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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。

Electric remote control device adjustment is used, General monlchamus tuhung seat mounted above the keybed-iron plate, covering a hard plastic, and a flexible plastic to prevent ink seepage, each iron plate is fitted with a front end, eccentric roller roller bearing rings on both sides of the plastic top tight in tuhung roll, bucket seat is fitted with a total of 30 to 32 of these eccentric roll, each of which the width of the eccentric roll and 30 ~ 32 mm, when servo motor signal receiving console by mechanical structure, change the eccentric roller and rollers of the gap, so that once the monlchamus tuhung-high ink, led, according to the extruded plastic clearance form different deposit, attachthemselves in tuhung roll, roll over the ink input ink this structure is characterized by correctly restrict each supply the location of the monlchamus region of adjustment on the nearby monlchamus area for inking, plastic affected by friction, easy-to-wear constantly, you need to change on a regular basis.

而电不静调度是用遥控安拆来举行的，凡是的不朱斗座底下拆有一排琴键式铁板，暗不天包围一张软塑料片，而塑料片具有不塑性，制止油不朱的渗漏，每块铁板的前端拆有一个公道辊，辊双方的支承环不兵塑料片底不松在不朱斗辊上，不朱斗座上共拆有30～32个公道辊，每个公道辊的宽度约为30～32mm，当伺服电机剥夺把持台的暗记后，堵住板滞布局，保持公道辊与不朱辊的间隙，因此当不朱斗辊不静弹时，不静员油不朱挤不抬塑料片，不梢据间隙巨细变成差别不朱层厚度，附着在不朱斗辊上，堵住传不朱辊不输出匀不朱机构，这栽布局的特不面是可以不差不天不拘每个不求不朱区的场所，制止一个不朱区的调度差附近不朱区不求不朱度爆发感化，塑料片受到不停摩擦，难磨损，需按期调换。

MBRD1035CTLT4G easily expands data bus width to 32 bits or more using the Master/Slave select when cascading more than one device M/S = VIH for BUSY output flag on Master M/S = VIL for BUSY input on Slave BUSY and Interrupt Flag On-chip port arbitration logic Full on-chip hardware support of semaphore signaling between ports Fully asynchronous operation from either port LVTTL-compatible, single 3.3V (0.3V) power supply Available in 84-pin PGA, 84-pin PLCC and 100-pin TQFP Industrial temperature range (-40C to +85C) is available for selected speeds

1第1页，本页显示记录1-11，共11条记录分1页显示MBRD1035CTLT4G轻松扩展数据总线的宽度为32位或更多的使用主/从选择当级联多个器件M / S的= VIH对奴隶繁忙投入繁忙和中断标志对主M / S的= VIL数值忙输出标志上港口全部仲裁逻辑芯片的片上信号信号港口之间的异步操作完全由硬件支持任何港口的LVTTL兼容，（为0.3V）电源可在84引脚PGA巡回赛，84引脚PLCC和100引脚TQFP封装3.3V单工业温度范围（- 40C至+85 C）是选定的速度可

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一起遛宠物网在这几个月里，也曾经遭到过各大搜索引擎的排斥，也许从嘴巴上讲，或多或少，有埋怨或责怪过他们诸多的不公平，百度几度降权，收录狂减，google、yahoo也是同样的问题，但是每次，Z和C都是第一时间做检讨和自我检讨，仔仔细细检查网站的每一个角落，一个一个排除导致降权的因素，立马纠正，几经波折，终于，Z和C的一起遛宠物网开始活跃起来，逐渐被大众认可，开始被宠友们众口皆碑，广为流传，开始成为宠友们发布宠物、宠物用品交易的首先平台，在很多网站、论坛上也出现了该宠物网的影子，很多宠友，碰到问题时，慢慢的习惯了在他们的浏览器地址栏输入：www.176pet.com，寻找他们需要了解的宠物信息。

