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Firstly,the cartesian coordinate system of joint mechanism is defined,and a mathematical model is constructed to express the relationships among the structure parameters,workplace and dynamic features of the driving joints.

通过定义关节结构的笛卡尔坐标系，建立反应关节结构参数与工作空间、动力学特性之间的数学模型，得出了腕关节在不同动作方式下的驱动原理，最后利用CATIA对腕关节结构进行了电子样机分析。

Firstly, a cube work region was defined, and the analytic relationship between workspace point Cartesian coordinates and some manipulator parameters which were important to application was derived.

首先，定义了一个立方体工作区域，得到了对机构的实际应用影响较大的几个参数与工作空间点的笛卡尔坐标之间的解析关系。

The main functions are inquiry、countingarea and plotting cartogram. The classification result is input in this system firstly andvector is created. The vector is operated, such as counting its area, then area and cartogramis obtained. Moreover, we can analyze area and cartogram by means of quantitativeanalysis.

该子系统首先将分类后的图像导入本子系统，进行矢量化，然后对矢量后的图形进行面积统计等操作，得到统计面积及统计图，并采用定量分析的方法对得出的面积值及统计图进行分析。

Firstly,The crosslink of sodium caseinate and whey protein isolateat three different conditions using transglutaminasewas studied.The extent of polymerization was detemined by SDS-PAGE、electron microscope and infrared spectrometer associated with gel image analysis.

通过对各组分蛋白相对光密度值的变化分析可知：在本实验所选条件下，在80℃预热15min后并再加入一定量还原剂(20mmoL/LDTT)变性条件下，酪蛋白和乳清蛋白之间可以交联；为进一步验证上述结论，通过中红外光谱仪和电子显微镜进一步分析交联前后蛋白质的二级结构的变化和交联前后蛋白质空间结构上的差异，结果分析均与上述结论相吻合。

Bacteria often sequentially utilize coexisting carbohydrates in environment and firstly select the one easiest to metabolization. This phenomenon is known as Carbon catabolite repression.

细菌在多种碳源共存的环境中优先利用一种的现象被称为分解代谢产物阻遏效应。

This paper firstly made a brief review about Catastrophism Gradualismand Neocatastrophism in Geology and then did some researcles on event stratigraphy s formation, development, therotical essence and its importance in earth sciences.

根据近年来有关研究新进展，概括地评述了地质灾变论、渐变论、新灾变论及事件地层学的形成、发展、理论实质及其在地球科学理论与实践中的重大现实意义。

In this paper, a survey of research in catching-up and technology learning process is given firstly.

一般认为，技术创新型式指技术生命周期中、产业市场范围内具有普遍意义和阶段性特征的企业创新行为分类。

Then Dr Shen started his cathedra and we all listened silently. Firstly, he introduced the general situation of Microsoft.

接着，在同学们再次热烈的掌声中，沈向洋博士开始了他的讲座，场下同学们静静的聆听。

Firstly , the feelings obtained by Cather's heroes in nature is much the same as transcendentalism advocated by Emerson.

第一，凯瑟笔下的主人公在自然中的感受与爱默生所追求的超验境界是基本一致的。

A new non-linear quadratic programming Bayesian prestack three-terms inversion method is developed; Firstly, this method is based on Bayesian parameter estimation theory, Gaussian distribution is used for likelihood function and modified Cauchy distribution is used for prior distribution; Secondly, covariance matrix is used to describe the degree of correlation between the parameters; rock physics relations are used to constrain the inversion results; at last, this method is transformed into non-linear quadratic programming problem, and inversion results are acquired under several constraints.

本文提出了一种基于非线性二次规划的叠前三参数反演方法。首先基于贝叶斯参数估计理论，假设似然函数服从高斯分布，并使待反演的参数服从于改进的Cauchy分布，从而提高了反演结果的分辨率；其次用协方差矩阵来描述参数间的相关程度，进一步提高了反演结果的稳定性；最后将问题转化为一个非线性二次规划的求解问题，并在多种约束下得到问题的解。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。