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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。

"A Dream of Red Mansions", although the translation of research case studies, but in two languages, two types of Comparative Literature and cultural studies can learn a wealth of inspiration and resources to sort out the scientific method to sum up, you can make our translation Research based on language, literature and cultural comparative study on the solid foundation, in contrast to linguistics, comparative culture, literature and art aesthetics and poetics of translation has been found and so on, for the construction of translation studies and translation of the cause of the development of its own contribution to

红楼梦》的翻译研究虽属个案研究，但在对两种语言、两种文学和文化的对照研究中可以汲取丰富的灵感和资源，用科学的方法加以梳理总结，可以使我们的翻译研究建立在语言、文学和文化对照研究的坚实的基础之上，在对照语言学、对照文化学、文艺美学和翻译诗学等方面有所发现，为翻译学的建设和翻译事业的发展做出自己的贡献

My name is XX,24 years old,Koreaner,and graduated from XX major on july this year.i have dad ,mom,and sister in my family.father is a worker in a airport,while mother is a teacher.i grew up at such traditional family,so parents were strict with me,they tought me much.until graduation from high school,I was able to enterYanbian University without parents' care.instead of feeling reluctant to part with parents,I was imvolved in new life rapidly.because of my lively personality and easy-going,teachers and classmates spoke highly of me.at other times,I loved reading and searching information in the internet.morover,I reinforced own Korean,english and computer competency continuously,took advantage of two years to study korean in the opportunity class,and then met many foreign friends to proceed mutual learning as partners.over my four-studing out of home,I cultivated strong characteristic,which made me overcome many difficulties from studying nad living.i majored in education technology ,the professional subjects contain three aspects about hardware and software on computer,education and use of multimedia,for example,OFFICE software,IMAGE-PROCE ING software,NLE software and various computer language,data organization,digit circuit,education,educational psychology,distance learning etc.i valuing practice often do come part-time jobs to accumulate some social practice experiences by making use of outside school hours ,except for the basic curriculums in the school.in my leasure time,I often go sporting,such as mountaineering,swimming,riding bicycle and so on,as well as paricipation some activities organized by sc

我叫XX，今年24岁，朝鲜族，今年7月毕业于XX专业。家庭成员有爸爸、妈妈和姐姐，父亲是一名飞机厂工人，母亲是一名人民教师，从小在这样传统的家庭中成长，父母对我的管教也很严格，教会了我许多做人的道理。直到高中毕业，离开父母呵护的臂膀来到了延边大学，没有对家的恋恋不舍，而是很快的融入到了新的生活中，由于我的性格活泼开朗并且随和，老师和同学们对我的评价也都非常好，平时我喜欢看书和上网浏览信息，另外不断加强自身的韩国语、英语和计算机能力，利用两年时间在补习班学习了韩国语，并认识了许多外国朋友结成partner互补学习，在外求学的四年中，我养成了坚强的性格，使我克服了许多学习上和生活中的一些困难。我的专业是教育技术学，专业课程包括计算机的硬件及软件、教育学和多媒体的使用三大方面。OFFICE软件、图象处理软件、非编软件以及各种计算机语言数据结构，数字电路，教育学、教育心理学、远程教育等。注重实践的我除了学校的基本课程外，经常利用课余时间做一些兼职以积累一定的社会实践经验，平时还喜欢做一些运动，例如登山、游泳、骑自行车等，并经常参加学校里组织的一些活动。开朗乐观是我对待生活的态度，吃苦耐劳是我对待工作的原则。

In such doing, this dissertation serves as a step stone for papers of its counterparts to come, and, more importantly, it proposes a strategic alternative to the realization of models for image processing. This dissertation consists of three major parts. In the first part, detailed discussions and delicate analyses of academic papers on Cellular Neural Network will be provided in the hope of helping us see the potentiality of Cellular Neural Network in the applications of image processing. I will focus on the aforementioned limitations on hardware compilation as well. In the second part, I will put forth "texture analysis" as one basic model of analysis when we apply Cellular Neural Network to image processing. In this so-called texture analysis, a useful "spatial feature" is especially drawn to help us overcome possible problems of more complicated Cellular Neural Network applications in image processing."Spatial feature" also serves as a well-functioning mechanism for technology of image identification. In the last part of this thesis, I will look into a case study, where Cellular Neural Network is applied to help de-screen document image. Using it as an example, we will see how algorithms of Cellular Neural Network may be of marvelous use in applications in document image processing, since it would reduce a great deal of calculation and computation when applied to software compilation, yet opens up unlimited possibilities for higher-speed hardware compilation of high-level image processing.

