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Third, the error of the axial acceleration and the angular acceleration are studied and formulated.

经过扩展卡尔曼滤波算法校正后，可有效地提高载体角速度的解算精度。

It took 300 years from the death of Christ to be formulated by "Church Fathers" of apostate Christendom.

其实是那些"教会之父"在基督死后300年，才逐渐形成的。

This preferred choice of massage therapists throughout the world is formulated with rejuvenating organic Arnica Extract and organic Birch Leaf Extract.

这款广受好评的按摩油，其配方是能使肌肤充满活力的有机山车精华和有机白桦叶精华。

Then I re-formulated the art to fit the correct paper size

然后我重新制订了艺术，以适合正确的纸张尺寸

Thirdly, hydrodynamic lubrication model for the asperity elastic deformation of the mechanical seals is established, and related calculation methods, as well as software are formulated.

推导和建立了考虑端面密封系统中微凸体弹性变形影响的弹性流体润滑分析和计算方法，并在此基础上编制了相应的计算软件。

It is in accordance with this that it was in the West, after all the struggle was over, that the Trinitarian doctrine was completely systematized by Augustine; in the West, that the Athanasian creed was formulated.

它是根据本说，这是在西方，毕竟，斗争结束了，这三位一体的教义是完全系统化，由奥古斯丁在西方国家，认为阿他那修信经教义制定的。

Article 1 For the purpose of strengthening the forestry statistical work, guaranteeing the genuineness, timeliness and authoritativeness of the forestry statistical materials, these Measures are formulated in accordance with the Statistical Law of the People's Republic of China and Detailed Rules for the Implementation of the Statistical Law of the People's Republic of China.

第一条为了加强林业统计工作，保障林业统计资料的真实性、及时性和权威性，根据《中华人民共和国统计法》和《中华人民共和国统计法实施细则》的规定，制定本办法。

The landing of a helicopter in autorotation is formulated as a nonlinear optimal control problem.

本文将直升机的自转着陆过程定义为一个非线性的最优控制问题。

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。

An independent axiomatic system that describes the upper approximation of Pawlak rough sets is formulated by three simple formulas.

获得的结果深刻地揭示了经典等价关系与模糊等价关系的本质区别，进一步深化了Pawlak粗集理论。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。