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The method comprises:(1) weighing lead acetate hexahydrate and thioacetamide, and preparing aqueous solutions respectively, so that the concentration ratio of Pd2+ to S is 1:(1-4);(2) adding acetic acid into thioacetamide solution to adjust the pH value to 2-4;(3) adding poly surfactant into lead acetate solution, ultrasonicating to mix uniformly and obtain a colorless and transparent sol;(4) mixing the sol and thioacetamide solution;(5) placing the mixed solution in a sealed container, irradiating by 2.5 MeV and 40 mA electron accelerator with irradiation dose of 25-40 Mrad;(6) washing the product, centrifuging for separation, and drying to obtain black PdS nanoparticles.

本发明方法的工艺过程如下：首先称取一定量的六水合醋酸铅和硫代乙酰胺，各自配制成水溶液，其浓度比为使其中的铅离子浓度与硫原子浓度的比例为1∶1～1∶4；在硫代乙酰胺溶液中加入适量醋酸调节其pH值至2～4；醋酸铅溶液中加入少量表面活性剂聚乙烯醇，然后超声振荡，混合均匀，制成无色透明溶胶；随后将溶胶与上述的硫代乙酰胺溶液混合；将该混合液置于密闭容器中，并将其放置于2.5MeV、40mA的电子加速器产生的电子束辐照下进行辐照处理，其辐照剂量为25～40Mrad；然后将反应生成物清洗，并用高速离心机离心分离，然后干燥，最终得到黑色纳米硫化铅颗粒。

One kind is using the particular solution of the indefinite equation, which can be obtained by the property of the prime number , and the foundation system of solution of its corresponding homogeneous equation ,obtains its solution formula. Another kind is under the foundation of the matrix primary line transformation, and with the aid of some knowledge of numeral theory, obtains its solution formula.

一种是利用该不定方程的一个特解和其相对应的齐次方程的一个基础解系，得出该不定方程的求解公式，而这个特解可以由素数性质得到；另一种是在矩阵的初等行变换基础上，借助一些数论知识，得出该不定方程的求解公式。

Use indene respectively solution of 3 ketone acetone, indene solution of 3 ketone Freon, indene solution of aether of 3 ketone oil, solution of alkyl of 3 ketone age makes indene the experiment is compared.

分别采用茚三酮丙酮溶液，茚三酮氟利昂溶液，茚三酮石油醚溶液，茚三酮庚烷溶液作试验比较。

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。

This paper study the character and application of the solution of BSDE, the main results include: for the second kind of BSDE, the existence and uniqueness of the solution under non-Lipschitz condition, comparison theorem and stability are established , under weaker condition , the existence of the minimal and maximal solution is proved and the application in stochastic control and utility function is given; for the first kind of BSDE, under weaker condition , the existence of minimal and maximal solution .stability, comparison theorem and application to utility function are proved.

本文研究倒向随机微分方程解的性质及其应用，主要结果有：针对第二类方程，讨论了在非Lipschitz条件下倒向随机微分方程解的存在唯一性，比较定理及稳定性等，在更弱条件下，得到了倒向随机微分方程的最大解和最小解的存在性，在此基础之上，给出了在随机控制及效用函数方面的应用；针对第一类方程，同样在较弱条件下，证明了方程最大、最小解的存在性、稳定性、比较定理及其在效用函数的应用。

This paper study the character and application of the solution of BSDE, the main results include: for the second kind of BSDE, the existence and uniqueness of the solution under non-Lipschitz condition, comparison theorem and stability are established , under weaker condition , the existence of the minimal and maximal solution is proved and the application in stochastic control and utility function is given; for the first kind of BSDE, under weaker condition , the existence of minimal and maximal solution .stability, comparison theorem and application to utilityfunction are proved.

本文研究倒向随机微分方程解的性质及其应用，主要结果有：针对第二类方程，讨论了在非Lipschitz条件下倒向随机微分方程解的存在唯一性，比较定理及稳定性等，在更弱条件下，得到了倒向随机微分方程的最大解和最小解的存在性，在此基础之上，给出了在随机控制及效用函数方面的应用；针对第一类方程，同样在较弱条件下，证明了方程最大、最小解的存在性、稳定性、比较定理及其在效用函数的应用。

The lattice parameters in both solid solution at equilibrium andextended solid solution prepared by melt quenching seem to be predicted with moreaccuracy.By this modified model,the lattice parameters of Cu-Al,Cu-Si and Ni-Al systems solid solution at equilibrium and Ag-Sn,Ag-La and Ag-Gd extendedsolid solution were calculated.They are in better agreement with the experimentalvalues than the Moreen′s.

用本修正方法可以更准确地预测平衡固溶体和溶体淬火制备的扩展固溶体的品格常数，计算了Cu-Al，Cu-Si，Ni-Al平衡固溶体和Ag-Sn，Ag-La，Ag-Gd系扩展固溶体的晶格常数，本修正方法计算值比Moreen模型计算值与试验值相符更好。

Results:①In normal extracellular solution, the non-selective cholinergic agonist acetylcholine and the muscarinic agonist muscarine both caused the increace of [Ca2+]i in separately 21 out of 25 and 14 out of 18 VHCs I, while only 3 out of 20 and 2 out of 16 VHCs I had a weak increase of [Ca2+]i if investigated in calcium free extracellular solution; nicotine could increase the [Ca2+]i in 7 out of 32 VHCsⅠonly at enough high concentration(up to 10 mmol/L) in normal extracellular solution, this [Ca~(2+)]_i increase by nicotine at high concentration could not be investigated if at calcium free solution.

结果①非选择性胆碱能受体激动剂乙酰胆碱、M型胆碱能受体激动剂毒蕈碱在正常细胞外液中均可引起大部分(21/25， 14/18)单离VHCⅠ[Ca~(2+)]_i的升高，但无钙外液中ACh、muscarine仅使少部分(3/20，2/16)VHCⅠ[Ca~(2+)]_i升高且作用减弱；正常外液中，N型受体激动剂尼古丁仅在高浓度(≥10 mmol/L)时引起部分(7/32) VHCⅠ[Ca~(2+)]_i升高，在低浓度时对胞内钙离子浓度影响不明显，无钙外液中，10 mmol/L nicotine对胞内钙离子浓度影响不明显。

Here mainly introduces five natures of the initial value problems, In several aspects summed up as the following : whether there are solutions to the problems, whether the only solution, the existence of solutions interval extent; Initial issues under what conditions have a solution--Cauchy - Piano existence theorem; how the district between the definition of a solution to open up a larger interval up; initial value problems for the sole condition --- Lipschitz conditions; 3、the numerical solution of the initial value problems of Ordinary Differential equations .

在这里主要介绍了初值问题的5个方面的性质，分别在这几个方面中总结了以下内容：初值问题是否有解，解是否惟1，解的存在区间有多大；初值问题在什么条件下有解----柯西-皮亚诺存在定理；怎样把在小区间上有定义的解开拓到较大的区间上去；初值问题解的惟1性条件---李普希茨条件；3：常微分方程初值问题的数值解法。

Procedure—Separately add 6.0mL of Ammonium Citrate Solution and 3.0mLof Potassium Cyanide Solution to the Standard solution and the Test solution.

步骤－将6.0ml的柠檬酸铵溶液和3.0ml的氰化钾溶液分别同时加入至标准溶液和测试溶液中。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。