On the basis of the conclusion above, the nonlinear weak controllable vectors can be obtained, which compose the second class of weak controllable matrix, by means of matrix transfermations of the first class of weak controllable matrix. Furthmore the second criterion of weak controllability, accessibility and strong accessibility, which is more standard, more succinct and more practical, is obtained. On the basis of the first criterion and the second criterion, several important problems about nonlinear controllability are discussed, which include 1 local controllability; 2 three classes of local controllable decomposition, separately by means of local coordinate changes in the neighborhood of a nonsingular point, a point on a singular surface or a designated point x〓 with a designated input u〓; 3 the character of controllability of the ith state variable x〓 in different controllable areas and their boundaries.

在第一判别定理和第二判别定理的基础上，我们分析了非线性系统受控性质中的几个重要问题，所得到的结论包括i得到了非线性系统在可平衡点附近的能控性判别定理；ii分别给出了非线性系统在非奇异点、s阶奇面以及在状态空间内给定的一点x〓和输入u〓上的三种状态分解形式以及相应的求解方法；利用系统的Ⅰ型弱能控矩阵与Ⅱ型弱能控矩阵秩相等的条件，得到了只用系统的前n个弱能控向量来判断系统的弱能控性的判别定理；iii通过引入系统状态分量的三类受控区域边界的定义及相应的求解方法，初步探讨了非线性系统各个状态分量在不同的受控区域及其边界上的受控性质。

Effects of no- till in the different cover on conditions on crop yield in different cover on conditions were studied in dry land in the middle of the Loess Plateau, DingXi. Results showed that under the no-till form, Pea general increase output, agricultural input costs have decreased significantly , the average saves 810 Yuan / hm2; Under the different cover condition, the net income separately increases 1175.45, 1682.70, 968.25 Yuan / hm2, the economic efficiency is obvious.

本文通过在定西旱地农业地区实施保护性耕作，对免耕在不同覆盖条件下的豌豆产量进行了试验研究，结果表明：在免耕措施下，豌豆产量普遍增加，农业成本投入得到明显降低，平均节约810元/hm2；在不覆盖、秸秆覆盖和地膜覆盖的条件下，纯收入分别增加1175.45、1682.70、968.25元/ hm2。

The first device displays an input icon on the current screen image on the first device based on the position.

第一装置根据该位置显示在第一装置当前屏幕图像上的输入图标。

The input method of multi-scale data and three levels data index are investigated, a new own idea about how to represent multi-scale seamless data is advanced. The viewpoints that seamless GIS is looked on surface of globe reference ellipsoid as spatial information positioning standard and looked on geographic coordinates as reference of spatial data storage are explored, and based on reference ellipsoid surface coordinate, the measurement model of distance, azimuth angle and area are given.(4) The flowchart of data production of seamless GIS is analyzed, on the basis of the program algorithm and the interactive processing of feature adjoining relation, the data production method of seamless GIS is discussed.

研究了无缝GIS多格式、多比例尺空间数据入库的模式，创新性地提出了用数据中间件模式解决GIS多源空间数据无缝集成的新方法，研究了多比例尺数据入库的方法和三级索引机制，并对无缝GIS数据的多尺度表示提出了自己的看法；阐述了无缝GIS以地球椭球面为空间信息定位的参考面、以地理坐标进行空间数据存储的观点，并给出了在椭球坐标系下的距离、方位角和面积度量模型。

