transition matrix, the disturbance matrix, the initial state and the corresponding covariance matrix are deduced in detail. The multiscale sample paths based on distinctive order tree are presented by computer simulation.

本文在已有工作的基础上，开展了以下几个方面的研究工作： 1、根据多尺度模型尺度不变性，即利用尺度间的Markov性，给出了一类1-D随机过程基于一般q阶树的多尺度表示方法，建立了相应的多尺度动态模型，详细推导了多尺度模型中的状态转移阵、扰动阵、初始状态和相应的协方差阵，并通过计算机仿真给出了不同阶树的多尺度采样路径。

3D control of micropositioning, the environment for human-computer interaction based on the micro stereo image displaying, and microinjection are three focuses of this dissertation.The imaging models of CMO micro stereoscope and G micro stereoscope used in microvision subsystem are deduced. According to the imaging models, 3D visual servoing model based on image for micropositioning is set up. The technology of tracking and matching on the feature of image, which are relevant in visual servoing, is studied. Two arithmetic for avoiding obstacles, rolling/surrounding and curved tracking based on the depth first search, are further discussed.

在此基础上，对三维微定位控制技术、基于显微立体图像显示的人机交互操纵环境和微量注射等三个内容进行了重点研究：为了解决3D微定位问题，推导了显微视觉分系统采用的CMO型和G型体视显微镜光学成像模型，在此基础上建立了基于图像的3D显微视觉伺服定位控制模型，对视觉伺服中涉及的实时跟踪与立体匹配技术进行了研究，并进一步探讨了卷包裹法和曲线跟踪两种避障算法。

After the persistent practice in the 1990s, using open system idea to integrate large scale computer systems has been the consentient fact In order to embody high efficiency and intelligent collaboration in open systems, core architecture, called common agent request broker architecture, is established based on mobile agent, and agent based computing basic architecture is constructed based on CARBA Structure of CARBA and ABCBA, domain interface of ABCBA, extension of ABCBA in nomadic environment, and relation among ABCBA OMA, and ODP are discussed in detail Experiment results are given, which show that it is feasible to use ABCBA to improve efficiency and collaboration in open systems and ABCBA is suitable in both wired and wireless network environment

经历 2 0世纪 90年代的持续实践，采用&开放系统&的思想来集成大型的计算机系统已成为技术界不争的事实为了使得开放系统体现实时性和智能协作性，以移动agent为基础，建立了&公共agent请求代理体系结构&，并以CARBA为核心形成了&基于agent的计算基本框架&阐述了CARBA及ABCBA的基本结构、ABCBA领域接口、ABCBA在移动领域中的扩展、ABCBA与OMA及ODP的关系，并给出了实验结论表明：利用ABCBA来提高开放系统协作性和效率是切实可行的，所形成的ABCBA框架在有线、无线环境中都是适用的

A commutation error is then considered in addition to the conventional residual error to generate the innovative residual error. Such an error is applied into cost functions to derive finite impulse response and infinite impulse response filter-based adaptive algorithms for ANC applications, referred to as FxRLS/CE and FuRLS/FRE+CE algorithms, respectively. Convergence analyses based on Lyapunov stability criteria for time-varying discrete-time systems can be carried out for the FxLMS/CE, FxRLS/CE and FuRLS/ FRE+CE algorithms to ensure stability. Computer simulations and experiments demonstrate that the innovative residual error-based adaptive algorithms can free the restriction of the slow-adaptation assumption in the conventional ANC approaches.

本文中也定义一交换误差并且加入到传统残留误差行形成新残留误差来改善适应性演算法的收敛速度，使用新残留误差推导出了有限脉冲响应滤波器与无限脉冲响应滤波器之适应演算法的新适应性演算法分别为： FxLMS/CE、 FxRLS/CE 和 FuRLS/FRE+CE 演算法，并且以离散时间的 Lyapunov 稳定性准则来证明演算法的收敛性，电脑模拟与实验也显示新演算法免除以往滤波器的参数必须缓慢更新的条件。

The research work in this dissertation aim to apply the advanced technique in practice, that ramifies three parts: at first, the basic study of the computer vision, especially the stereo vision, include their technical mechanisms, methods and algorithms resolves the same technical problems of endoscopy and ferrograhpy based on stereo vision. Secondly, the endoscopy of engine fault inspection based on stereovision is researched and the system faced to this application is developed, thus the problems of stereovision applied to macroscopical images such as endoscopic images are resolved in method and computation. In addition, inside scenes are reconstructed and typical damages of engine inside are analyzed. Thirdly, the investigations of system formation, methods applied and algorithms study of debris analysis based on stereovision is carried out. Thus the problems of stereovision applied in debris analysis are resolved mainly. Furthermore, the integrated method combine with 3D symbolic parameters is studied and discussed for the recognition of debris configuration in pilot.

