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This paper points out the collaborative design oriented concurrent engineering includes two meanings.One is the design idea oriented concurrent engineering,the other is collaborative design based on web.2.This paper makes a general analysis of the context and research actuality of cooperative product commerce,and then points out that CPC is a kind of management idea and technical realization system based on cooperative product development,and it is a normalized method which comes out of the development ,change and introjection of external demand,management idea and IT tools in the aspects of cooperation,products and commerce.

同时指出面向并行工程的协同设计包括两方面的含义：面向并行工程的设计思想和基于网络的协同设计。2、论文对协同产品商务的产品背景、研究现状作了全面的分析，指出协同产品商务是基于协同进行产品开发的一种管理理念和技术实现体系，同时它也是客观需求、管理理念以及IT工具在协同、产品、商务三个方面不断发展、演变和相互渗透融合而出现的一种归一化方案。

This algorithm uses the gird and density threshold method to remove isolated points of data set,selects the initial seed points in propagating tree randomly,judges vegetal direction and executes sort according to the density-based distance,calculates cluster aim function by the propagating tree value.

算法利用网格和密度阈值去除数据集中的孤立点，从网格集中随机地选取种子点，以基于密度距离作为判断生长方向及分类的依据，以网格生长树的大小作为聚类目标函数。

Anchor points based Isometric Embedding under least square error criterion has a time complexity of O n log( n , and after obtained geodesic distances it has linear time complexity for embedded points and can be fully realized in parallel.

基于锚点集的最小平方误差等距嵌入算法AIE具有O n log( n 的时间复杂性，而且在获得测地线距离后的计算时间复杂度达到对嵌入点数的线性关系，且可以完全并行实现。

The Law of Straight Lines from Mark Joyner's "Simpleology" points out that the shortest path between two points is a straight line, a basic principle of geometry.

直线理论是MARK JOYNER的"简单学"理论，他指出两点之间，直线最短，一个再简单不过的几何真理了。

We establish a Lagrange multiplier theorem for strict efficiency in convex settings and express strict points as saddle points of an appropriate Lagrangian function.

讨论凸多目标最优化问题的严有效解，建立了拉格朗日乘子定理，并把严有效解表示为一个适当的拉格朗日函数的鞍

Conclusion］This technique,on one hand,doesnt share weak points of total or semi laminectomy,on the other hand, maintains strong points of mentioned technique.

结论］这种手术方式避免了传统全椎板切除和椎板开窗式手术主要的缺陷，又保留了这两种手术各自的优点。

First the topological relations between the unknown points and known points are built as a linear constrain, then the DSI equation group is formulated by combining Laplace equation with the linear constrain equation.

首先由待插值点与已知点之间的拓扑关系建立线性约束，进一步结合位元场满足Laplace方程，建立离散光滑插值联立方程组，采用预条件共轭梯度求解该方程组。

Then, the boundary points are extracted. By using Shu's theorems the sum of Legendre polynomial of the boundary points is calculated.

首先使用Yang-离散格林公式将二值图像矩计算中区域内求和转换为沿区域边界求和；然后提取该图像的边界点；再利用Shu提出的公式计算出边界点的Legendre多项式的叠加值。

The difference between them and the leaders has also been cut by 7 points since the Seville game, when they were 16 points adrift of Valencia, whereas they now lie just 9 off Real Madrid.

与第一名的差距从踢塞维利亚那场比赛开始缩短了7分，那个时候与榜首的瓦伦相距16分，而现在只与皇马有9分的差距。

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。

The witness also told the jury at the Royal Courts of Justice in London that he saw a paparazzo fighting with a member of the public who was trying to stop him taking pictures in the minutes before the emergency services arrived.

他还告诉在伦敦皇家法庭的陪审团，在急救服务到来之前，他当时看见一个狗仔队正和一群阻止他拍照的人打架。

The entire N／C program on a tape is made up of an accumulation of these successive data blocks.

纸带上的整个数控程序由这些连续数据单元连接而成。