这篇论文主要可以分为三大部分：在第一部份里，我们会详细地说明并讨论在过去到现在大部分将分子类神经网路应用於影像处理的相关文献及未来所有可能的发展和技术，另外也将分子类神经网路作一完整的介绍，除此之外，我们也会特别著重於分子类神经网路在影像处理相关应用理论的讨论以及其硬体实现化的考量；在第二部分里，我们提出了一个将分子类神经网路应用於影像辨识处理的基础分析—纹路分析，这是由於纹路分析的复杂性和普遍性会使得分子类神经网路於高阶影像处理的应用不会只局限在单一的影像处理技术，其中我们也提出了一个相当有用的空间特徵，此一特徵不但可以使复杂地高阶影像处理能够应用分子类神经网路，也为影像辨识技术提供了一个很好的辨识机制；在最后一部分里，我们也将文件影像分析做了一个完整的剖析，并以文件影像的去网点为例来说明在实际情况下的分子类神经网路的应用，如此演算法的开发也为文件影像处理提供了更多实际的应用，更考量了文件影像处理若以软体实现时的计算量负荷，而对未来高阶数位影像处理能够以硬体实现来提高处理速度提供了无限的可能。

Proceed from general conclusion of algebra on the finite field, study this special algebra system of Elliptic Curve on the finite field, Discuss that sets up several theories of the Public Key Cryptosystems and the problems of implementation on it.

从有限域上的代数的一般结论出发，研究有限域上的椭圆曲线这一特殊的代数系统，讨论在其上建立公钥密码体制的若干理论和实现问题。

In china, the research on ground stone tools focused on pre-historical stone typology, and then used the conclusion to study the communication and the influence between different cultural communities. The research on technology and function of the ground stone tools still is in the preliminary stages. Some issues, such as lithic resource, theories and the methods have not been set up.

我国关于磨制石器的研究，主要集中于史前石器类型学上的考察，进而研究文化群之间的相互影响与交流；关于制作工艺、工具用途等研究尚处于起步阶段，产地研究等还是空白，理论和方法尚未建立；学者多注重个案并非石器组合的研究。

Since the reform and opening up, the government has carried on a lot of reform and exerted great effect on the economic and social development, which enlightens the author to set forth the opinion of"social economic person"and probe into the government's"social economic person"function under the socialism market economy and further analyze the government function transformation, based on the study angle of view related to the research fruits of Politics, Economics, Law and Economic philosophy etc. and the hypothesis of"economic person"in Economics and the government as a macroscopic pacificator.

改革开放以来，政府进行的政府体制改革及政府在经济社会发展中发挥的作用启发作者运用政治学、经济学、法学、经济哲学等学科的研究成果，本文以经济学中的"经济人"假设及政府作为宏观层次的调控者为研究视角，提出"社会经济人"的观点，探求社会主义市场经济中政府的"社会经济人"功能，并进一步分析政府职能转变。

It is difficult to develop.Finally, aimed at the problem about biology pesticide industry and combined with expert opinion this article put forward the strategy as follows: strengthen government behavior, try for policy support, wide trench to raise industrialization money of biology pesticide, set up Machine-made of innovation , actualize technological innovation of enterprise, integrate production and learn and study, promote translation of technological production, increase popularization and application of biology pesticide, set up the lex and change conception and stick to look a man as root and so on . I hope it can offer the reference when the policy of industry is established.

论文最后针对我省生物农药产业发展中存在的问题，结合专家意见，提出了强化政府行为，争取政策扶持；广辟渠道，多方位筹集生物农药产业化资金；建立健全创新机制，实施企业技术创新；产、学、研相结合，促进科技成果的转化；加大生物农药推广应用；建立健全法律体系，变革管理观念，坚持以人为本等对策与建议，希望能为我省产业政策的制定提供一定的参考。

The results of the study showed that:① Using dozens of kilograms of explosives the signal can be detected at distances up to 200 km;②Active source has a certain degree of repeatability among different shots;③This paper presents the following shooting mode and signal detection method based on the similarity of different shots: In light of the similarity between the signals of big shot and small shot, this paper presents a cross-correlation method using signal from big shot signal with high SNR and small shot signal to detect weak small shot signal, the method can effectively detect the small shot signal and pick up the start time of phase, this method can help us make full use of past seismic exploration data records.

