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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。

MRI with various sequences has higher diagnosis value in acute cerebral trauma diagnosis,and can make up CT in insufficient diagnosis to the cerebellum,the brain stem,temporal lobe edge contusion and axis cylinder injury,which is worthy of further clinical study and application.

MRI各序列在急性颅脑损伤诊断中具有较高的诊断价值，可弥补CT对小脑、脑干、颞叶边缘挫裂伤及轴索损伤等诊断的不足，值得临床进一步研究和应用。

In this thesis, we study the photoisomerization dynamics of azobenzene in theexcited state using femtosecond fluorescence up-conversion method.

在这篇论文里，我们介绍利用飞秒萤光上转移方法研究偶氮苯在激发态的的光致顺反异构化动力行为。

Modern enterprises management knowledge, especially supply chain management theory is quoted in the thesis together with abundant of data and information as strong support. After thorough study and analysis of MAX BAHR, hopes this thesis can contribute practical appliances to the build-up of sourcing center for other multi-national companies.

此外，通过对一家经营范围局限在德国国内的建材连锁超市如何应对残酷的市场竞争，以及如何来调整自己的采购策略最主要是如何来调整公司在中国的采购策略的探讨，希望能为其他跨国公司如何在中国建立采购中心提供一些借鉴思路。

By studying and analyzing recent domestic studies on teacher culture, the academe achieve a lot in terms of teacher culture definition, the basic way of developing teacher culture, how to build up teacher culture in the new curriculum reform. However, these studies are confined to individualism and cooperative culture, and there is much room for study on balkanization.

通过对近几年来教师文化研究的查阅和分析不难发现，学术界在教师文化概念界定、教师文化建设的基本途径、新课程改革中如何构建教师文化这三个方面已经取得了丰硕的成果，但现阶段教师文化的研究多关注于个人主义文化和合作文化的研究，对派别主义教师文化的研究存在不足。

A theoretical model is built to investigate the simulation of the infrared characteristic of the metal structure with the PCM false target.Structure parameters of the PCM false target that suit for the simulation are investigated numerically.According to the results,further request on the improvement of the thermal conductivity of PCM is presented.An experimental platform is built and the numerical model is validated experimentally.Three key thermal characteristic components of the false tank(barbette,wheel and front armor plate) are manufactured and tested,and good results are obtained.A method for the thermal conductivity enhancing of PCM by using aluminum fins is studied,the influence of the structure parameters of PCM plates to the simulation effects are investigated numerically,and the reasonable configuration parameters of the PCM plates used to simulate the steel plates of different thickness are obtained.In the study of the application of heat convection method in IR false target,a passive infrared simulation system is designed to simulate the infrared characteristic of metal constructions.The system is made up of pipe-plate,pump,receiver,and working fluid.

在相变材料应用于红外示假的研究中，通过数值模拟，研究确定了适用于制作假目标的相变材料各物性参数的范围，分析了相变材料制作假目标的可行性，并根据所得结果，选取石蜡为研究对象，建立了相变材料模拟金属构件红外特征的理论模型，研究了适用于模拟各金属构件红外特征的相变材料假目标的相关结构参数，得出了相变材料假目标模拟各金属构件红外特征的理论结果，并对相变材料的导热系数这一物性提出了进一步的改进要求；搭建了假目标实验平台，验证了所建理论模型的准确性；以坦克假目标为研究对象，制作了炮塔、负重轮和前上装甲板三个坦克假目标的关键红外热特征部件，并进行了野外实验，取得了较好的结果；以添加铝肋片作为改进相变材料导热能力的手段，理论研究了此类导热增强型相变材料的相关结构参数对模拟效果的影响，得出了模拟不同厚度钢板红外特征的导热增强型相变材料的结构参数及模拟效果。

Integrated with the design and the programming practice of the matching algorithms about LS MPP embedded computer used to image comprehension, this paper will analyze and study five problems about the SIMD computer which oriented to the application of image comprehension, they are how to reduce the number of memory instructions and their execute cycles, how many control register we require, how to protect the contents of the base address register, how to design the buffer and how to set up the date types of image array, etc.

本文结合 L S MPP嵌入式计算机图象匹配算法的设计与编程实践，对面向图象理解应用的 SIMD计算机减少存储类指令及其执行周期、控制寄存器的数量需求、基地址控制寄存器内容的保护、缓冲器的有关设计及图象阵列数据类型的设立等设计问题进行了分析和讨论，提出的一些设计思想对于面向图象理解的类似 SIMD计算机的设计具有较为重要的参考价值

In this dissertation, GPS baseline solution precision is analyzed since the following aspects: 1, Different length baselines are processed and analyzed by single frequency model and ionosphere free model. 2, Basing on current single point positioning precision, certain coordinate error is added into fixed points to study the result. 3, Baseline is processed and analyzed with different observation vectors and their lineal combination models. 4, 24 hours observation was divide up to process baseline.

本文从以下几个角度研究了影响GPS基线解算精度的因素：1、采用单频和消电离层模式对不同长度的基线分别解算，对处理结果进行分析。2、根据目前单点定位精度给起始点加上适当的坐标偏差，研究起始点坐标偏差对基线处理结果的影响。3、选用不同的观测值及其线性组合，对基线解算结果进行研究。4、对24小时观测的数据分时段处理，分析观测时间段对基线处理结果的影响。

Course of study of international freight representative is a cosmopolitan service industry, carry be closely bound up with international trade and international.

国际货运代理业是一个世界性的服务行业，与国际贸易及国际运输息息相关。

Who should be conditional on Chinese traditional painting materials for study and application, Chinese painting and it is particularly reflected Painting the material beauty Everbright succession, it is up the sky.

有条件者应当对中国传统绘画材料加以研究和运用，而使其中国绘画尤其是工笔画中体现出的材质美继承光大，殊放异彩。

I will endeavour to find you some assistance.

我尽力帮你找人帮忙。

At first I only know bruck is the idol of American younglings, afterwards I returned back to Taiwan ,even in Beijing last year ,I saw her poster everywhere, I was so surprised at her charm.

起初我只晓得布鲁克雷德丝是美国少男少女崇拜的偶像，后来回台湾，甚至去年在北京，居然也四处看见她的海报，才惊讶她的魅力之大。