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The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

Based on the calculation methods of nominal water-cement ratio of mortar and average paste thickness of standard sand provided by authors, the nonlinear relation between fluidity of mortar and nominal water-cement ratio of mortar , average paste thickness of standard sand, fly ash-binder ratio was established by using artificial neural network.

在给出水泥胶砂名义水灰比和标准砂平均浆体厚度计算方法的基础上，采用人工神经网络方法，建立了水泥胶砂流动度与水泥胶砂名义水灰比、标准砂平均浆体厚度、粉煤灰与胶凝材料用量比之间的非线性映射关系。

Based on the calculation methods of nominal water-cement ratio of mortar and average paste thickness of standard sand provided by authors, the nonlinear relation between fluidity of mortar and nominal water-cement ratio of mortar, average paste thickness of standard sand, fly ash-binder ratio was established by using artificial neural network.

摘要在给出水泥胶砂名义水灰比和标准砂平均浆体厚度计算方法的基础上，采用人工神经网络方法，建立了水泥胶砂流动度与水泥胶砂名义水灰比、标准砂平均浆体厚度、粉煤灰与胶凝材料用量比之间的非线性映射关系。

The nominal species that is the name-bearing type of a nominal genus or subgenus.

一个命名属或亚属的真名模式，亦即其命名种。

Of shares Amount shares Amount HK$'000 HK$'000 Authorised: Ordinary shares of HK$1.00 each 600,000,000 600,000 600,000,000 600,000 Ordinary shares, issued and fully paid: At 1 July 128,356,537 128,357 1,330,309,375 133,031 Consolidation of every ten shares of nominal value of HK$0.10 each into one share of nominal value of HK$1.00 each note (i ––(1,166,678,438)– Repurchase of shares note (ii (1,603,000)(1,603)(35,274,400)(4,674) Share option exercised note (iii 1,975,000 1,975 –– Conversion of convertible notes note (iv 40,909,090 40,909 –– At 30 June 169,637,627 169,638 128,356,537 128,357 Notes: Consolidation of share capital Pursuant to an ordinary resolution passed on 9 May 2007, the issued and unissued ordinary shares of HK$0.10 each of the Company were consolidated on the basis of every ten shares into one share of HK$1.00 each.

GOLDEN HARVEST ENTERTAINMENT LIMITED 180 Annual Report 2008 搜索公告牛即可看到网络上最快的个股公告财务报表附注截至二零零八年六月三十日止年度 28 股本及储备二零零八年二零零七年股份数目金额股份数目金额千港元千港元法定：每股面值1.00港元之普通股 600，000，000 600，000 600，000，000 600，000 已发行及缴足之普通股：于七月一日 128，356，537 128，357 1，330，309，375 133，031 每十股面值为0.10港元之股份合并为一股面值1.00港元之股份––(1，166，678，438)–购回股份(1，603，000)(1，603)(35，274，400)(4，674)已使行购股权 1，975，000 1，975 ––兑换可换股票据 40，909，090 40，909 ––于六月三十日 169，637，627 169，638 128，356，537 128，357 附注：合并股本根据于二零零七年五月九日通过之普通决议案，本公司每股面值0.10港元之已发行及未发行普通股按每十股合并为一股面值1.00港元股份之基准合并。

Nominal wage rate nominal wage rate for employers and employees in the labor market forces on behalf of the comparison results.

名义工资率名义工资率是劳资双方在劳动市场上分别代表的供求力量相比较的结果。

This is the simple ratio of the nominal output lumens over the nominal operational wattage.

它是简单的输出光功率与瓦特数的比值。

The results of the present research are as follows, The correlation between physico-chemical properties of organic compounds and their competitive power was studied, and it was indicated that organic compounds preferable to form H-bonding with organic matter of sorbents have stronger competitive power; Sorption behaviors of ionizable organic compounds in different species and their competitive power were examined, and the results showed that phenols and carbonxylic acids with benzyl circle have much stronger competitive power in molecular species than in ionized species, because negative charges of anionic forms can depressed their adsorption on the surface of the sediment; in contrast, organic bases such as aniline and p-chloroaniline show weaker competitive power in molecular species than in ionized species, and this is because both species of the organic bases could adsorb strongly onto the sediment; there is a correlation between competitive power of organic pollutants in multi-solute systems and their sorption isotherm nonlinearity in single-solute systems, and organic compounds whose sorption isotherms is linear in single-solute systems hardly have competitive power in multi-solute systems; Competitive sorption effects in more than two-solutes systems was studied, and it was exhibited that mixture of two cosolutes each of which could suppress sorption of nominal solute onto the sediment had synergistically competitive sorption effect on the nominal solute; A method about incorporating sorption/desorption of organic pollutants into river water quality model was developed, and discussion about degree of sorption/desorption effect on model prediction for different organic compounds was made, which will provide theoretical basis and practical processes for setting up more accurate water quality model.

