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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。

The model in this paper takes the form as belowThe main contents and results in this paper are as follows:In section 1, we state our main analytical results on equilibria of the above system. First, several sufficient conditions for coexistence of the steady-state are given by the standard fixed-point index theory in cone. Second, the global structure of the coexistence solutions and their local stability are established by using bifurcation theory. Third, the multiplicity, uniqueness and stability of positive steady-state solutions to this system are derived by means of perturbation theory of eigenvalues, standard regularity theory, Sobolev embedding theorem and fixed-point index theory.

本文主要有两章内容：第一章研究了该模型正平衡解的性质，可分为三部分：第一部分运用极值原理、上下解方法和锥映射不动点指标理论得到正平衡解存在的充分条件；第二部分利用分歧理论给出了平衡态系统正分歧解的结构，并讨论了局部分歧解的稳定性；第三部分利用特征值扰动理论、标准椭圆正则化理论、Sobolev嵌入定理及指标理论讨论了正平衡解的多重性、唯一性及稳定性，并讨论了参数对解的影响。

Secondly, the quality loss model of the quality control, quality problem tracing back and the quality improvement is constructed, which minimizes the quality loss in quality control system. The quality loss model combined with Duncan model and Taguchi quality loss model is studied, the control parameters such as the upper control limit and the lower control limit are computed for the quality control in manufacturing. The Taguchi quality loss model is improved with the fuzzy theory, and the validity of the quality loss model is validated by the instance of the principal axis quality control.

2构建了产品质量控制、质量问题追踪和质量改进的质量损失模型，使质量控制系统运行过程中质量损失最小；研究了由Duncan模型和田口质量损失模型相结合的质量损失分析模型，为过程质量控制提供了上下控制限等参数，利用模糊理论对田口质量损失模型进行了改进，并通过主轴质量控制实例验证了质量控制损失模型的有效性。

According to the characteristics presented by armed helicopters during cruising or searching for ground targets, this paper has established the mean-square deviation stationary random model of helicopter tracks. It is an important method to decorrelate the measure noise by estimating the parameters of the color noise online. Kalman filtering and forecasting have been made with helicopter tracks. The simulated study has been carried out on helicopter tracks under the condition of color noise. It is very difficult to get an accurate and reliable prediction when the data is very limited. The paper make use of the theory of grey system to resolve the problem of prediction of helicopter tracks, establishing the GM model of grey systems and the cumulative residual error model of n degree, then correcting the GM forecast model. In the period of sampling, GM model and residual error model have been established on line to improve prediction precision.

结合武装直升机在巡航或搜索地面目标的特点，给出直升机航迹模型为协方差平稳随机模型，在线估计有色噪声参数，对测量噪声去相关，对直升机航迹进行卡尔曼滤波与预估，最后对有色噪声条件下的航迹进行了仿真研究；在数据非常有限的情况下，准确地预测又很困难，本文提出了用灰色系统理论解决直升机航迹预测问题，建立了灰色系统GM预测模型和n次累加残差模型并对GM预测模型进行修正，在每个采样期间内，实时在线建立GM预测模型和残差模型以提高预测精度。

Then, the paper used structural equation model and factor analysis to test the hypothesis and compare the relative modleFor the results in the study, first of all, papers have collated the theories relative to psychological boundary from three point of view, they were personality theory, social cognitive theory, self-category theory, social representation theory and system theory.

在研究成果方面，首先，论文在已有研究的基础之上，从三个方面整理出于心理边界相关的基础理论，它们分别是人格理论、社会认知理论、自我分类理论、社会表征理论和系统理论。

Firstly, this paper discussed the principle and agent theory, the corporate governance theory and supervision theory. Second, the paper analyzed special several-levels principle-agent relations of the state-owned enterprise, and used the principle -agent theory and the game theory to analyze several problems caused by this, such as the supervision function avianization about the owner, the enterpriser"s rent-seeking activity, the enterpriser"s conspiracy behavior and the insider control. Thirdly, the paper discussed the present situation of the supervision and restraint system from the management model of the three-levels authorization, financial general supervision system, the corporate governance and the outsider supervision and restraint system. The paper thought that the supervision and restraint system had the following problems: supervision and restraint system was imperfect, the property right restraint was lack, the restraint system was administrative and the supervision system was deformity.

本文首先讨论了经营者监督约束机制的委托代理理论、公司治理理论和监督理论：其次，深入分析了国有企业特殊的多级委托代理关系，并用博弈理论及委托代理理论分析了由此产生的各种问题，如所有者监督职能弱化、国有企业经营者的寻租行为、国企经营者合谋及内部人控制等；再次，本文从三级授权经营模式、财务总监制、公司治理结构及经营者外部监督约束等方面研究了我国经营者监督约束机制的现状，本文认为国有企业经营者的监督与约束存在以下问题：国有股份多级代理与监督约束弱化；国家股东对国企经营者缺乏产权约束，监督约束机制不完善；国有股份高度集中与监督约束的行政化；监督约束机制单一化与监督约束畸形化。

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。

Based on cognitive theory,this paper propounds a practical method of student modeling,which is to combine an information model and a learning model to achieve student modeling,and the learning model is depicted by a cognitive model,a covering model and a test model.

论文从认知理论出发，提出了一种实用的学生建模方法，即以信息模型和学习模型的组合形式进行学生建模，并采用认知模型、覆盖模型和测试模型对学习模型进行描述。

Establish the SPETCG lumped parameter model including PFN model, electrical exploding model, plasma generator ablation-controlled arc discharge model, IB lumped parameter model and IB inverse analysis model, which provides theory tools for SPETCG experimental analysis and parameters design.

建立了包括脉冲功率源模型、电爆炸模型、等离子体发生器消融控制电弧放电模型、内弹道零维模型、内弹道反算模型在内的完整的SPETCG零维模型，为SPETCG的实验分析与参数设计提供了理论工具。

An electromagnetic power steering kinematics model is built combined with the sensor and power equipment"s kinematics characteristic, then according to bond graph theory the bond graph model and diamond model of the electromagnetic power steering system are built based on the kinematics model. They could lead to the system"s transfer function, which is combined with automobile"s two freedom degree model, finally leads to the system"s model in condition with step input of steering wheel.

结合转矩传感器和电磁力发生装置的动力学特性建立了电磁式助力转向系统的动力学模型，然后在系统的动力学模型的基础上根据键合图理论建立了电磁式助力转向系统的键合图模型及其方块图模型，从而导出系统的传递函数，再结合二自由度汽车模型，最终建立了系统在方向盘转角阶跃输入下的模型。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失