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The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method),得到了柔性臂关节的最优驱动力矩;提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法,为柔性臂控制提供了一条新的途径;探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题;研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究,验证了所提出的柔性臂逆动力学方法的有效性,得出了一些很有价值的结论。

Finite-Difference Time-Domain method is a kind of simple and reliable method which is widely used for solving problems related to electromagnetics.

时域有限差分法(Finite-Difference Time-Domain Method,FDTD)是目前较为成熟的应用于电磁计算的时域方法之一。

However, in doing so, some new problems will arise which we will overcome by introducing a new variant of the method of moments. We give a short outline of the thesis. In Chapter 1, we are going to introduce the method of moments.

以下是我们的论文概述,在第一章,我们将会介绍method of moments,并且也会介绍优先树和关於这资料结构近几年的结果。

In the simplest case, Extract Method is trivially easy. Take the following method

在这种最简单的情况中,Extract Method做起来非常的简单,请看接下来的方法

A novel method for image edge detection is presented based on information measurement and Support Vector Machine, which is called ISEDM (Information measure and support vector machine edge detection method).

将信息测度和支持向量机结合在一起,提出了一种新的图像边缘检测方法(information measure and support vector machine edge detection method, ISEDM)。

This research hope uses the information of "bond yield spread" and "the market value of equity" which is available in the market to do the calibration by "Nelder-Mead Simplex Method" numerical method, and obtain the theoretical default probabilities which calculates in the most suitable property market value and the volatility of property market value.

由於资产市值与资产市值波动度的难以评估,所以无法以正向带入变数预测公司违约机率,本研究主要希望利用市场上所能获得的资讯『公司债殖利率差』、『股东权益市值』对模型以Nelder-Mead Simplex Method的数值方法做回推求得在最适资产市值与资产市值波动组合下计算出的理论违约机率。

Results In static phantom studies, the percent error of mean activity obtained by Carson's method was reduced to about 9 %, and it is less than that of image-derived method using maximum likelihood expectation maximization (about 14 %). In simulated dynamic phantom studies, the vessel component could be extracted using ICA in image and sinogram domain. In sinogram domain, the six components extracted by ICA could be obtained quickly.

在静态物理假体实验结果来看,使用Carson's method计算出感兴趣区域活性的百分比误差( 9%)比直接从影像取得活性的百分比误差( 14%)来得小;从数位模拟动态假体实验结果来看,独立成份分析法运用在影像空间或是弦波图空间上,都可以将血管分离出来,但从弦波图空间上得到各个独立成份相对於影像空间就快得多;imageICA和sinogramICA计算出的输入函数的标准化均方根误差分别是0.57和0.28。

In order to know the evolutionary relationships between false vein, ISC, and VSC in Pteridaceae, 19 grnera and 82 species in Pteridaceae were sampled in this study; silica deposition types, ordinary epidermal cell morphology and veinal epidermal cells morphology of these species were surveyed. On the other hand, a convenient method was developed for this goal. In this method, a tabletop SEM with backscattered electron detector accompanied by post-cooling method was used.

为进一步探讨凤尾蕨科假脉、脉间矽异形细胞与脉上矽异形细胞之间的关系及其於凤尾蕨科内的演化,本论文选取19属82种的凤尾蕨科植物,观察其叶表面之二氧化矽堆积型式、一般表皮细胞形态以及脉上表皮细胞形态;同时,也开发出利用侦测背向散射电子之桌上型扫描式电子显微镜配合后冷却技术(post-cooling method)之快速检测法,该方法利用背向散射电子讯号强弱与平均原子数(average atomic number, Z number)之相关性得到矽异形细胞与一般表皮细胞具有明显对比之影像。

The results obtained for serum uric acid with this method correlated quite closely with those obtained using the Beckman Synchron method.

本酵素晶片并与Beckman synchron method方法做20个血清尿酸样品临床测量比较,结果显示相关性极佳。

Temporary variables often are so plentiful that they make extraction very awkward. In these cases I try to reduce the temps by using Replace Temp with Query. If whatever I do things are still awkward, I resort to Replace Method with Method Object. This refactoring doesn't care how many temporaries you have or what you do with them.

临时变量的应用常常会五花八门以至于让代码提取工作难以进行,对于这些情况,我会设法应用重整模式Replace Temp with Query来减少临时变量,如果我这样做了后,代码提取还是很棘手,我会求助于重构模式Replace Method with Method Object,这种重构模式不在乎你有多少临时变量也不在乎你是怎么用它们的。

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Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时,他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了

The enrich the peopling of Deng Xiaoping of century great person thought, it is the main component in system of theory of Deng Xiaoping economy, it is a when our country economy builds basic task important facet.

世纪伟人邓小平的富民思想,是邓小平经济理论体系中的重要组成部分,是我国经济建设根本任务的一个重要方面。