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Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

In addition to operas, Cavalli wrote settings of the Magnificat in the grand Venetian polychoral style , settings of the Marian antiphons , other sacred music in a more conservative manner (notably a Requiem Mass in eight parts , probably intended for his own funeral), and some instrumental music.

除了歌剧，卡瓦利说八部分的中大威尼斯polychoral风格圣母颂，在玛丽安 antiphons 设置，其他更保守的方式宗教音乐（特别是一个安魂弥撒设置，可能是他自己的葬礼准备），和一些器乐。

On the basis of Raman and FTIR spectra research on melt structure and water solubility mechanism in albite glasses, we can make the following conclusions:(1) Higher pressure (1bar-2. 0GPa) can lead to below frequency region (50-650cm〓) shift to higher frequency and become narrower, and result in high frequency region (850-1300cm〓) move to lower wave number and become narrower at the same time. These are consistent with the decrease of average T-O-T angle and distribution scope of bond angles (0). In addition, the intensity of 580cm〓 band decrease with increase of pressure and the changes are obvious while pressure is in the range of 0.8-1. 0GPa. And these result from the"collapse"of the planar three membered -containing rings within the glass structure.

通过对高温高压下钠长石熔体结构及水在钠长石熔体中溶解机制的Raman和FTIR光谱实验研究，可以得出以下结论：(1)随着压力升高(1bar-2.0GPa)NaAlSi〓O〓熔体玻璃Raman光谱的低频区(50-650cm〓)不断变窄并向高频方向移动，同时高频区(850-1300cm〓)不断变窄且向低频区方向移动，这表明随着压力升高T-O-T键角不断减小，并且分布范围变窄，T-O-T键角这种变化从而可使T-O键的力常数减小，导致键强减弱；另外，580cm〓谱峰强度随着压力升高不断减弱，并在0.8-1.0GPa时最为显著，这是由于在0.8-1.0GPa时包含的平面三元环结构的"垮塌"造成的。

In D3 gene with 5 site mutations. There exists individual variation in the COII gene, but this variation is less than that among other members of Myzomyia Series such as An. aconitus, An. jeyporiensis, etc. In addition, one haplotype different from both An. minimus A and C was found in these 3 genes studied.②The genetic distance between An. minimus A and An. minimus C is less than that among other members of Myzomyia Series. Molecular trees based on different genes and different methods show that An.

种系发生研究表明，微小按蚊复合体亲缘种A、C间的遗传距离远小于与之近缘的同系其它成员间的距离。2个分子标记3种方法构建的基因树显示，微小按蚊A、C的种系地位非常固定，不同地域来源、不同变异类型的微小按蚊始终在同一分"枝"上，与迈蚊系其它成员相比，呈现其相对稳固的单源性。

The result showed that the size of mud flat wetland decreased rapidly: from 19705.09 hm2 in 1987 to 4773.08hm2 in 2002, a 75.78% drop in 15 years. In addition, the annual reduction rate of the mud flat wetland size was 995.47 hm2/a, which was 36.54% more than the annual reclamation rate, 729.08hm2/a.

结果显示，滩涂湿地的面积在逐年变小：从1987年的19705.09 hm2 锐减到2002年的4773.08hm2，减少了75.78%；并且滩涂湿地面积的年减少率为995.47 hm2/a，比年围垦率的729.08hm2/a增加了36.54%。

In addition to investment in municipal construction projects, investment in local enterprises in Tianjin is also an important way.

在除了投资的市政建设项目，投资于当地的企业在天津也是一个重要的方式。

That life comes with death is a fate common to all human beings One could observe the phenomenon of death but never understand its reality which explains why humans have had such a great fear of death Yet death remains a brutal fact after all and only with an adequate interpretation of it can human being face up to death The present dissertation is intended to explore ancient views on death in terms of three kinds of "life-seeking" attitudes: metaplasia resurrection and longetivity The primitives employed the collective myth-making to explain the riddle of death and create the belief in the "solidarity of life " Chuang-tzu accepted such a belief and developed in addition the idea of "qi" through his concept of "metamorphosis " In the period of Eastern Zhou it became popular to imagine dead people turning into ghosts and this brought out the idea of "soul " Yet is there another world after one dies?

有生必有死，是人类共同的命运。死亡的现象可以观察，但死亡的真相却是永远无解，因此人类害怕死亡。可是，死亡毕竟是一项事实，对它有所诠释，才能让人明白如何面对死亡。这篇论文希望探讨古人的死亡观，是以三种「求生」的态度：化生、复生，与长生，来进行讨论。原始人类集体创作神话来解释死亡谜团，透过「变形」此一律则，产生「生命一体化」的信念。庄子继承「生命一体化」的信念，他从「变形」的观念发展出「气」的观念，藉此说明他对於死亡的态度。东周时期，人死之后变成鬼的想法普遍流行，产生「魂魄」的说法。人死后是否会有另一个世界？

In chapter 4, the Newlands harmonic wavelet is improved and a new type of wavelet with better time-frequency characteristic is constructed. Frequency band of signal can be divided arbitrary with the improved harmonic wavelet so that the phenomena of aliasing are reduced. Several typical fault signals in Electromechanical System are analyzed with it. In addition to the improved harmonic wavelet in chapter 4, a new half-complex wavelet is presented to improve the complex wavelet, which is given by Chaari.O. A unilateral recursive algorithm is derived to improve the real-time characteristic. A parameter n is imported to make the time-frequency and filtering characteristics of it better and its ability of extracting fault feature is enhanced.

第四章通过对Newland谐波小波的改进构造频域紧支撑、时域性能良好的新型小波函数，可实现信号频带的任意划分，从而减少频带混叠现象，采用改进的谐波小波对多种典型的机电系统故障信号进行了分析；以Chaari.O复小波为基础构造了一个半复小波，从提高复小波算法的实时性出发，推导了半复小波单向递推算法，通过给原小波设置可调参数的方法，实现了一种能满足小波基本条件的复值小波，可以通过参数的调整调节小波滤波器在Hilbert空间的时频特性和相应的滤波性能，以加强半复小波对故障特征的提取能力。

In addition provides the compressed air stainless steel air feeder, in crucible the base composition porous jet pipeline, causes the nitre salt fluid fast circulation tuck dive, achieves in the nitre salt fluid any temperature even consistent, controls the warm electricity cabinet's coordinate use automatically through the nitre salt stove, may cause the quenching work piece in the very short time needs the rapid chilling in any craft temperature which to the isothermal quench the automatic constant temperature.

另配备压缩空气不锈钢进气管，在坩锅内底部组成多孔喷流管道，使硝盐液快速循环翻腾，达到硝盐液内任何一点温度均匀一致，通过硝盐炉自动控温电柜的配合使用，可使淬火工件在很短时间内快速冷却到等温淬火所需要的任何工艺温度内自动恒温。

But during the time when he was in power, the measures he adopted, including the composite economic policy, nonalignment foreign policy, plural politics and land nationalization policy, conflicted with those with vested interests. In addition, Ortega himself was involved in the revolutionary movementss of other countries of Central America. This had not only resulted in an antipathy among his people, but also prompted U.S.A. to take necessary actions to safeguard the interests of Central America.

但是在他执政的期间，采取混合式经济政策、不结盟外交政策、多元政治及土地收归国有政策，与当时的既得利益者有所冲突，再加上对外介入中美洲国家的革命运动，不仅造成国内民众反弹，也迫使美国采取必要手段维护中美洲的利益。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。