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The state space forms of all these predictive PID control system are given, and their characteristic polynomial are derived by augmentation approach and Laplace expansion. At the same time, the performances of robust stability, close-loop response, and anti-disturbance of these control systems are compared with other control systems.

同时，给出了一阶加纯滞后对象、二阶加纯滞后对象、非最小相位加纯滞后对象和高阶滞后对象的预测PID控制算法，推导出了它们的状态空间形式，并通过状态增扩方法和Laplace展开方法，求出了系统的特征多项式。

"These areas … have been underfunded relative to their importance globally, and the committee determined that the United States can make a substantial contribution in moving forward the research agenda in these critical areas," said Maria Freire, a committee member and president of the Albert and Mary Lasker Foundation, which funds biomedical research.

"这些领域……相对于它们的全球重要性而言得到的资助不足，该委员会认为美国可以在促进这些关键领域的研究议程方面做出显著贡献，"该委员会的委员、资助生物医学研究的Albert 和Mary Lasker基金会的主席 Maria Freire说。

And then, this paper presents an algorithm of computing the left inverse or right inverse for these special rectangle matrices. In thenormal algorithms for solving these problems, we need O(m2n) multiplications ordivisions. The algorithms in this paper only need O + O(n2) multiplications ordivisions. The paper is built as follows.

常规的计算m×n阶不相容线性方程组的极小范数最小二乘解的算法所需计算量为O(m~2n)，而本文根据特殊矩阵的特殊结构，通过两种不同的构造方式给出了两类不同的计算极小范数最小二乘解的快速算法，并给出了求特殊矩阵的左逆及右逆的快速算法，它们的计算量均为O+O(n~2)。

From the invasions of Germanic people and the fall of the Roman Empire to the disintegration of the Charlemagne Empire in ninth century and the Norman conquest of Britain in eleventh century, in the Barbarian kingdoms, these tribal laws were sometimes set down in writing: these were the leges barbarian.

作为在世界法律史上占据重要地位的日耳曼法，主要是指形成于日耳曼民族大迁徙、侵入罗马帝国境内并各自建立自己的王国之后，至 9世纪欧洲大陆查理曼帝国的解体、11 世纪不列颠被诺曼人征服时为止的日耳曼人的法律。

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。

The coming year 2010 will be an important linage in the bilateral relation between China and Italy. Now both sides are co-operating closely, preparing for the "China Cultural Year" in Italy. These "Cultural Year" activities will be a comprehensive grand occasion lasting about one year, and they will involve various fields. I am convinced that these activities will offer a platform for the further communication and co-operation in all respects between the two countries, and that they will help Italian people to fully appreciate the charming ancient civilization of China and learn about its vigor in today's economic and social development. Doubtlessly, it will be the best present to the 40th anniversary of the establishment of diplomatic relationships between China and Italy

即将到来的2010年是中意双边关系继往开来的一年，目前双方正密切配合，精心筹备意大利"中国文化年"活动，它将是一次时间跨度约一年、内容涵盖各个领域的综合性盛典，相信以此为平台，将进一步密切两国全方位的交流与合作，增进意大利人民对中国古老文明魅力和当今经济社会发展活力的全面了解，这无疑是献给中意建交40周年的最好礼物。

This device is characterised by that its beam-splitter unit is the above described one, the first focusing elements (24) are placed at two opposite sides as seen from the direction of the beam arriving to the semitransparent reflective surfaces of the optical beam-splitter unit (22) i.e. from the receiving direction (5) and the common optical axis (23) of the first focusing elements (24) is at right angles to the receiving direction; outside the first focusing elements (24) on both sides a mirror is placed in front of each eye, and the semitransparent reflective surfaces of these mirrors enclose an angle delta 45 DEG +-15 DEG with the above mentioned optical axis (23), and the intersection line of these reflective surfaces is parallel to the mirror crossing intersection line (4) of the semitransparent reflective surfaces.

该双目图像显示装置的特征是其光学分束器单元是所述的单元，从到达光学分束器单元(22)的半透明反射面的光束方向看，即从接收方向(5)看，第一调焦元件(24)放置在相对的两侧，并且第一调焦元件(24)的共同光轴(23)垂直于接收方向；在位于两侧的第一调焦元件(24)的外面反射镜放置在每一只眼睛的前面，并且这些反射镜的半透明反射面与所述共同的光轴(23)围成夹角δ45°±15°，并且这些反射面的交线平行于半透明反射面的交叉反射镜交线(4)。

These problems are resolved hardly through thenormal linear model. In order to solve these intricate problems, several kind of wavelet neuralnetwork has been brought forward.

常规的线性模型很难解决这些问题，因此，为解决水文水资源中的复杂问题，本文提出了几种小波神经网络模型。

Water margin,that a work dedicated to masculine has always been highly appreciated.yet,it is beyond any doubt that the book presents a biased and even unjust feature of the feminine .there are few women personages in water margin which can be divided into two kinds briefly: namely "lady of easy virtue" and "heroine".novel go on two extremes overly that women'figure was denied impersonal role maid image mould either "bad" or reach "manlike " so that they cant cross to two description of woman these because the writer was intended or involuntary to describe them these.consequently the women' figure maked untrue exceedingly as to the lady of easy virtue write it to the limit excessively ruthlessly poisonously ; as for heroine write its walk chivalrous and loyal to the limit that the woman wasn't defeated by men.the female extreme image was pointed out that the intention of author come from the influence of the super male consciousness to a certain extent and it is inevitability because of masculine being in charge of linguistical power ,in fact, the appearance of women was just only minor role in order that the hero world need to regard man as the centre too.in a word womens destiny in water margin is a miserable foregone!

水浒传》是1部以描写男性英雄为主的名著，历来受到较高评价。然而，作品在女性形象塑造时存在的偏颇甚至不公正却是毋庸置疑的。《水浒传》中的女性人物屈指可数，主要可分为两大类：1是所谓的荡妇恶婆；2是所谓女英雄。作家在对这两类型女性的描写时，都因作者有意或无意的女性意识而走向极端化，实际上是走上了两个无法交汇的极端，使女性形象的塑造过于偏激，不是"淫恶"到极端，就是"男性化"到极点，写淫妇恶婆，写尽其淫，狠，毒；写女英雄，则写尽其行侠仗义，巾帼不让须眉。这种极端化的女性角色定位，既是作者男权意识的自然反映，又是男权社会男性话语权的必然呈现，说白了，出现在《水浒传》的女性不过是点缀和突出男性的生活，是为表现父权制男性英雄世界服务的。

And these waters I listlessly daily cross, are these the waters he cross'd

这些我每天随意横渡的水面，是不是失败时的他

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。