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Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

In view of globe lens grinding, multi-component glass substrate ion exchange and crystallization of the glass substrate of light and heat, a method is proposed for designing, manufacturing aplanatic double-convex aspherical waveguide lens and testing its parameter.

针对微透镜制作采用的球透镜研磨，多组分玻璃基板离子交换，结晶化玻璃基板光热法，本文提出非球面消球差双凸波导透镜设计、制备及参数测试方法。

The application shows that the terminal has good performance in generality and expansibility, and can be applied to guarantee devices working in multi-field safely and stably.

实际应用表明，该监控终端具有较好的通用性和扩展性，能够应用于多个行业，保障设备的安全稳定运行。

Therefore the supplement of the real estate venture capital appraisal index,using the multi-objective synthesis decision making,becomes the important question of the decision-making analysis.

因此补充和完善房地产风险投资的评价指标，采用多目标综合决策，全面衡量风险投资的经济效益和风险程度，成为决策分析的重要问题。

Based on a lot of calculating analyses on various working condition, the thesis give the approximate calculating formula of multi-order natural frequency of vibration of round silo.

对不同直径、不同高度的实体单仓进行了大量的、多种工况的计算分析的基础上，提出了计算圆型筒仓的多阶自振频率的近似计算公式。

The results showed that after the multi-layer forests been planted, Hibiscus tiliaceus and Araucaria excelsa have grown fairly well, and have replaced Casuarina equisetifolia as the dominant species on the stands.

调查结果显示复层林造林后，黄槿与小叶南洋杉生长相当良好，并已逐渐取代木麻黄成为优势树种。

By using the sliding mode approach and a multi-step control strategy, a new controller is presented, which can not only satisfy the control constraints but also stabilize the system to an arbitrarily small ε-neighborhood about its equilibrium in a finite time.

利用滑动模态的思想和多步控制策略，设计了不连续反馈镇定律，该镇定律一方面满足控制受限条件，另一方面使得闭环系统的状态收敛到预先给定的原点的任意小的ε邻域中。

The theory and approach are introduced, and the general expression containing arbitrary parameter is obtained for the feedback gain matrix. This method changes the problem of multi-input system to several problems of single-input. The number is the cycle index of system matrix. Compare with some known results, this method put forward that the least number of unknown entries of the feedback gain matrix is the order of the system matrix.

汽配置问题，得到了反馈增益矩阵的一般表达式，此表达式中含有任意参数，此方法将多输入线性系统极点配置问题转化为个数为系统矩阵循环指数的单输入系统的极点配置问题，进而推导出确定一个反馈增益矩阵的最少元素个数即为系统的阶数。

Generally, it is very important to planning the coordinated path for the multi-redundant arc welding robot system.

对于冗余自由度的弧焊机器人系统，协调路径规划是非常重要的。

Using the data and theory of archaeology, history, chorograhy, pedigree, folklore , ethnography , sociology, philology, literature and architectonics etc., combined with the data of fieldsurvey , the author carry out a comprehensive research on the origin of hakka from a multi-perspectives and provide a new opinion on this problem.

本文应用考古学、历史学、谱牒学、民族学、民俗学、社会学、语言学、文学和建筑学等多种学科与社会调查相结合，对客家的源流进行多角度、多层次地综合研究，提出了客家民系的形成是以中原南迁汉族为主体，同时吸收本地少数民族血统与文化的"融合"说。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。