论文主要取得了以下研究成果。(1)有机化合物的吸附竞争能力与其物化性质具有相关性，易与沉积物有机质形成氢键的化合物其竞争能力也比较强；(2)可离子化有机化合物的吸附竞争能力与其存在形态有关。酚类、含苯环的羧酸类化合物，其离子态的吸附竞争能力远小于分子态，其机理为有机酸阴离子所带的负电荷抑制了表面吸附能力，主要发生分配作用；而苯胺类化合物，其离子态和分子态都表现出显著的竞争能力，而且离子态的竞争能力略强于分子态，原因在于有机碱阳离子所带的正电荷促进了其表面吸附能力；有机化合物竞争能力的强弱与其单组分吸附等温线的非线性程度具有一定的相关性，吸附等温线近似为线性的化合物没有或只具有微弱的竞争能力；(3)对目标有机化合物的吸附具有竞争效应的有机化合物混合后，将对目标有机化合物的吸附产生协同竞争效应；(4)以京杭运河为例，率先提出了将有机污染物的吸附／脱附作用及水文水力参数耦合到水质模型中的方法，并讨论了吸附／脱附作用对不同有机污染物预测模型的影响，为建立更准确的水质模型及进行更客观的风险和生态评估提供了参考依据。

Results of pulling test reveal that the nominal strength ratio of corroded hot-rolled steel bar over uncorroded one is approximately equal to the ratio of maximum residual sectional area over the uncorroded one.And the rupture extension ratio of corroded hot-rolled steel bar is exponentially decreased with the maximum sectional loss ratio.The effect of stress concentration caused by corrosion pits has a significant influence on the decrease of rupture extension ratio but it is ignorable on the nominal strength ratio.

实验结果表明：锈蚀钢筋与未锈钢筋的名义强度比可近似取锈后钢筋的最大残余面积率，受锈坑应力集中的影响甚微；锈蚀钢筋的断后延伸率随最大截面损失率呈指数下降，受锈坑应力集中的影响显著。

The article adopts "humidity ratio" integrated emendation method and other two traditional emendation methods in emendation calculating on several group test results. The tests are : simulating test in artificial climate room on 110kV substation equipment of Yangbajing, Lasa and Yanghu by Xi"an High Voltage Lab; power frequency voltage discharge test of ZS-110 by Yunnan provincial electrical research academy. It compares and analyses the equipment test voltage emendated to standard atmosphere conditions with the equipment nominal withstanding voltage. And then it concluded that: the emendation value educed by "humidity ratio" integrated emendation method is basically equal or close to the equipment nominal withstanding voltage; but the values by two traditional emendation methods are mostly higher.It also proves that,"humidity ratio integrated emendation method is more perfect than any other methods, and it can reflect the influence degree of atmospheric parameters on electrical equipment outer insulation discharge voltage actually. The method should be spread in designing high elevation power projects.

文中选择&比湿&综合校正法和两种传统校正法，分别对西高所为羊八井、拉萨、羊湖110kV变电所设备所做的人工气候室模拟试验数据及云南中试所做的ZS-110工频放电电压试验数据进行校正计算，将试验电压的校正值与试验设备的标称耐受电压水平进行比较分析；认为：&比湿&综合校正法的校正值与设备耐受电压水平基本相等或接近，而两传统校正法的校正值大多高于设备耐受电压水平；进一步证明，&比湿&综合校正法是目前诸多校正法中较为完善的，能真实地反映大气参数对电气设备外绝缘放电电压的影响程度的校正法，在高海拔电力工程设计中应推广应用。

After 240 weeks, the cumulative probability of HBV polymerase mutations was 29%, but the cumulative probability of mutations with virologic resistance was 20% and of mutations, virologic resistance, and ALT elevations was 11%.

在治疗240周后，HBV聚合酶突变、病毒学抵抗和临床抵抗累积率分别为29%、20%和11%。4例患者有轻度肌酐水平升高。

Just a moment,and I will check for you,0750 and 1105 in the morning

稍等，我来查一下，上午07：50和11：05。