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ANP and CX43 began to express at 2nd week after induction and increased gradually,about 60% of the resulting myogenic cells were positive at 4th week after induction ,they were negative for uninduced cells.hMSCs'surface antigen profiles obtained by Flow Cytometry were negative for CD31\CD34\CD45 before and after induction,but CD90 expressed higher after induction while was weak positive before induction(P.05). Apotosis index was correlated with the cultural time after induction,The apoptosis rate of induced hMSCs was remarkably higher than control group(P.01),and the variation between groups was notable(P.05),the cell cycle analysis showed that the percentages of G_0/G_1phases were reduced significantly after induction. The expresstion levels ofβ-MHC and CTNT mRNA were undetectable before induction,began to increase at 1st、4th week after induction,reached the peak at 6th week and decreased after that,the expression of Bcl-2 and Bax mRNA varied regularly after treated with 5-azacytidine. hMSCs'resting membrane potential、range and rate of depolarization were heightened gradually after being induced.

结果：hMSCs诱导前为纺锤形，诱导后第2天部分细胞即开始发生形变，呈球形或短棒状，1周后胞浆中颗粒增多，约20～30%细胞边缘呈毛刷样变化；hMSCs表面抗原CD31、CD34、CD45在诱导前后差异无统计学意义，CD90未诱导时表达呈弱阳性，诱导后明显增高(P.05)；ANP和CX43在诱导前无表达，诱导后第2周开始表达且表达随时间逐渐增强，但CX43在诱导后第5周表达量开始降低。hMSCs诱导后凋亡指数随诱导后培养时间增加，低浓度诱导组低于标准浓度诱导组，组间差异有统计学意义(P.05)，G_0/G_1期细胞比例诱导后较对照组显著减少(P.05)；β-MHC和CTNT基因分别在诱导后第1周和第4周时表达开始增强，在第6周时均达到高峰，第8周时表达开始衰减，Bcl-2、Bax基因表达呈时间依赖性变化，hMSCs经诱导后随心肌样细胞特征的表达膜静息电位、去极化幅值和去极化速率逐渐增高。

Whereas the sensitivities after 48 h were similar for all media tested (77% for MRSA_ID and ORSA; 73% for C_MRSA and ORSA after enrichment ), the specificities of MRSA_ID (98% after 24 h and 94% after 48 h) and C_MRSA (98% after 24 h and 90% after 48 h) were superior to the specificities of ORSAs (92% after 24 h and 83% after 48 h) and TSB-ORSA (86% after 24 h and 81% after 48 h).

结果所有的培养基在经过48h后得出的敏感性均接近（MRSA_ID 和 ORSA的敏感性为77%； C_MRSA和的敏感性为73%），而特异性则是以MRSA_ID (24 h为98%，48 h 为94%)和 C_MRSA (24 h为98%，48 h为90%)为优，优于ORSAs (24 h 为92%，48 h为83%)和 TSB-ORSA (24 h为86%，48 h为81%)。

Twenty-four hours after the last oral administration, the blood were obtained and used for testing adrenocorticotrophic hormone, cyclic adenosine monophosphate, cyclic guanosine monophosphate, glucose, cholesterol, alanine aminotransferase, urea nitrogen. Results Before taking medicine, model rats' cAMP/cGMP and ACTH were lower than normal rats', and they showed a trend of rise with adding dose. Before taking medicine, model rats' GLU was lower than normal rats'. With adding dose, model rats' GLU increased, however, normal rats' GLU reduced. When taken medium dose white prepared lateral root of aconite, model rats' CHO was higher than normal rats'. Taking medicine made both groups ALT rise, but normal rats' went up more quickly than model rats'. Model rats' BUN was higher than normal rats', and taking low dose or little dose medicine could lead to incline of reduction.

结果 给药前模型组环磷酸腺苷/环磷酸鸟苷和促肾上腺皮质激素低于正常组，随着给药剂量的增加，两者有升高的趋势；给药前模型组血糖低于正常组，随着给药剂量的增加，模型组GLU有升高的趋势，而正常组有下降的趋势；中剂量给药时模型组总胆固醇显著高于正常组；随着给药剂量的增加，2组丙氨酸氨基转移酶均有升高的趋势，且正常组ALT升高的幅度更大；给药前模型组尿素氮高于正常组，低、小剂量给药有降低模型组BUN的趋势。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

At leaf scale, TJ photosynthesis model was selected and Gao stomatal conductance model was proved suitable for semi-arid region after comparing with BBL model through the parameter regression and analysis of model sensitivity. Plant physio-ecological characteristics were analyzed based on the parameters gained from the nonlinear regression using TJ model and Gao model with field experimental data. As C4 photosynthesis types Zea mays and Panicum miliaceum 's carboxylation coefficient are bigger than the others.

在叶片尺度上，选择TJ模型作为叶片尺度所使用的光合模型，并对景观模拟中经常用到的Ball-Berry模型和Gao模型进行比较，通过参数拟合和模型的敏感性分析，选择Gao模型作为叶片尺度的气孔导度模型，应用模型模拟的结果，分析了研究区主要植物种的生理生态学特性。C4光合型的玉米和糜子，羧化速率系数大，光合能力强。

The paper founds GM(1, 1) model of gray prediction theory in order to predict level displacement,and forecast horizontal displacement of 8-8 section of the Olympic Games project with it and compares forecast data and actual data.The result is that GM(1, 1) model may forecast short-term horizontal displacement after the model is proved eligibility. In order to manage long-term horizontal displacement,the paper founds metabolism GM(1, 1) model.At first, founding GM(1,1) model with known data and forecast next numerical value,next renewing founded GM(1,1) model with numerical value at the same time abnegating first data,and then forecast nest numerical value with same method.

