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Feeding can, output can and etching gas transmission system are connected on the reaction chamber, plate type positive and negative electrodes installed in parallel in the reaction chamber, with the negative pole connected with the water cooling device that connected with seal wave tube and the bottom of the reaction chamber actively, bottom of the water cooling device connecting with the vibrating source through vibrating shift lever, with the seal wave tube, vibrating shift lever and vibrating source on the bottom bracket that fastened to the bottom and installed on the oblique angle adjusting bracket.

本发明反应室上连接投料罐、出料罐和刻蚀气体输送系统，反应室内平行装有板式阳极和阴极，阴极与水冷装置连接，水冷装置通过密封波纹管与反应室底部活动连接，水冷装置底端通过振动转换杆连接振动源；密封波纹管、振动转换杆和振动源位于底架上，底架与反应室底部固定连接并安装于倾角调整支架上。

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。

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。

Meanwhile, it makes it difficult to apply angle conversion system to practical goniometry curcuit. The paper makes improvement on the fast following-up conversion and proposes a high-precision dynamic goniometer system and a nonlinear high-speed following-up conversion mode based on inductosyn. It analyses the causes contributing to the error and deduces the expression bf the basic goniometry errors caused by output signal inaccuracy, and also puts forward the bounds on error of axis-to-angle converting.

对快速跟踪型轴角转换方法进行了改进，提出了一种基于感应同步器的高精度动态侧角系统及非线性快速跟踪型转换方式，分析了产生轴角转换误差的主要原因，推导出由输出信号误差引起的基本测角误差表达式，并提出了轴角转换的误差界。

Make use of the tested data, the paper analyzed the vehicle output power, the efficiency of colligated transmission system, the power distributing on the process of turning, the roads and the pedrail influence on the torque, and the torque changing rules on the vehicle starting, changing transmission ratios, accelerating and braking, obtained the well-content result, it provide a powerful theoretical and technical support for the armored vehicle designed and make approved on.

利用测得的转矩和转速数据，对车辆的输出功率，综合传动的效率，转向过程的功率分配，路面及履带对转矩的影响以及起动，换档，加速，制动过程转矩变化情况进行分析，取得了十分满意的结果，为进一步对车辆进行改造和设计提供了强有力的理论和技术支持。

In general,(1) price fixing and rationing regulations were ended too soon, before the output of peacetime goods had risen to a level high enough to absorb the accumulated purchasing power in the hands of consumers from their efforts in war production; thus, the slowness of reconversion from war production to peace production caused a short supply at a time of high demand;(2) the Allied exchanges, which had been controlled during the war, were unpegged in March 1919 and at once fell to levels revealing the great price disequilibrium between countries;(3) purchasing power held back during the war suddenly came into the market;(4) there was an expansion of bank credit because of postwar optimism;(5) budgets remained out of balance because of reconstruction requirements, reparations, demobilization expenses (as in the United States, Italy, and so on); and (6) production of peacetime goods was disrupted by revolutions (as in Hungary, Russia, and so on) or strikes (as in the United States, Italy, France, and so on).

一般而言（1）固定价格和配给的管理机制结束太早，和平时期商品的产量尚未上升到足以吸纳消费者们在军工生产中聚积在手中的购买力，这样，战时生产转换到和平时期生产的缓慢过程中，在一段时间内，产生了供给不足而需求旺盛。（2）战争期间，盟国的外汇兑换曾被人为控制，1919年3月，管制解除，一时之间，国家之间价格的失衡就显现出来。（3）战争期间被抑制的购买力突然涌入市场。（4）战后，乐观主义抬头，银行信贷扩张。（5）因为重建家园的需求、战争赔款、裁军花费，预算始终不能平衡。（6）和平时期商品的生产不断被革命或罢工（如美国、意大利、法国等等）所扰乱。

On the flexibility of tactics after more than a pass is flexible and I am not here to say, I will talk about the main points: 1, if a D does not increase blood bears do not return to open the same violent avoid opening kill, and disappear, lost to blind DZ, equipment can only say that a bit far worse; 2, if the Bears D to open violent response, you should not continue to attack and should attack you = reply to the HP, do not control, even if not control him, and he will not stay in the number of anger, not much damage output; Bears D on a human five seconds halo skills CD for 30 seconds, if the DZ had tried to avoid being hit, the general gambling Bear D will not take the skills, if HP Xiong D is less than 50% when using this skill, take one's time to lift the recommendations to see if he is a change or continue to bear form, the early lifting of the Bears D changed their tactics, then, and fight back, you will be injured, if he changes were increases in blood or take the skills, you will be the speed of response, and who is in the form of the XD is too fragile, and this time a counter-attack by DZ, the basic die is disabled. 3, proposed by the drug for the treatment and slow down (do not underestimate the slowdown, though XD turned the speed of the lifting of restrictions on DEBUFF, but turned when it is more dangerous, and at the same time suggest that a variety of turned to see Wang XD) Of course, bring their own drugs slow down the damage can be free with the.