With the support of a major research grant of Zhejiang Province (No. 001101027) and the Plan of Promoting Education of Excellence of Zhejiang University in the 21st Century, this dissertation is devoted to address the above problems and fabricate an L-band EDFA with low cost, high performance and technological innovation.First the mechanism of an erbium doped fiber amplifier is introduced. Various theoretical models based on classical rate propagation equations are summarized and compared for their applications. We use a modified numerical model based on the Giles model, which agrees with the experimental results well. This serves as the theoretical base for the whole thesis and will be used to optimize the characteristics of EDFAs. A novel method based on a map of noise figure and gain is proposed to analyze efficiently the dependence of the noise figure and gain for EDFAs on the EDF length and the pump power. The characteristics of various EDFAs are studied and compared.Secondly, some important parameters are introduced to describe the characteristics of EDFAs. The methods and the experimental setups for measuring the gain and noise figure of an EDFA are emphasized. We introduce how to measure the characteristics of each component of an EDFA, especially the gain and absorption coefficient of an erbium doped fiber.Thirdly, four types of simple and novel L-band EDFA structures with low noise, high gain and low gain ripple are proposed to satisfy the requirement of a DWDM system. They can be classified into two categories. In the first category, a single ASE pumping is served asa secondary pump. This category includes the following three types. Type: a new construction using a fiber Bragg grating in an unpumped EDF section at the input side. Type: a new structure of L-Band EDFA with two-stage pumps, which utilizes the forward ASE as a second pump.

本论文本着科技创新、服务于生产实践的精神，以设计价格低廉，性能优越、结构合理简单的L-band EDFA为目标，依托浙江省科技厅重大科学基金资助项目(001101027)和浙江大学振兴教育计划资助的全光网络的搭建—《光通信技术》课程实验建设项目，展开了如下工作：首先，介绍了掺铒光纤放大器的工作原理，归纳总结了基于速率方程基础的EDFA的各种理论模型，分析比较了各个模型的特点和适用场合，最终选择完善的Giles理论模型作为本论文分析设计EDFA的理论基础；针对实际实验条件提出了修正的EDFA模型的数值计算方法；创新地提出了增益—噪声系数全局分析法，直观有效地分析了EDFA的增益和噪声系数与掺铒光纤长度和泵浦功率的依赖关系，并对各种EDFA的性能作了全面的比较；第二，介绍了掺铒光纤放大器特性参数的定义与测量方法，重点介绍了噪声系数和增益系数的测量方法及实验装置；介绍了组成掺铒光纤放大器各组件的特性测量方法，重点介绍了测量掺铒光纤参数的方法和实验装置；第三，针对WDM系统对L-band EDFA谱平坦、低噪声、高增益的要求，我们创新地提出了四种不同的L-band EDFA结构，按设计思路可以分为两大类：一类是基于单抽运二级泵浦法，这一类包括在未泵浦掺铒光纤的输入端插入一根布拉格光纤光栅的两段L-band的EDFA的新结构；基于前向ASE光作为二级泵浦源推动下一级EDF工作的泵浦分配、两段级联L-band的EDFA的新结构；基于单根光纤光栅、泵浦分配、两段级联的EDFA；另一类则是基于同时应用前后向C-band ASE作二级泵浦源的双抽运法，如基于前后向ASE光作为二级泵浦源的三段级联L-band的EDFA的新结构。

In consideration of the chain grate stoker with steam capacity of 20t/h,based on experimental testing data,a fast modeling with step input,was set up by calculating transfer function on step response curve,gets model parameters on "two-point method" on the first,and then modifies those parameters with "curve fitting method" through MATLAB/SIMULINK software,proves that the combination of "two-point method" and curve fitting mothod...

对阶跃响应曲线先采用&两点法&得出模型参数，再采用&曲线拟合法&对模型参数进行修正，从而实现系统动态特性建模。着重讨论了针对阶跃响应曲线，在&两点法&建模的基础上，进一步采用在MATLAB/SIMULINK软件环境下&曲线拟合法&对模型进行修正，发现&两点法&与&曲线拟合法&相结合的方法可以更准确地对系统进行建模。此方法可为锅炉燃烧优化设计、热力系统仿真研究提供热工对象理论模型，也可用于控制系统调试时控制参数的预选择。

For a big chunk of credit-card losses; the number of filings (and thus charge-off rates) would be rising again, whether

年美国个人破产法的一个改动使得破产登记急速下降，而后引起了信用卡大规模的亏损。

Eph. 4:23 And that you be renewed in the spirit of your mind

弗四23 而在你们心思的灵里得以更新