野外实验采用1次大当量激发和16次小当量激发，研究结果表明：①有可能利用数十公斤当量的炸药实现200km距离的探测；②在激发条件相同时，不同当量的激发波形滤波后存在一定的相似性；③依据人工震源可重复性采用以下的激发组合方式和处理方法能够有效提高信噪比：针对大当量激发与小当量激发波形的相似性，利用大当量激发的波形作模板与小当量激发的波形作相关，可判断台站是否接受到小当量激发的信号并检测其震相到时信息。

Germany is the art of its variety, this will fundamentally a low-long-chef for the survival of their gold content of the market, the deepest feelings of their own kitchen-or the situation, with the same technology market was the lack of comparison to other cuisine The harmonization of norms of the market dynamic, first paid no attention to "the world such as small cooked fresh," it simply the word, creating the revitalization of Brand-kitchen-come first-served awakening chef de cuisine, not only upgrade skills, and spiritual needs of kitchen Germany, it is imperative that with the market screening, to be based from the start with, this matter is as essential to their kitchen to kitchen to self-cultivation, and the real chef who not only language but also to be used carefully Their situation to complete any of the beautiful dishes described, in recent years, talking about the catering industry within and outside the culture more and more, has also set up a wide range of research will be like, as an academic study, this, I think that deep Wei, Yi Utah 30 years ago, I followed as the father of one party chefs, chef at the outskirts of Chengdu Huayang a farm, his father Chef when I start, as was the object of that time, his father often As Niuguisheshen to criticized and denounced, is one of incrimination has been a well-known Zou Zipai private kitchen, and criticized and denounced Renru to accept the end of hope can be better comment to the rebels to their cooking, At that time my father often Fuzhao head repeatedly told, will do what is the other line cooks dry, but each time his father Renru for rebels who cook up the dishes are all highlights, Silk Bugou This Daorang adult years I shall understand that this may be the chef de bar, it is Yidebaoyuan Then, I really want to shake off family skills, dry point level, but overall I also can not cook to Wang Qing, the more its people despise and Bufen, who cooks for the next Jiu Liu said the people they do not know, the next Jiuliu What is not in all cooks, and why the system's contribution to cuisine, but also the people can not afford to do SUI I have suffered, Huang deep sense of business after I had promised a wish, I should not only serve the kitchen line, but also for the kitchen to the development and feel proud and elated, such as cooking guide me on it and make contribution to the cause of their fathers Hard work, in addition to the cause of prosperity Yan Wei, also comfort for the kitchen to numerous grievances life predecessors, that engage in this kind of a warning to clear the kitchen to cook things are by no means purely Shaocai Cook, but the real sentiment of the blending of life Wuwei is required for each entry-chef of a scholarship.

其艺其德可谓五花八门了，这样也就从根本上隆低了川厨们赖以生存的市场含金量了，感受最深的还是川厨们自身的处境，与之相同场竟技的其它菜系比较缺少了统一规范的市场活力，先不讲&天下事如烹小鲜&，那只是纯粹的一句话，打造川厨品牌形象振兴厨艺先得觉醒厨德，既提升技艺，更需要修行厨德，这是当务之急，有了市场的筛选，更需从基础说起了，这就是做为事厨者们必不可少的厨行修行了，而真正的厨者不是只用语言而是更要用心用情去完成自己任何一次美丽的菜品描述的，近年来，行业内外谈论饮食文化的越来越多了，还成立了各式各样的研究会之类，当作一门学问研究了，对此，我深以为慰，犹忆三十年前，我尾随作为一方名厨的父亲，就厨於成都华阳郊外的一家农场工作，父亲主厨我当下手，作为被那个年代改造的对象，父亲经常被当作牛鬼蛇神来批斗，其罪之一就是曾为某知名走资派做过私人厨事，而批斗完了还要忍辱接受可以被改造希望较好的评论，去给造反派们做饭，那时父亲经常抚著我的头顶一再叮嘱，干什麼都行，就是别乾厨师这一行，然而，每次父亲忍辱为其造反派们烹调出来的菜肴却都是可圈可点，丝丝不苟，这倒让我成年后多年都不得明白，这或许就是厨德吧，是以德报怨吧？再后来，我也的确想摆脱家传技艺，干点别的，可是，我总也忘情不了厨行，更为其被人鄙视而不忿，那些称厨师为下九流的人他们其实并不知道，下九流中什麼都有就是没有厨师，而为什麼制出美食贡献的人，却总也被人睢不起呢？我有身受，深感惶感，从业后我曾许了个心愿，我不仅要服务於厨行，更要为厨行的发展而扬眉吐气，如引导我走上为之烹饪事业贡献力量的父辈们努力工作，除了为事业的兴旺发达欣尉之外，还要告慰无数为厨行委屈终生的前辈们，搞明白了这样的一个忠告，才能清楚厨行的事厨者决非只是单纯的烧菜煮饭，而是真正感悟人生五味的调合才是每个川厨入门必修的一门学问。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了