本文为了预测土钉支护水平位移，建立了GM(1，1)灰色系统理论预测模型，应用灰色预测法GM(1，1)模型对奥运工程地下通道I标段8-8剖面的土钉支护产生的水平位移进行了预测，并与实测值进行比较，得出灰色预测法模型经检验合格后可以对工程进行水平位移的短期预测；为了使GM(1，1)模型同样适用于长期预测，用新陈代谢的GM(1，1)模型，即根据己知数列来建立GM(1，1)模型，预测一个灰数值，然后不断地将预测值补充到己知数列之后，每补充一个再去掉一个最老的数据构成新的数列，建立一个新的GM(1，1)模型，预测下一个值。

In the light of the complex, high-level and non-linear feature of the mathematical model which describe the transport of the coalbed methane, this paper study the fully-implicit solving method of the mathematical model in detail. Based on the complexity of the algebraic equations which are formed eventually, according to the alternating direction implicit difference pattern, this paper use the iterative method and the fully main element Gauss-Jordan eliminating method to solve equations, which is to use the iterative method to determine coefficient matrix and use the fully main element Gauss-Jordan method to solve th linear algebraic equation group, at the same time of studying the solving method of the mathematical model, according to the devising requirement of FORTRAN77 program structure, this paper draw up computer program and form the corresponding computer model, and verify the validity and reliability of the model in theory by operating the model.

重点研究了模型内、外边界及有关参数的处理，针对描述煤层甲烷运移的数学模型是一个复杂、高阶非线性数学模型的特点，详细研究了模型的全隐式求解方法，根据最后形成的代数方程组的复杂性，按交替方向隐式差分格式，采用迭代与全选主元高斯约当消去法相结合的方法求解方程：即确定系数矩阵采用迭代法，求解线性方程组时采用全选主元高斯约当消去法，在研究模型解法的同时按FORTRAN结构化程序设计的要求，编制计算机程序，形成相应的CBMRS计算机模型，并通过模型的运行从理论上证明了模型的正确性与可靠性。

Main contributions and achievements are as follows:A general non-equilibrium rigorous model for RDP is developed in this thesis. Based on the pseudo-homogenous assumption, two main factors reaction and separation are de-coupled, and an RDP model with the same format as that for a traditional distillation process is established. To solve the model with a large number of algebraic equations, modified M-K equations with tri-diagonal matrix form are developed based on the improved Separation Efficiency Functions, which greatly increases the iteration efficiency. This thesis also develops a general reactive distillation dynamic model. Through splitting of the differential variables based on SEFS, large-scaled differential algebraic equations can be solved with the improved Gear's algorithm which makes the dynamic model suitable for the on-line application. A simulation platform for the control loop design and evaluation of RDP by introducing control system equations into the dynamic model is also developed.A lactic acid purification pilot-scale RDP is investigated.

论文对热点问题——反应精馏过程的建模与优化控制相关技术进行了深入的研究，取得了一系列成果：1、建立了反应精馏过程机理模型，基于拟均相假设，将反应和分离过程进行解耦，推导出反应精馏过程的非平衡级稳态模型和动态模型，通过引入推广的分离效率函数，对模型变量进行了合理划分，显著提高了模型求解效率；将动态模型和控制系统方程结合，建立了反应精馏过程控制系统研究的辅助工具。2、全面分析了乳酸提纯反应精馏新工艺试验装置，利用本文建立的过程机理模型，对该试验装置进行了稳态和动态性能分析及水力学核算；设计和分析了单边质量控制方案，比较了间接和直接物料平衡控制两种方案的控制性能。

First discarding the thought of fitting by AR model, the ARMA model is fitted by a high order MA model using Gevers-Wouters algorithm on the basis of related functions of ARMA model. Then according to the parameters of the fitted MA model, the ARMA model parameter estimation through solving a system of antipathic linear equations using the least squares method is obtained.

首先摈弃传统的拟合到AR模型的思考方法，而是基于ARMA模型的相关函数用Gevers-Wouters算法对ARMA模型拟合到高阶滑动平均模型；然后在拟合的MA模型参数基础上，用最小二乘算法求解一个不相容的线性方程组，从而估计出ARMA模型参数。

It is proved that the model of Hertz, Capon and Lindel"of areidentical to Vakonomic model while the model of H"older, Pars andChaplygin are identical to Chetaev's model. The fact thatVakonomic model and Chetaev's model exist simultanously can betraced back to the early days of non-holonomic mechanics. These twomodels cause two problems the d- and - permutable problems.

论证了Hertz， Capon和Lindel"of的工作与Vakonomic模型相吻合，而H"older， Pars和Chaplygin的工作与Chetaev模型相吻合，Vakonomic模型和Chetaev模型两类模型并存的局面可以追溯到非完整力学发展的初期。1mm说明了伴随两类模型并存的现象而出现的两个问题 d-交换性问题和-交换性问题。

"Yes, now you can give yourself airs," she said, you have got what you wanted.

"对了，您现在高兴了，"她说道，这是您所期待的。

Then the LORD said to me: Rebel Israel is inwardly more just than traitorous Judah.

上主于是对我说：＂失节的以色列比失信的犹大，更显得正义。