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Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Enterprises have been put forward, real estate agents have been necessary to set up a trade association to discuss and solve agency problem of manpower shortage.

企业已经提出，房地产经纪人有必要成立一个行业协会，以讨论和解决机构的人手短缺问题。

After the discussion of the static Markoff chain model,the dissertation establishs a normal set called Stat Model, which can be used to calculate a support probability of the experimental data sequence.The probability is a standard which is used to determine the existence of the abnormal behavior.Then an abnomal detection method based on the static Markoff chain model is discussed, and a detection arithmetic is brought forward, the results of experiment is given.

本文利用马尔可夫模型建立一个正常集，也就是统计模型，通过计算该模型对一个实际观测序列的支持概率来判断是否存在异常行为，并给出基于静态马尔可夫链的检测算法及其修正算法，最后给出实验结果。

We shall drive small and medium circulation enterprises to implement brand strategies, vigorously develop characteristic, specialized and branded operations, foster a batch of famous brands, carry forward and develop China's time-honored brands with great efforts; shall offer guidance to the said enterprises to carry out disturbed operation and change the status of old and identical business modes, lack of service brand and inferior methods of competition focusing on "price war"; shall actively promote cooperation, franchise operation, voluntary chains and other methods to set up a number of small and medium circulation enterprises with famous service brands and advantages of subjects of diversified investment, with support from competitive enterprises.

推动中小流通企业实施品牌战略。大力发展特色化、专业化、品牌化经营，培育一批中小企业的知名品牌，弘扬和发展中华老字号。引导企业实行错位经营，转变经营方式上陈旧雷同、缺乏服务品牌和以"价格战"等低层次竞争手段为主的状况。积极倡导通过联合、合作、特许经营和自由连锁等方式，依托有竞争力的企业，形成一批拥有著名服务品牌、多元投资主体的优势中小流通企业。

The concept of optimum monitoring symptom set, as well as the information integration monitoring method of principal components are put forward. The monitoring frame of information decomposition for gearboxes is presented.

齿轮箱是机组最基本的组成部分，论文第四章分别从信息集成及分解两个方面，研究了机组齿轮箱状态的监测。

And so I think what a miracle it would be if this miracle which man attends eternally should turn out to be nothing more than these two enormous turds which the faithful disciple dropped in the bidet. What if at the last moment, when the banquet table is set and the cymbals clash, there should appear suddenly, and wholly without warning, a silver platter on which even the blind could see that there is nothing more, and nothing less, than two enormous lumps of shit. That, I believe would be more miraculous than anything which man has looked forward to.

于是我想到，假如这个人类永远朝思暮想的奇迹原来什么也不是，只是甘地的这位忠实弟子在坐浴盆里拉的两截粗粗的大便，那将是怎样的一个奇迹埃假如在宴会桌已摆好，吃饭的铃声已响起了最后一刹那，在事先并没有告知大家的情况下一只大银盘突然端上来，连瞎于也可以看到上面不偏不倚、不歪不斜地摆着两截粗粗的大便-我认为这才是最叫人惊叹不已的奇迹，比人们盼望的任何奇迹更刺激。

Secondly combining the adjustment method of stability of theemployee-centered labor relation and moderateness mechanism and early-warningmechanism, the dissertation puts forward maneuverable proposals which set up the stableemployee-centered labor relation.

其次，结合员工主导型劳动关系稳定性的调整方式、协调机制和预警机制的机理，提出了构建企业稳定的员工主导型劳动关系的可操作性建议。

Chapter five modularized PLC program according to the hardware of PLC system, designed detailed process flow of the system and function block, put forward the way to set the bottleneck of system data process.

对系统及各个功能块实现了详细的流程设计，并对系统数据处理的瓶颈给出了解决方案。

Several key issues related to damage identification of structural health monitoring are expounded. A method for damage positioning, which is on the basis of the normalized change ratio of frequency, is developed. Then, a set of damage identification techniques based on modal parameter and neural network is put forward.

阐述结构健康监测中损伤识别的关键问题，介绍基于正则化的频率变化率的损伤定位方法，提出一套基于模态参数和神经网络的损伤识别技术。

Finally, according to the optimal value function, set up forward algorithm for dynamic programming equation and get the result.

最后根据最优值函数建立顺序动态规划方程并求解。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。