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The dissertation systematically analyses RV-M1 robot which is used in this study, thoroughly dissects the hardware and software of RV-M1 robot's controller, upbuilds RV-M1 robot's model and coordinate system, develops the robot's forward kinematics formulation, solves the robot's kinematics negative problem, develops RV-M1 robot's dynamic formulation in Lagrange-Euler form, does linearization about robot's dynamics model, and gets this robot's sign solution In order to solve practical problem in the process of robot automatic polishing, this dissertation makes some beneficial researches and trials.

本文比较系统地分析了本论文研究中采用的RV—M1型机器人，较为详细地剖析了RV—M1型机器人系统的控制器硬件、软件，建立了RV—M1型机器人模型及其坐标系，推导出了该机器人的正向运动学方程，并对机器人的运动学逆问题进行了求解；推导了RV—M1型机器人的Lagrange—Euler形式的动力学方程，对机器人的动力学模型做了线性化，给出了该机器人的符号解。

Based on these hot and key spots in construction of high dams at present, Combining one of the 973 plan projects: Study of Global Stability of Geology Engineering System under Interaction of Several Factors(NO.2002CB412707), the dissertation mainly studies the stability anomaly and corresponding shape optimization. The main contents are as follows:The dissertation advances stability analysis method of arch dams based on arch-cantilever method, that is, the stability of arch ring and cantilever are analyzed respectively based on arch-cantilever method and corresponding formula of stability calculation is established. So the calculation methods of dam stress and stability are unified.

围绕目前高拱坝建设中的热点和重点问题，结合973计划课题：多因素相互作用下地质工程系统的整体稳定性研究(编号 2002CB412707)，重点研究高拱坝的稳定转异以及体形优化，现将主要内容归纳如下：本文提出基于拱梁分载法的拱坝稳定分析方法，即在拱梁分载法的基础上，分别分析拱圈和悬臂梁的稳定，建立相应的稳定计算公式，统一坝体结构稳定和应力计算方法。

Based on the A-stock market panel data of 292 non-financial public companies from 2001 to 2005. This dissertation adopts the integrated methods of normal research and empirical research to analyze the relationship between board governance and audit fees.By utilizing the board scale ,the lead structure of directorate,the composing of company's board ,the establishment of professional committees,the operation of the board of directors and so on as descriptive variables ,this dissertation has verified seven hypothesises.The conclusions are as follows:when the board-chairman and the general manager of the company are the same man,audit fees are more expensive.

本文采用规范研究和实证研究相结合的方法，利用经典审计收费模型，对我国沪深两市292家非金融类A股上市公司2001-2005年的情况进行统计检验，分析了董事会治理特征与审计收费的关系，采用了董事会规模、董事会的领导权结构、董事会的构成、次级委员会的设置、董事会成员持股情况、董事会会议情况等能对董事会治理做数量描述的变量，用实证研究的方法检验了提出的七个假设。

The dissertation will introduce the background of the crisis, trying to find out the reasons, discussing the measures Argentina taken in the international arbitral tribunals, the means will be taken in the courts of Argentina. The dissertation points out that the economic crisis directly caused the international investment arbitration crisis and the investment law reformation constitutes the basic reason. In the late 1990, Argentina signed lots of Bilateral Investment Treaties, which abandoned the Calvo Doctrine, accepted the jurisdiction of ICSID, and accorded the foreign investors high level protection.

通过考察，本文指出阿根廷经济危机是阿根廷国际投资仲裁危机的直接原因，阿根廷国际投资法律自由化改革是阿根廷国际投资仲裁危机的根本原因。20世纪90年代末期，阿根廷签订的双边投资条约背弃了卡尔沃主义，完全接受了国际投资仲裁机构的管辖权，并给予外国投资者高标准的保护。

Lastly,this dissertation took the 4th coal wharf of Qin Huang Dao port for application example to apply the method of the simulation and evaluation of logistics capability of coal wharf system which has been put forward in the dissertation.

