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ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

It consists of:(1) numerical filtering of both constant and variable parameters;(2) techniques of measuring group velocities by using "moving window" and "multiple filtering";(3) cross-correlation method of measuring phase velocities.

包括：(1)参数固定的和可变的数值滤波；(2)测定群速度的"移动窗"和"多重滤波"技术；(3)测定相速度的互相关法。

When the measuring system of point scanning confocal microscope is designed,the parameter of object lens is important because the measuring precision of the system are determined by the numerical aperture of lens.

在设计点扫描激光共焦显微镜测量系统时，物镜参数的选择是至关重要的，因为它的数值孔径大小直接影响着系统的测量精度。

Analyzing the error of ohmmeter in measuring resistance, the measurement formula of uncertainty is derived, and the best measuring range of ohmmeter is obtained.

从分析实际欧姆表测电阻全过程的误差出发，导出测量不确定度的算式，最后得出表尺最佳段范

Measuring the optical density of a substance by shining light on it and measuring its transmission.

测量阳光照射的物体的光密以及它的传送。

Outside caliper s" are used for measuring external sizes, and "inside caliper s for measuring internal sizes.

外测径器"用来量度外边的尺寸；"内测径器则量度内部的尺寸。

A measuring system which mainly consists of a high precision motorized translation stage of one dimension, POINT GREY Flea2-14S3 CCD camera and LED light source was designed and constructed. Based on a detailed analysis for experiment results, the periodic changing law of system error of LED facula centroid location in this measuring system was found. The results indicate that based on Flea2-14S3 CCD camera, the random error of facula centroid location is about 0.018 pixels, the system error is about 0.06 pixels, and the total error is about 0.063 pixels (1/15 pixels).

利用高精度一维电动平移台、POINT GREY Flea2-14S3 CCD 相机和LED 光源构建了测试系统，对测试结果进行研究和讨论，发现了测试系统LED 光斑质心定位系统误差的周期性变化规律，计算得到了基于Flea2-14S3 CCD 相机的光斑质心定位随机误差为0.018 pixels，系统误差为0.06 pixels，总体误差为0.063 pixels(约1/15 pixels)，能够应用于以光斑质心检测为手段的测量系统中。

According to the experience gained in traditional penetrating tests, this thesis has produced a high-pressure clay permeameter and discussed the instruments testing principle, measuring method and derivation of the calculation formula in details. Meanwhile, plenty of testing research has been done by taking an example for the permeability coefficient measuring of plastic concrete and the influencing factors of tests to the permeability coefficient of plastic concrete measured by this instrument have been analyzed.

3本文根据常规渗透试验中积累的经验，自行研制了一种高压土工渗透仪，对该仪器试验原理、测定方法以及计算公式的推导进行了详细的探讨，并以塑性混凝土渗透系数的测定为例进行了试验研究，对使用该仪器测定塑性混凝土渗透系数时影响渗透系数的试验因素进行了分析。

This paper used measurement reliability and maximum permissible error to evaluate the performance and accuracy of measuring equipment.The mathematics relationship between the tolerance and uncertainty was proposed and the calibrations risk for was analyzed.It provided a new method for evaluated characteristic of measuring equipment.

本文采用测量可靠性和工程容差来表征测试设备的能力和准确度，给出了它们与不确定度表征方法之间的数学关系，分析了校准风险，为评价测试设备的技术性能提供了新的途径。

The extremely weak photoelectric current measuring technology has widespread application in measuring instruments and the photoelectrical equipment manufacturing.

极微弱光电流测量技术在仪器仪表和光电设备制作中有着广泛的应用。

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。