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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。

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。

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。

Among used machine learning methods, the gradient descent method is widely used to train various classifiers, such as Back-propagation neural network and linear text classifier. However, the gradient descent method is easily trapped into a local minimum and slowly converges. Thus, this study presents a gradient forecasting search method based on prediction methods to enhance the performance of the gradient descent method in order to develop a more efficient and precise machine learning method for Web mining.However, a prediction method with few sample data items and precise forecasting ability is a key issue to the gradient forecasting search method. Applying statistic-based prediction methods to implement GFSM is unsuitable because they require a large number of data items to model a prediction model. In the contrast with statistic-based prediction methods, GM(1,1) grey prediction model does not need a large number of data items to build a prediction model, and it has low computational load. However, the original GM(1,1) grey prediction model uses a mathematical hypothesis and approximation to transform a continuous differential equation into a discrete difference equation in order to model a forecasting model.

其中梯度法是一个最常被使用来实现机器学习的方法之一，然而梯度法具有学习速度慢以及容易陷入局部最佳解的缺点，因此，本研究提出一个梯度预测搜寻法则(gradient forecasting search method， GFSM)来改善传统梯度法的缺点，用来提升一些以梯度学习法则为基础的分类器在资讯探勘上的效率与正确性；而一个所需资料量少、计算复杂度低且精确的预测模型是梯度预测搜寻法能否有效进行最佳解搜寻之关键因素，传统统计为基础之预测方法的缺点是需要较大量的数据进行预测，因此计算复杂度高，灰色预测模型具有建模资料少且计算复杂度低等优点，然而灰色预测理论以连续之微分方程式为基础，并且透过一些数学上的假设与近似，将连续之微分方程式转换成离散之差分方程式来对离散型资料进行建模及预测，这样的作法不尽合理，且缺乏数学理论上的完备性，因为在转换过程中已经造成建模上的误差，且建模过程仅考虑相邻的两个资料点关系，无法正确反应数列未来的变化趋势。

Based on the energy sensing, there are cooperative spectrum detection algorithms such as AND model, OR model, counting model, double threshold model, likelihood ratio model, linear cooperation model, and Distributed Wireless Communications System model.

基于能量检测，协作频谱检测的算法主要有：与算法、或算法、计数算法、分区算法、似然比算法、线性加权算法和分布式无线通信系统算法。

Results: For CRF rats which made by fed with feedingstuff contains 0.75% of adenine for 4 weeks, the weight of model control group rats were lighter than that of Yi Shen Granule groups rats. The water wastage of Yi Shen Granule groups rats were less than that of model control group rats. Compared urine volume, the ejectable quantity of Na, K, Cl and proteinuria in 12 hours , the data of Yi Shen Granule groups rats were less than that of model control rats. The specific gravity of Yi Shen Granule groups rats was higher than that of model control rats. The numerical value of RBC, HGB, HCT, MCV, MCH in model control group was lower than that in Yi Shen Granule groups. The content of BUN and Cre in serum of model control groups rats were higher than that of Yi Shen Granule groups. The results of excretion test of phenolsulfonphthalein showed that the RPF of Yi Shen Granule groups rats was larger than that of model control group rats.

结果： 益肾颗粒可以使0.75%腺嘌呤饲喂法致大鼠慢性肾衰模型动物体重增长加快；给药后观察，给药组动物饮水量较少，12小时尿量、12小时钠、氯、尿蛋白排泄总量均显著低于模型组动物，尿液比重值较大；模型组动物的RBC、HGB、HCT、MCV、MCH等指标的数值较给药组动物的数值小；给药组动物血清中BUN和Cre的含量较低；给药组动物酚红排泄率均高于模型组动物；给药30天，处死各组动物，尸解观察，模型对照组动物肾脏呈灰白色，各给药组动物肾脏表面均出现不同程度的红、白相兼的颗粒状纹理，各组动物肾脏均肿大，切面可见不同程度的腺嘌呤结晶沉积。

"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。