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The recursive least-squares estimation method is used to estimate the parameters in the modelled part of the robot dynamics, and the parameters is used to form the feedback control based upon the so-called"inverse system method". The unmodelled part of the robot dynamics is compensated by a learning control law. This not only increases the learning convergence speed and the control system robustness, but also extends the control method to non-repetitive tasks after sufficient learning.

采用递推最小二乘辩识方法来辩识机器人动力学特性中可建模部分的模型参数,并以此来构成反馈控制策略,而对未建模动特性和未知扰动的影响采用学习控制的方法予以克服,从而提高了学习控制过程的收敛速度和鲁棒性,拓宽了它的适用范围。

In addition, deterministic calculations were carried out using (1) arithmetic mean values of untransformed hydraulic parameters,(2) arithmetic mean values obtained after backtransformation of Gaussian distributed parameters, and (3)alternatively using a set of mean bimodal retention and conductivity curves. Predictions obtained with the two stochastic methods and the deterministic cases are compared with measured cumulative outflow and moisture content profiles from fifteen 1 m long undisturbed soil columns collected along the same transect.

此外,决定论计算被实行使用改变与水有关的参数的(1)算术平均价值观,在 backtransformation 以后为得到高斯的(2)算术平均价值观的散布参数和(3)另一种选择使用一套卑鄙双峰的保留和传导性弯曲。,用二有可能的方法和决定论情况为得到的预言被把和仔细斟酌累积的流出比较和从十五1 m 长不受干扰土壤柱,沿着把同样的 transect。

The inclined capacity of BHA is analyzed, which is affected by various parameters. It is shown that the lateral force of drill bit and inclined capacity of BHA have something to do with the parameters(the distance between drill bit and the first stabilizer, outside diameter of the first stabilizer, WOB etc).

分析影响常用钻具井斜性能的因素,得到了近钻头稳定器与钻头间距变化、稳定器工作外径变化、钻压变化等能够改变钻具井斜性能;同时以一组双稳定器钻具组合为例,分析钻具节点的位移变化图、弯矩图和应力分布图可得出钻具上的受力变形情况。

The relations between the parameters of the saturated porous micropolar theory and those of the corresponding one_phase medium are established by means of the Greetsma theory. It has merits that the physics parameters in our dynamic equations of the saturated porous micropolar medium have a definite physics meaning and are easy to be tested in laboratory.

借鉴Greetsma理论,建立了饱和多孔微极介质弹性本构方程力学参数与相应单相介质弹性参数的相互关系,使饱和多孔微极介质弹性波动方程中的物理参数具有明确的物理意义,易于在试验中确定。

Finally, we present an arithmetic of multiplehypocentral, heterogenous dislocation, and a multirupture segment superposition model for simulating the earthquake deformation field. The simulated LOS interferometry map presents the distribution characteristics of the earthquake deformation field better than that of previous studied. Meanwhile, a suit of fault geometric parameters of the earthquake is also obtained by the study. Having a better effect upon simulating asymmetry, great dislocation, macro rupture field, and nonhomogeneity of dislocation than the traditional model, the multisegment method is a progress of this work. It provides a better explanation for the study on hypocentral parameters.

基于上述原因,本文对Okada线弹性位错模型的算法进行了改进,提出了&多震源、非均一位错分量、多破裂段叠加&的线弹性模型,该模型模拟出的形变场干涉纹图较好地体现了地震形变场的分布特征,并由此获得了一套较为完整的地震发震断层的几何学特征参数,为破裂带长度、破裂面方向、破裂面大小等震源破裂特征参数研究提供了较好的解释。

Basing on the the best batch and the best parameters of heat treatment,we mainly investigates the quotiety and quality of deoxidized iron during the course of parent glass preparing according to the characteristic of batch; meanwhile, we discussed the effects of different kinds and contents alkali metal oxid on the glass-ceramic properties,and technics parameters of prepareing the glass-ceramic composite tube by centrifugal molding are also researched originally.

在获得镍渣—粉煤灰微晶玻璃的最佳配比以及最佳热处理制度的基础上,根据配料特点对玻璃熔制过程中铁的还原效果及还原质量进行了分析研究;着重探讨了不同类型、不同含量的碱金属氧化物对微晶玻璃性能的影响;同时也对微晶玻璃复合管的离心制备工艺进行了初步研究。

For low permeability oilfields, radial flow straight-line portion should not appear in producer measuring data during shut-in build up tests. A practical method to interpret formation parameters based on well testing data at early fillup period has been established With the application of this kind of method, ideal interpretation results can be obtained when the measure pressure data lie above and under semilog straight-line portion, and the formation parameters can be interpreted more reliably.

对于低渗透油田,在通常的关井压力恢复测试中,油井测压资料不能出现径向流直线段,针对这种情况建立了一种用早期续流段试井资料解释地层参数的实用方法,通过计算续流量利用褶积分析方法解释早期试井资料,可对实测压力数据点落在半对数直线段上方和下方的两种情况都收到较理想的解释效果,能解释出比较可靠的地层参数。

Aiming at a typical complex electromechanical system—temper mill, the study takes its main driving control system as object of study, works out such a difficult problem that many parameters are coupled mutually, hard to be set and configurated in complex electromechanical system, and makes the performance goal of the control system be optimal in the adjustable ranges of parameters.

分析了遗传算法和模拟退火算法寻优性能和各自的不足与局限性,将两种算法巧妙地结合起来加以修正、取长补短构成新的退火遗传算法,提高了算法的整体寻优性能;并以典型的复杂机电系统—平整机为研究对象,以其主传动速度控制系统为切入点,应用退火遗传算法,解决了复杂机电系统中多参数、相互耦合、难于整定和组态的难题,使控制系统的性能指标在参数可调范围内达到最优。

We use simulation analysis output curves to study the chancing property of the movement parameters and the spreading performance parameters.

利用仿真输出曲线研究了空载和不同加载情况下,不同压力时折叠翼的运动参数和展开性能参数的变化规律。

The synthetic nourishment index method averages the trophic index of all parameters, and then evaluates the degree of the eutrophication. The total composition analysis nourishment evaluation colligates all kinds of representative parameters, and then evaluates the degree of the eutrophication. The grey system theory method evaluates the degree of the eutrophication through a series of calculations, such as constructing situation and situation matrix, confirming object degree, and so on.

总成分分析营养度评价法是通过对各单因子的分营养度进行算术平均,将水体营养状态连续分级;综合营养状态法是综合多项富营养化代表性指标,将其表示成指数,对水体营养状态连续乡级;灰色系统理论法是通过构造局势与局势矩阵、确定目标效果测度、多目标决策、确定最优局势等一系列系统分析计算,判断水体富营养化级别。

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According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm~150rpm时取得最大值,此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世,形体几无变化。

When I was in school, the rabbi explained everythingin the Bible two different ways.

当我上学的时候,老师解释《圣经》用两种不同的方法。