不匹配

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。

Researches show that the drive force characteristics of the electric tractor drive system based on series DC motor is close the ideal characteristics, the curves are concave, low speed with constant power, and high speed with constant torque; the electric tractor has large working speed under different shifts, but the extensive coincidence speed shows that the variable ratio of the gear is unreasonable; the maximum climbable gradient of this electric tractor is more than 30%, and does not need frequent shift when working for its extensive climbable gradient; there are many influence factors of continuous working time, which the more obvious factors are working speed and working load, the working time increases with the increase of the working speed and working load.2. Simulation researches on the drive characteristic of the electric tractor.

研究结果表明：基于串励直流电动机(来源：ABC21论文网www.abclunwen.com)的电动拖拉机电驱动系统的驱动力特性场接近理想驱动力特性场，其各挡下的驱动力特性是一组下凹的曲线，低速恒转矩，高速恒功率；同一行驶速度下所对应高挡驱动力大于低挡驱动力，这是由电机的调速特性决定的；电动拖拉机各个挡位下具有较广的稳定作业速度范围，但是各个挡位之间速度重合的范围较多，说明所用变速箱变速比与电动机匹配不合理；电动拖拉机最大爬坡度达到30%以上，并且各挡爬坡度变化范围较广，作业过程中不需要频繁换挡；影响电动拖拉机连续作业时间的因素较多，其中作业行驶速度和作业负荷影响最为明显，作业负荷越大，连续作业时间就越短，作业速度越快，连续作业时间就越短。2、电动拖拉机驱动特性仿真研究。

Based on the former chapter, one method based on fundamental matrix and crossrate is proposed in this chapter to render novel image considering the character of fundamental and cross-rate invariant in the perspective project, which utilized the correspondence relationship between the given two images and projective invariant between images to render novel image.

该方法通过将基本矩阵的稳定性求解问题转化为一个有条件的极值求解问题，结合遗传算法良好的全局寻优特点，将该方法很好地引入到基本矩阵的求解中，并取得了良好的实验结果。（5）第五章在上一章的基础上，综合基本矩阵和透视投影中的交比不变性的特点，提出了一种基于基本矩阵和交比的生成新图象的方法，这种利用已知两幅图象之间存在的匹配关系和新图象和已知图象存在的透视不变量，来生成新图象。

In the matching stage, the angle of feature vectors is used as the similarity measure in the high dimensional space directly. This similarity measure is invariant to the linear transformation of feature vectors. Compared with SIFT and normalized correlation, the proposed method needs no primary features such as edges, corners, gradient or shapes which are very unstable in low contrast and low NSR images.

在匹配过程中，以向量之间夹角的大小作为相似度度量，直接利用图像的灰度信息在高维向量空间中考虑图像之间的相似度，克服了在低照度、低信噪比的图像中求边缘、角点、梯度和形状等特征的困难，不受向量模大小以及向量平移的影响，即相似度的计算是线性光照不变的。

Theoretically shown, the fractionally spaced equalization has a sampling rate higher than the Nyquist rate so as to be insensitive to sampling phase, overleap a matched filter, which is superior to the symbol rate equalization.

从理论上指出小数抽头均衡器所用采样速率不低于Nyquist速率，因而具有对定时时刻不敏感、省缺匹配滤波器等优点，与整数抽头均衡器相比具有优越的性能。

Aimed at low-SNR infrared images, this paper analyzed principle and computational method of Zernike moments, proved rotation invariant property, proposed a method for low-SNR infrared target detection based on Zernike moments,and compared target recognition effect among template matching, Hu moments and Zernike moments via experiment.

由于低信噪比红外图像本身所具有的目标特征很不明显、背景特征比较强等特点，模板匹配识别方法、Hu不变矩等并不适用于低信噪比红外目标检测。

There is a slight prominence of the nasal bone structure causing a slightly Roman appearance, the center line running up over the foreface with little or no stop, falling away in front of the eyes so there is an absolutely clear outlook with no interference; the underjaw showing great strength, the jaws long and punishing; the mouth level, meaning that the teeth from the upper jaw and lower jaw match evenly, neither overshot nor undershot. This is a difficult mouth to breed.

鼻骨轻微突出的结构使它似乎具有罗马人特征，中心线沿着前颜面逐渐加宽，在眼部前方消失，所以无需推知，就可以完全精楚的知道它的外观；它的下颌显得十分有力，口部长而有力，嘴比较平，也就是说上颚的牙齿和下颌的牙齿匹配适当，上颚不突出，下颌也不突出。

He has a straight front, proudly carried head, eyes gazing into the distance as if in memory of ages past. The striking characteristics of the breed-exotic, or "Eastern," expression, long silky topknot, peculiar coat pattern, very prominent hipbones, large feet, and the impression of a somewhat exaggerated bend in the stifle due to profuse trouserings-stand out clearly, giving the Afghan Hound the appearance of what he is, a king of dogs, that has held true to tradition throughout the ages.The head is of good length, showing much refinement, the skull evenly balanced with the foreface. There is a slight prominence of the nasal bone structure causing a slightly Roman appearance, the center line running up over the foreface with little or no stop, falling away in front of the eyes so there is an absolutely clear outlook with no interference; the underjaw showing great strength, the jaws long and punishing; the mouth level, meaning that the teeth from the upper jaw and lower jaw match evenly, neither overshot nor undershot.

鼻骨轻微突出的结构使它似乎具有罗马人特征，中心线沿着前颜面逐渐加宽，在眼部前方消失，所以无需推知，就可以完全精楚的知道它的外观；它的下颌显得十分有力，口部长而有力，嘴比较平，也就是说上颚的牙齿和下颌的牙齿匹配适当，上颚不突出，下颌也不突出。

In this paper, we provide the designing method of robust controller to some unmatched uncertain systems.

在这篇论文中，针对一些不满足匹配条件的不确定系统，我们给出了这样的鲁棒控制器的设计方法。

The nature of this difference was also examined. The performance in self-paced and fixed-paced complex reading span test was compared between the participants with different reading ability but matched chorological age. The results suggest that dyslexic children were impaired in central executive ca?

通过比较匹配生理年龄的不同阅读水平儿童在自定步速和固定步速的复杂阅读广度测验中的成绩，发现发展性阅读障碍儿童在两种阅读广度测验中都表现出中央执行系统容量的缺陷，这种缺陷既不能用加工效率理论，也不能用资源分配理论来解释，而符合一般容量假设。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。