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The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

It advanced some rich insights into the relatedness of function and essence in psychic self's structure.

我们可以进一步说，理学所谓心理学是与现代心理学有很大不同的心理学，是探讨个人的精神自我的发展规律的心理学，即精神自我心理学。

Taking this into consideration,the author attempts to analyse the unique existing way and the function of the relator-"I"in this article by using the angle of vision of narratology from the feature of prose genre and then explains the unique narration structure of Lotus Pond in the Moonlight,hopes to seek a relatively clear research way.

从散文文体特征入手，运用叙述学的视角解析叙述者"我"在该文中独特的存在方式与作用，并进而阐释《荷塘月色》特有的叙述结构，可寻出一条相对清晰的研究路径。

The fire control system is complex in function and structure, which is inconvenient in maintenance and reparation test.

火控系统是一种大型的电子装备，由于其功能繁琐、结构复杂，维修测试时十分不便。

The program is good be about to begin to come true after my website, through the effort of a week, the structure of whole website came out, repass the test of period of time, basic function was finished, in April 20 I registered a domain name.cn, but the domain name that people says Cn does not use SEO to search (those who hear, do not know to whether be true), be in then in April 24 I registered a new domain name.com again, original plan buys a good space, but still hate to part with, after all fund is limited, but I am quite lucky still, sought a cheap space, and rate is quite good, also knowing because of me the space is speed also can affect a website to rank.

规划好我的网站后就要着手去实现了，经过一个星期的努力，整个网站的结构出来了，再经过一段时间的测试，基本的功能都完成了，4月20我注册了个域名。cn，但别人说cn的域名不利用SEO搜索，于是在4月24我又注册了个新的域名。com，本来打算买个好的空间的，但还是舍不得，毕竟资金有限，但我还是挺幸运的，找了个便宜的空间，而且速度都挺不错的，因为我也知道空间是速度也是会影响网站排名的。

Diagrams are used for representing design concepts and constructing function structure in the stage of conceptual design.

概念设计过程使用了多种图表来表示设计概念以及构建功能结构。

Structure, and the minimization of total cost of the retaining wall is chosen as an objective function.

全部约束均按现行规范的要求列出，并取挡土墙的总造价为目标函数。

By analyzing the revisal platform's characteristic and demand of elaborate forecast, the design idea, flow structure and main function of elaborate forecast platform were described.

在精细化预报订正平台特点及需求分析的基础上，阐述了精细化预报订正平台的设计思路、流程结构和主要功能。

With the development, both the numbers of pigment granules and the numbers and kinds of the organelles in the cell increased gradually, the diameter of the rhabdom and distance between the rhabdoms of the ommatidia increased too. The fine structure indicated that larva obtained the function of the light sensation gradually.

随着发育，幼体小网膜细胞内的色素颗粒、细胞器种类和数量、组成感杆束的微纤毛数量、感杆束的直径和间距等均有逐渐增加的趋势，表明复眼的感光结构是逐渐完善的。

OBJECTIVE: Some properties of the purified polysaccharide from the rhizomorph of Armillariella mellea was analysed to make a further understanding of the relationship between its structure and function.

目的：测定纯化蜜环菌菌索多糖组分的部分理化性质，以进一步了解Am结构和功能的关系。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。