最后，以秦皇岛港煤四期码头为实例，对本文提出的仿真评价的方法进行应用。

For reconstruction from contours, this dissertation uses Active Contour Model to check the boundary contours. The algorithm can generate single, continuous and close contours quickly. For reconstruction from voxel, this dissertation presents an algorithm to trace the boundary contours from segmented regions based on Active Contour Model. The algorithm can trace the contours of inter and outer connected multi-regions correctly and accurately, and can prevent tracing from jumping out to the neighbor region, also can define the contour precision and contour key points actively as snake is growing up.

对于基于轮廓线的表面重建，利用主动轮廓模型（Active Model，又称Snake Model）来完成断层图象上目标轮廓的提取，可以获得单象素连通的封闭的目标边界轮廓；针对基于体素的表面重建中实施了分割后的体数据，提出了一种基于主动轮廓模型完成二值图象中轮廓跟踪记录的方法，可以对同属于重建目标的内外邻接多区域进行正确和准确的边界轮廓跟踪，使得在跟踪当前轮廓时不会跨越到相邻轮廓，且主动轮廓的精度可以根据参数交互决定，尤其是能够在主动轮廓成长的同时主动定义轮廓关键点。

Multicarrier and multicarrier CDMA systems are the candidates with a greatapplied foreground for future mobile communications system.Some keytechniques in the two kinds of systems,including the reduction of peak-averagepower ratio and so on,are studied in this dissertation.The main contents ofthe dissertation are as following:(1) The way to constitute a multicarrier signal by using any onecomplementary code from multiphase complementary code pair is proposed,andthe upper bound on crest factor for a multicarrier signal is studied.

多载波及其多载波CDMA系统是未来移动通信系统一种很有应用前景的侯选方案，本文针对这两种系统中的峰平功率比减小等关键技术进行了研究，主要内容包括：(1)提出了利用多相互补码对中任一互补码构成多载波信号的方法，研究了多载波信号峰值因子的上边界。

In order to study the intake air flow characteristics in four-valve diesel engines, in this dissertation hot-wire anemometer and PIV twodimension instantaneous measuring technique are used. Extensive experimental study on two intake valve exit flow fields and longitudinal section flow field in cylinder are performed for different type of diesel engines. Great researching progress have been made on the interaction between two intake ports, and the formation process of in-cylinder swirl and flow field structure of cross and longitudinal section for four valve diesel engines. These results are presented in China for the first time and without such kind of research work reported abroad as detailed and deepgoing as this dissertation. The author designs and makes a set of hot wire measuring velocity device to measure the velocity distribution around the intake valve annulus and the cross section flow field in cylinder.

为了研究四气门柴油机进气过程中气体流动的变化规律，本文利用热线测速和PIV二维瞬态测速技术，对四气门柴油机两进气门出口全圆周流速场和缸内横、纵剖面的气体流动流场进行了大量的试验研究，在四气门柴油机两进气道之间相互影响的变化规律，缸内涡流的形成过程及缸内横、纵剖面流场结构等方面取得了重大的研究进展，这一研究工作在国内尚属首次，在国外也未见有如此全面、深入的研究报道。

Chapter Eight concludes the achievement of this dissertation, and some problems will be answered through more discussions. To sum up, this dissertation argues that Liber Abaci has three kinds of features, i.e., a rich content Mathematic, a variety of mathematics cultural exchange, and the dissemination diversify.

斐波那契注重问题求解，以设计出尽量简单的算法求出解答为目标，利用欧几里得《原本》定理进行几何证明代数方法合理性的过程中，不追求逻辑论证的完美，而是凭藉巧妙的几何图形构造，简化计算过程，从而得到问题的解答。

For the first time, this dissertation, taking EMEs of ASEAN as study object, analyzes the motivation of foreign banks participation, the policies of host countries and the impacts of foreign banks participation. The research in explaining foreign banks participation in EMEs is comparatively few. This dissertation may enrich the lectures concerning the participation of foreign bank in developing countries especially EMEs.

本文首次以东盟新兴市场(印尼、马来西亚、菲律宾和泰国)为研究对象，来探讨外资银行参与的动机、东道国政策及外资银行参与的影响，弥补了国内外学者对外资银行参与该新兴市场研究的不足，丰富了有关外资银行参与发展中国家尤其是新兴市场的研究文献。

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