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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。

For the growing number of the printing industry user needs, we developed a specialized customer service system, the Chief Engineer system, the credit system of regular customers, the service cap, general manager of supervision system and telephone system and a series of rules and regulations and established a margin of present and online display To the Office of the system and organizations to ensure a timely and thoughtful after-sale service.

针对日益增多的印刷行业用户的需要，我们专门制订了客户服务制度、首席工程师制度、常客户信用制度、限时服务制度和总经理监督电话制度等一系列规章制度，并建立了今世缘网上展示厅从而在制度和组织机构上保证了售后服务的周到及时。

Chapter four studies the chaotic responses in a system consisting of simple pendulum and harmonic oscillator under bounded noise excitation. Firstly, the Melnikov function of the two-degree-of-freedom system under Hamiltonian perturbation is derived. The essential condition of the autonomous system for the probable onset of chaos is obtained, the Poincare maps of the system under small Hamiltonian perturbation and the effect of increasing perturbation on the Poincare maps are studies. Then for the non-autonomous system under damping and harmonic or bounded noise excitation, the largest Lyapunov exponent and Poincare maps are calculated. From the analysis of the largest Lyapunov exponent, the critical criterion for the onset of chaos, and the conclusion that the threshold of bounded noise amplitude for the onset of chaos in the system increases as the intensity parameter of Wiener process increases are obtained. The result from the analysis of Poincare maps is in agreement with that obtained from the Largest Lyapunov exponent. The effect of varying damping coefficient and intensity parameter of Wiener process is also analyzed.

第四章研究了有界噪声激励下的两自由度单摆—谐振子系统的混沌运动，首先推导了该两自由度系统仅在Hamilton扰动下的Melnikov函数，得到该自治系统可能产生混沌的必要条件；研究了该系统在小的Hamilton扰动和增大摄动情形下的Poincare截面；然后对有阻尼、谐和或有界噪声激励下的非自治系统数值计算了其最大Lyapunov指数和Poincare截面；从Lyapunov指数分析得到了这个两自由度系统产生混沌运动的临界条件及产生混沌的临界激励幅值随Wiener过程强度参数值的增大而增大的结论，Poincare截面分析的结果亦符合Lyapunov指数分析的结论；研究了Wiener过程强度参数、阻尼系数变化对Poincare截面的影响。

Both motor car and each trailer of HST were modeled as a multi-rigid-body system with two suspensions, and LVT was modeled as an assembly of track segment elements with 24 degrees of freedom. The vertical vibration matrix equation of the system was established on the basis of the principle of the total potential energy with stationary value in elastic system dynamics and the rule of "set-in-right-position" for formulating system matrixes, and then Wilson-θ numerical integration method was used to solve the problem. The dynamic responses of the system were calculated when the train runs at the speed of 200 km/h. And the effects of vertical stiffness of rail fastener and block pad on vertical vibration responses of the system were investigated.

其原理是：将高速列车的动车和拖车模拟为具有二系悬挂的多刚体系统；将弹性支承块式无碴轨道模拟为具有24个自由度的轨段单元的集合；基于弹性系统动力学总势能不变值原理及形成系统矩阵的"对号入座"法则，建立此系统竖向振动矩阵方程，并采用Wilson-θ数值积分法求解，计算速度为200 km/h时此系统竖向动力响应，研究轨道刚度对此系统竖向振动响应的影响规律。

The work reads as follows: setting up the concept of network users" behavior and categorised system, then discussing the classification of users based on network users" behavior; analyzing the information source of network behavior analytical system, considering mostly two respects of efficiency and accuracy of behavior information; probing into the demand,step and system frame for establishing network user"s behavior analytical system, and discussing some key technology in course of the system implementation; Then putting forward several kinds of common application modes or thought of network users" behavior analysis, including network click flow analysis , computer and network security analysis and user structure analysis of Intranet. The key algorithm of behavior analysis system has been discussed and improved .

本论文在此领域主要工作成果如下：建立了网络用户行为的概念与分类体系，并在此基础上进行了用户分类；分析了网络行为分析系统的信息源，其中主要考虑了信息获取的高效性和准确性两个方面；探讨了建立网络用户行为分析系统的需求、步骤和体系框架，以及设计和实现系统过程中所面临的一些关键技术；接着在上述基础上提出几种常用的网络用户行为分析系统模型或其思想，主要列举了网络用户行为分析在Web点击流分析、计算机与网络安全方面以及Intranet网内用户结构分析中的应用。

this paper researches achieving method of teledata collection system,including data collection,data transmission and data memory of system.then,it expounds design project planned to adopt in hardware and sofeware on the basis of giving flow chart of system signal disposal.hardware design portion includes current monitor,long-distance monitoring terminal and handheld collection facility; software design portion includes data receiving system,data memory system and monitoring system.

