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Host controller and multiple-site controller using asynchronous serial communication, or "soft-serial" in accordance with the "communication protocols" to achieve branch communications, computer controlled multi-component of "Distributed Control" system, according to three Flop flip side of the control sub-drive motor, to achieve large-scale three sides of the sign face will be over the screen, time, optional flip way, the sign face of an error "automatic error correction flip" and drive the requirements.

主控制器和多个现场控制器之间采用异步串口通信或"软串口"按照"通信协议"实现分支通信，组成多微机联控的"集散式控制"系统。这种多微机联控系统极大地简化了控制电路的连线，简化了电气控制安装工艺与施工，在降低工程费用和后期维修费用的同时，可大幅提高控制系统工程的可靠性、稳定性、性价比。

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。

The error performance of the proposed communication scheme is analyzed and the average probability of error decision is obtained.

分析了该方案的误码性能，得到了平均误码率的估算公式，分析得到了可降低误码率的信号设计基本规则。

Practical results show that the proposed method lowers both average error and maximum error and improves forecasting precision.

对预测结果的分析表明，多点外推法不仅减少了平均误差，也使最大误差降低，能有效提高预测精度。

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。

Minimax estimator;Bayes solution;Poisson mean;Restricted space;K-normalized squared error loss;Linear minimax estimator;Weighted squared error loss

中文关键字大中取小估计式；贝氏解；卜阿松分布平均数；限制参数空间；K-正规化平方误差损失；线性大中取小估计式；加权平方误差损失

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。

In the fifth chapter, we propose the conditional generalized ridge-type estimator of regression coefficient in restricted linear regression model, and prove that it is superior to the restricted best linear unbiased estimator in terms of mean squares error and mean squares error matrix, we also give the choice of parameters matrix K.

第五章给出了约束线性回归模型中回归系数的条件广义岭估计，讨论了它的优良性，证明了它在均方误差及均方误差矩阵下都优于约束最小二乘估计，并给出了参数矩阵K的选择。

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。

Matching and bit reversal based on prediction arithmetic utilizes the relativity between continuous two frames/slices. It locates error position by setting a number of featured syntax fields and predicted values. The most perfect result is that the arithmetic can correct n+1 bits error by n featured syntax fields.

基于预测的匹配翻转算法充分利用时域上前后传输单位之间头部字段的相关性，通过设置特征字段以及其预测值来确定出错范围，进行纠错，理想情况下设置n个特征字段最高可以纠正n+1个比特错误。

Shop assistant: Please check at the door.

店员：请您到门口柜台交费。

In the end, transportation of PAHs in the environmental matrix was preliminarily investigated and discussed according to PAHs data of soils and sediments from a certain region in Shanghai. The result indicated that there are two or more pathways on PAHs transportation in the environmental matrix.

最后，对上海特定地区内PAHs在环境介质中的迁移径途进行了分析讨论，结果表明上海市土壤和沉积物等环境介质中PAHs的迁移存在多种途径。