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The recursive least-squares estimation method is used to estimate the parameters in the modelled part of the robot dynamics, and the parameters is used to form the feedback control based upon the so-called"inverse system method". The unmodelled part of the robot dynamics is compensated by a learning control law. This not only increases the learning convergence speed and the control system robustness, but also extends the control method to non-repetitive tasks after sufficient learning.

采用递推最小二乘辩识方法来辩识机器人动力学特性中可建模部分的模型参数，并以此来构成反馈控制策略，而对未建模动特性和未知扰动的影响采用学习控制的方法予以克服，从而提高了学习控制过程的收敛速度和鲁棒性，拓宽了它的适用范围。

On the basis of the study on a new bow rudder, the BEKE rudder , a method with the control surface to control the heeling of a submarine with the control surface caused by turning in a horizontal plane by means of variable structure control is investigated.

在一种新型潜艇艏舵——贝壳舵研究的基础上，用变结构控制方法探讨了如何用操纵面控制潜艇水平面回转时产生的横倾角，重点研究了方向舵、艏舵对横倾角的控制和艉舵对定深的保持。

The construction safety total process control includes construction imput control in advance, construction control in process and the accident control afterwards.

建筑施工安全的全过程控制应包括事前的施工输入控制，事中的施工中控制，事后的事故发生后控制。

Landscape of the related projects, planning and design projects for technical control, schedule control, quality control, safety control and management acing.

对相关景观工程、规划设计项目进行技术控制、进度控制、质量控制、安全控制及经营管理核算。

For the best control effect, a fuzzy control strategy is introduced in the automatic system. 9 intelligent sensors decentralized in each workshop collects each workshop temperature information, then the fuzzy control machine deals with these data, and sends the dealt information to S7-300PLC to control 9 air-conditions placed on rooftop to run.

要保证加工质量，就要保证空调系统能将车间温、湿度在加工期间随时都控制在要求的范围内，为了达到最优的控制效果，该空调自动控制系统还引入了模糊控制策略，利用分布在车间各个位置的九台智能温、湿度传感器采集不同位置的车间温、湿度信息，通过模糊控制器处理后，送入S7-200PLC进行程序处理，控制九台屋顶空调机组动作，实时进行调整，使车间内的温、湿度总能处于系统设定的范围内。

In addition every industrially developed country in the world also classifies the technology and numerical control equipment of numerical control as the strategic materials of the country, not merely take the great measure to develop one's own numerical control technology and industry, and implement blockading and restrictive policy to our country in " high-grade , precision and advanced " key technology and equipment of numerical control.

此外世界上各工业发达国家还将数控技术及数控装备列为国家的战略物资，不仅采取重大措施来发展自己的数控技术及其产业，而且在&高精尖&数控关键技术和装备方面对我国实行封锁和限制政策。

Result:1:in the aspect of controlling of the swelling development, treatment group is distinctly superior to control group.2:in the aspect of deswelling rate,treatment group is superior to control group.3:in the aspect of controlling pain degree,shorten the applying time of the anodyne, treatment group is distinctly superior to control group.4:in the aspect of controlling the large-area tension bullae incidence,treatment group is superior to control group.

在消肿速度上，治疗组优于对照组。3。在控制疼痛程度，缩短止痛药应用时间方面，治疗组明显优于对照组。4。在控制大面积张力性水泡发生率上治疗组优于对照组。

Mainly introduced SIEMENS PLC is a controller, realizes this system chain preheating machine, the rotary kiln calcines the fever, cold machine cooling, the end product goes into storage and so on the link control, including each host auxiliary engine equipment chain-like control, temperature,pressure, speed control and so on various return routes central control and so on.

主要介绍了以西门子PLC为控制器，实现该系统的链蓖机预热、回转窑煅烧、环冷机冷却、成品入库等环节的控制，包括各主辅机设备的连锁控制，温度、压力、速度控制等各回路中央控制等。

Synthetically considering these characteristics, the method of freeway management and control are presented according to four aspects: system objective orientation and concept design, system demand and requirement analysis, system data management and network structure, traffic control and accident detecting theory as well as its application. Function and structure of system are delimitated from the point view of integration. Construction and function demand of subsystem are analyzed and basic implement projects are presented. In this thesis, system data flow and management method and target which based on system network topology structure and equipment demand are described. Traffic modeling ideology and the process of making dynamic model as well as accident detecting program are presented with centralized and distributed traffic control theory in detail, then freeway ramp control theory which based on predictive model and its theoretic pattern are explored. Finally, based on the object oriented programming, program of accident detecting and checking on freeway is developed by using visual C++ as tool.

论文综合考虑高速公路交通管理系统的上述特征，分别从系统目标定位及概念设计、系统需求分析、系统数据管理及网络结构分析、交通控制与交通事件检测理论与应用四个层面，对高速公路交通管理与控制问题进行了系统阐述，界定了系统的功能及各功能的实现要求，并从系统集成角度划分了系统的结构；分析了各子系统的信息、功能、建设等方面的需求，给出了基本实施方案要求；对系统数据流程进行了描述和梳理，提出了数据管理的方法、目标及措施，分析、设计了系统网络拓扑结构及设备需求；阐述了交通模型的建模思想和动态交通模型的建立过程，对集中式和分散式全局交通控制理论进行了详细的分析，提出了基于预测的高速公路匝道控制理论，并对理论模式及相关的问题进行了研究，分析了高速公路事件检测系统，并采用面向对象的编程思想，以Visual C++为编写工具，开发了高速公路事件检测系统分析软件。

Uses the automated control not only on the galvanization production line to be possible to raise the product manufacturing efficiency and to reduce worker's labor intensity, and has the very good economic efficiency and the social efficiency, galvanizes on the production line to be possible to realize the automated control using PLC, PLC has the reliability to be high, the compatibility is broad, has the correspondence function, the structure modulation characteristic, therefore how to use good PLC to become the galvanization production line automation control key, auxiliary to galvanized the automatic production line driving with PLC by the frequency changer to carry on the automatic control, had the structure to be simple, the programming was convenient, the operation was flexible, the use safe, worked stable, the perform reliably and the antijamming ability strong characteristic, was one kind of very effective automatic controlThe way, is galvanizes the production to realize, the low cost, the high grade automated production development direction highly effective.

在电镀生产线上采用自动化控制不但可以提高产品生产效率和减轻工人的劳动强度，而且有着非常好的经济效益和社会效益，电镀生产线上运用PLC则可以实现自动化控制，PLC具有可靠性高，适应性广，具有通信功能，结构模块化的特点，因此如何使用好PLC成了电镀生产线自动化控制的关键，用PLC辅以变频器对电镀自动生产线行车进行自动控制，具有结构简单、编程方便、操作灵活、使用安全、工作稳定、性能可靠和抗干扰能力强的特点，是一种很有效的自动控制方式，是电镀生产实现高效、低成本、高质量自动化生产的发展方向。

Listen,point and check your answers.

听，指出并且检查你的答案。

Warming needle is one of effective treatment methods for knee arthralgia aggravated by cold,and it is simple,safety,so it should be developed in clinical acupuncture and moxibustion extensively.

但以本院科针灸门诊在2005年1月—2006年6月期间共收治膝痛患者100余例，经过临床的诊断后，其中施以温针治疗的48例，疗效显著，报道如下。1临床资料本组病例48