该文研究远程数据采集系统的实现方法，包括系统的数据采集部分、数据传输部分以及数据如何存储。之后，在给出系统信号处理流程图的基础上阐述硬件和软件拟采用的设计方案。硬件设计部分包括电流监测器、远程监管终端和手持式采集设备；软件设计部分包括数据接收系统、数据存储系统和监管系统。

ABSTRACT: The UAV navigation system's performance is improved through embedding the geography information model that can process the vector map data in the system by using MapX, In this paper, how to navigate and plan the UAV flight course in the vector map is investigated. The basic control and operation for vector map in the geography information system is introduced, and the flight course is designed and modified in the map. In addition, 2D vector map can't orient UAV in 3D space, so the altitude model is added in the UAV navigation system to realize 3D orientation by integrating 2D vector map with altitude plot. The simulation results in the UAV simulation system indicate that the navigation system can monitor and control UAV efficiently and intuitionally.

使用MapX在无人机导航系统中添加能够处理矢量地图数据的地理信息模块，可以显著地提升系统的性能；文章对如何在矢量地图下进行无人机导航与任务规划进行了研究，完成对地理信息系统中矢量地图的基本控制和操作，并在地理信息图上进行航线的设定与修改；另外，针对二维矢量地图无法对无人机进行三维空间定位的问题，文章通过在无人机导航系统中添加高度位置显示模块，用二维平面地图与高度图相结合的方式来实现对无人机位置的三维定位；通过在无人机仿真实验系统中的使用，证明了该系统能高效、直观地对无人机飞行进行监视与控制。

On the base of studying application methods and relative information of the relative chips, the paper designed the system hardware ,including LCD interface designing、video gathering chip and its peripheral circuit designing、FPGA chip and other module interface designing; 3、The LCD controller module、video in controller module、configuration initialized module of the video image decode chip、FPGA and program of module interface were all compiled and debugged in the paper. 4、The whole system debugging was carried through, and the video image data storage and displaying on LCD screen was carried out in the paper. The paper first designed the system frame, then designed hardware platform according to the system frame and then analyzed it、debugged it, finally,compiled the module code and debugged the whole system to achieve system requirements.

本文具体研究工作主要体现在以下几个方面： 1分析了的嵌入式视频图像采集、处理与LCD显示系统的总体需求，设计了基于NIOSⅡ的嵌入式系统总体架构； 2在学习相关芯片的具体应用方法和相关知识的基础上，设计了系统的硬件，包括LCD接口设计、视频采集芯片及外围电路设计、FPGA芯片和其他模块接口主板设计； 3编写并调试了LCD控制器模块、视频输入控制器模块、视频解码芯片初始化配置模块、FPGA和各个模块接口程序； 4进行了整个系统的联调，完成了视频图像数据存储并通过LCD显示；本文首先建立了系统架构，然后根据系统架构进行硬件平台的设计并对硬件平台进行分析和调试，最后编写个模块代码并完成系统联合调试实现系统要求。

I calculate model of the underfloor air conditioning system with radiation of the floor, find that among the underfloor air conditioning system with radiation and underfloor air conditioning system without radiation and a ordinary one blow air conditioning system, the system has the characteristics that underfloor air conditioning system with radiation is smaller, more economic, more energy-conserving.

笔者通过对一个带有地板辐射的地板送风空调系统的模型进行计算，发现带有地板辐射的地板送风空调系统与无地板辐射的地板送风空调系统以及普通的上送风空调系统相比较，系统具有送风量更小，更经济、节能的特点。

In this study, in order to promote the anti-corrosion performance of outdoor steel structure, some coating systems in common use were evaluated including aluminum tripolyphosphate painting system, inorganic zinc dust painting system, metal sprayed coating system, plastic sprayed coating system, complex thermal sprayed coating system and field maintain system.

为了提高特殊腐蚀环境下外露结构与设备之防蚀性能，本文针对目前常见的钢材涂装系统，包括三聚磷酸铝、无机锌粉漆、金属熔射、塑胶熔射、复合熔射及现场维护等涂装系统进行盐雾及大气曝露试验，希望藉由实地腐蚀试验，累积更多腐蚀数据及经验。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。