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A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm to design controller, the nonlinear damping is used to cancel the uncertainty. The integral item is introduced in the design to improve the performance of the controller. Now, general ships can only use the electric gyrocompass to measure the course angle, but they have no equipments to measure the angular velocity, so in this article another ship course controller of output feedback is designed for Norrbin nonlinear ship, firstly the angular velocity is estimated by the observer and then the ship course controller is designed.

本文基于含有匹配不确定项的Norrbin非线性船舶数学模型，将backstepping算法和非线性阻尼算法相结合设计船舶航向控制器，利用非线性阻尼来抵消系统的不确定项，同时为了更好地改善系统的性能，在设计过程中引入了积分项；由于目前一般船舶只有电罗经用于测量船舶的航向角，还没有测量船舶航向角速度的设备，因此，针对Norrbin非线性船舶模型设计了一种输出反馈控制器，首先利用观测器对船舶航向角速度进行估计，然后再设计船舶航向控制器。

The mathematical equation of dependence of anolyte volume on fractional conversion, the expression of reaction rate, and the macro-kinetic model were established, and the macro-kinetic parameters were calculated.

建立了阳极液体积随转化率变化的数学方程、反应速率表达式和宏观动力学模型，确定了宏观动力学参数。

According to the background variables, we know that the state of the parent-child mathematical activity was different because of the "relation between the answerer and the child", the "child's age", the "socio-economic status" and the "family income".

五、从幼儿及家庭不同的背景变项来看，显示亲子数学活动情形会因「问卷填答者和幼儿关系」、「幼儿年龄」、「家庭社经地位」、「家庭经济收入」的不同而有所差异。

Hawking and his colleagues presented the mathematical details in a formal paper that supports the anthropic principle.

霍金和他的同事们提交了一份有相关数学细节的论文。

The invention is characterised in that the motion vector is computed from mathematical data derived from the synthesised script and defining the apparent motion of the different objects constituting the scene subject of the sequence.

本发明的特征在于该运动矢量是从推导自该合成脚本计算而得，并确定构成该序列的场景主体的不同对象的视在运动。

Use appendices for mathematical derivations and supporting material too detailed to include in the body of the paper.

使用附录的数学推导和辅助材料过于详细，包括正文中的文件。

At that time, we studied applied mechanics and used mathematical calculations to resolve complicated engineering problems.

那时，我们这些搞应用力学的，就是用数学计算来解决工程上的复杂问题。

Based on force characters of the model, authors put forward the mathematical expression of approximate deformation curves and compared calculation curves with measured curves.

基于模型的受力特点，提出了近似变形曲线的数学表达式，并将计算曲线与试验观测曲线进行了比较。

To resolve thismodel,one approximate liner first derivative equation is used.An simple caculatemodel is setted up for caculating the motive adjust,and a mathematical equation incaculating the range of pressure motion in the system.Experiment data showe thatthese models have high accurecy.

在此基础上，对分析模型采用一阶微分近似线性化处理，建立了计算动态调节过程的简化计算模型，并以此建立了计算系统压力动态变幅的计算式，试验表明简化模型具有较高的精度。

Combining the definition of CWT and the derivative property of convolution, we constructed a general method to calculate the approximate derivative of signal through CWT by using the first and second derivative of Gaussian function, Haar, and the first derivative of three-order-Spline function as wavelets. As compared with the other approaches of calculating derivative, which include the numerical differentiation, polynomial filters, Fourier transform, and the recently proposed DWT method, fast calculation and simple mathematical operation were remarkable advantages of CWT method. For the signal corrupted by severe noise (Signal-toNoise Ratio=5), the satisfactory results could also obtained via CWT method through appropriately adiusting the dilations.

在此基础上，(1)结合连续小波变换的特点和卷积的微分性质，提出了使用Gaussian函数的一阶和二阶导数，Haar和三次样条函数的一阶导数作为小波函数的连续小波变换计算信号近似导数的一般性方法，与其他导数计算方法(包括数字微分法，多项式滤波法，Fourier变换法和离散小波变换法)相比，本法简单便捷，计算速度快，对于噪声含量较高的信号(S/N为5)，只要适当调节尺度即可获得比较满意的结果。

I can still vividly recall the impressive scenes you gave. You were among my friends and relatives who accompanied me from my house to the seaport and when the porters were slow to show up, you obligingly carried my suitcase for me.

你对我的种种感人情意，使我记忆犹新，那天你随着我的亲友从家里送我上轮船，搬运工迟迟不来，你毅然替我提着皮箱上船。

St. Nicholas became the patron saint of Russia, where he was famous for his red cape, flowing white beard, and bishop's mitre.

圣尼古拉成了俄罗斯人的守护神，在那里，他以身披红斗篷，留着飘逸的白胡须，戴着主教法冠而闻名。