本文的研究工作以技术应用为目标，分为三大部分：首先是对计算机视觉，特别是立体视觉技术机理、方法和算法的基本研究，主要解决了立体视觉在内窥探伤与铁谱检测中应用的技术共同点；其次是对基于立体视觉的发动机内窥探伤的技术研究和系统开发，解决了立体视觉用于内窥图像这一宏观图像的技术和算法实现问题，其中包括对内窥场景的视觉重建和对发动机内部典型损伤的分析；最后对基于立体视觉的磨粒分析技术的系统构架、实施方法和相关算法进行了研究，主要解决了立体视觉用于磨粒显微图像的技术问题，并对融合三维描述参数的磨粒形态综合识别方法进行了初步研究与探讨。

The research work in this dissertation aim to apply the advanced technique in practice, that ramifies three parts: at first, the basic study of the computer vision, especially the stereo vision, include their technical mechanisms, methods and algorithms resolves the same technical problems of endoscopy and ferrograhpy based on stereo vision. Secondly, the endoscopy of engine fault inspection based on stereovision is researched and the system faced to this application is developed, thus the problems of stereovision applied to macroscopical images such as endoscopic images are resolved in method and computation. In addition, inside scenes are reconstructed and typical damages of engine inside are analyzed. Thirdly, the investigations of system formation, methods applied and algorithms study of debris analysis based on stereovision is carried out. Thus the problems of stereovision applied in debris analysis are resolved mainly. Furthermore, the integrated method combine with 3D symbolic parameters is studied an d discussed for the recognition of debris configuration in pilot.

本文的研究工作以技术应用为目标，分为三大部分：首先是对计算机视觉，特别是立体视觉技术机理、方法和算法的基本研究，主要解决了立体视觉在内窥探伤与铁谱检测中应用的技术共同点；其次是对基于立体视觉的发动机内窥探伤的技术研究和系统开发，解决了立体视觉用于内窥图像这一宏观图像的技术和算法实现问题，其中包括对内窥场景的视觉重建和对发动机内部典型损伤的分析；最后对基于立体视觉的磨粒分析技术的系统构架、实施方法和相关算法进行了研究，主要解决了立体视觉用于磨粒显微图像的技术问题，并对融合三维描述参数的磨粒形态综合识别方法进行了初步研究与探讨。

According to the calibration information, Research and development status of automotive bus network and automotive calibration system is studied and the research significance is generalized. First of all, the collectivity precept for calibration system is designed, the calibration platform is set up based on the XCP Protocol and the calibration object is CAN bus network simulation ECUs. Then how to create the calibration system based on Ethernet and Series communication is expatiated, the communication way from computer to ECUs is introduced and the calibration system is tested. Then how to create the calibration system based on CAN bus communication is expatiated, the design and the interface programme are introduced and the calibration system is tested. At last the platform is used to calibrate the CAN bus network simulation system to regulate the simulation system's topology and communication speed to test the communication protocol's feasibility.

论文首先设计了标定系统的总体方案，以CAN总线实时仿真系统中的节点标定为研究对象，采用XCP协议建立具有串口、以太网和CAN总线三种通讯接口的标定平台；然后，具体开发了基于以太网通讯和基于串口通讯的标定系统，完成了上、下位机部分的软件设计，确定了标定系统在两种通讯方式下的数据处理方法，并分别应用两种标定方式标定下位机仿真系统的参数，让下位机仿真系统在规定的通讯协议和拓扑结构下进行仿真，对所设计的标定系统进行了调试；接着，设计了基于CAN总线通讯的标定系统，完成了CCP协议（&XCP on CAN&）的接口程序设计，并通过混合动力汽车一种拓扑结构的通讯仿真对所设计的系统进行了调试；最后，应用开发的标定系统，对混合动力电动汽车网络通讯协议进行了仿真研究，并根据实验结果进行了分析。

Hardware circuit include process channel module based upon 1-wire, communication module based upon CAN feus, data store module based on I2C bus, human-computer interaction module, I/O extended module and so on.

硬件电路包括基于1-Wire单总线的过程通道模块、基于CAN总线的通信模块、基于I~2C总线的数据处理模块、人机交互模块、I／O口扩展模块等。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了