之后的战术就灵活多了，打发是灵活的，这里我就不继续说，我就说说要点：1、如果一个熊D不加血不用开狂暴回复一样杀掉开闪避、用消失、丢致盲的DZ，只能说装备上差的有点远了；2、如果熊D开狂暴回复，你就最好不要继续攻击了，应为你的攻击=回复其HP，也不要控制了，就算不控制他，他怒气也不会留多少，伤害也输出不了多少；熊D就一个晕人5秒的技能CD为30秒，如果DZ开了闪避，一般熊D不会赌博的放这个技能，如果熊D是HP少于50%的时候用这个技能，建议不忙解除，看看他是变人还是继续熊形态，早早的解除的话熊D改变战术，和你拼命，你会很受伤，如果他变人加血或者放技能了，你就要速度反应了，人形态的XD是在是太脆弱了，这个时候被DZ一个反击的话，基本不死也就残废了。3、建议上毒为减治疗和减速（别小看减速，虽然XD变身解除限制速度的DEBUFF，但是变身时候是比较危险的，同时建议各位XD看看各种变身宏）当然了，毁伤自带减速毒就可以自由搭配了。

As Railway Freight Tariff reform is a very sensitive issue, therefore, in the final part of this thesis, input-output analysis theory in the national economic management is used to analyze the impacts of price reform in three aspects: the impacts of Railway Freight Tariff price reform on other industries; the impacts of Railway Freight Tariff price reform on railway itself; the impacts of Railway Freight Tariff price reform on the general price level of society.

由于铁路货物运价改革是个很敏感的问题，因此，本论文在最后一部分运用国民经济管理学上的投入产出分析理论对铁路货物运价改革所产生的影响从三个方面进行了研究：铁路货物运价改革对国民经济其他部门的影响；铁路货物运价改革对铁路货运部门自身的影响；铁路货物运价改革对社会物价总水平的影响。

Based on the review of progress in parametric uncertainty nonlinear system control theory, it is noticed that design methods based on feedback linearization are the main parts and the author proposes a robust controller design method for a nonlinear parametrization uncertain system satisfying feedback linearization and triangularity conditions,and a robust output tracking controller for a nonlinear parametrization uncertain system based on the identification of uncertain parameters.

在对该领域研究进展分析的基础上，针对满足三角形条件和反馈线性化条件的非线性参数化不确定系统提出了一种鲁棒控制器设计方法，并针对非线性参数化不确定系统提出了基于参数识别的鲁棒输出跟踪器的设计方法。后者是本文为飞机防滑刹车系统设计输出跟踪器的理论基础，同时也是本文的创新点之一。在对结合力产生本质讨论的基础上，分析了滑水现象产生的原因和预防措施。

Treasury bond market, the interest- rate- transmission-effect-testing model has significant parameter estimation, displaying undeclinable influence of monetary policy on interest rate latent factors, negative effect on output and inflation, positive effect on short-term interest rate, and negative effect on long-term interest rate due to inflation expectation decreasing under positive shock of monetary policy.

对于美国为代表的成熟金融市场，利率效应检验的利率期限结构模型参数估计具有高显著性，货币政策对利率潜在因素的影响无法忽略，对产出和通货膨胀都产生负效应，对短期利率产生正向影响、对长期利率则产生负向影响——因为货币政策正冲击显示了货币当局对通货膨胀率的调控态度，长期利率会因预期通货膨胀的下滑而降低。

We have no common name for a mime of Sophron or Xenarchus and a Socratic Conversation; and we should still be without one even if the imitation in the two instances were in trimeters or elegiacs or some other kind of verse--though it is the way with people to tack on 'poet' to the name of a metre, and talk of elegiac-poets and epic-poets, thinking that they call them poets not by reason of the imitative nature of their work, but indiscriminately by reason of the metre they write in.

索夫农 、森那库斯和苏格拉底式的对话采用的模仿没有一个公共的名称；三音步诗、挽歌体或其他类型的诗的模仿也没有——人们把&诗人&这一名词和格律名称结合到一起，称之为挽歌体诗人或者史诗诗人，他们被称为诗人，似乎只是因为遵守格律写作，而非他们作品的模仿本质。

The relationship between communicative competence and grammar teaching should be that of the ends and the means.

交际能力和语法的关系应该是目标与途径的关系。