任务控制

In chapter 3, the control object of this subject, which is a three-link gymnastic robot on horizontal bar with limited joint torque and joint angle is brought forward and its mathematic model is developed. After simulating of the movement of the gymnasts, the control task of this subject is designed as a series swing-up and balance movement, the key point of control is analyzed.

第三章，提出本课题研究的对象：关节力矩和旋转角度受限的三连杆单杠体操机器人，推导了它的数学模型；提出要完成的控制任务：模仿体操运动员上杠动作而设计的摆起倒立动作，分析了这套动作的控制关键。

With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received.

为此，以空间机器人系统的动量、动量矩守恒关系为基础，转化建立了控制系统设计所需的状态方程，并利用Lyapunov 直接方法，来获得满足任务要求的机械臂关节运动及控制输入规律。

After analyzing the situation and the reasons behind, we suggested that in the short term, we should not obligate the companies to disclose such kind of information.

在研究发现的基础上，本文提出在现阶段，我国应当以内部控制自愿披露为主，以加强内部控制建设为任务。

Network based visual servo system of the orthogonal coordinate robot was proposed,in order to implement grasping job.

本文设计的直角坐标机器人视觉伺服系统是以BP神经网络为控制核心，直接利用目标图像特征实现机器人视觉控制，完成抓取作业任务。

In this paper we introduce a schema for embedded soft PLC system.Firstly We discuss development,characteristics,concept and key technology of soft PLC.Secondly we particularize this schema from hardware and software platform.

软PLC综合了计算机和PLC的开关控制、模拟量控制、数学运算、数值处理、通信网络等功能，通过一个多任务的内核，提供了强大的指令集、快速而准确的扫描周期、可靠的操作和可连接的各种I/O系统及网络的开发结构。

In the simulation, the control of two satellites with different mass (6tons, 9tons) under pentagonal pyramid configuration and tetragonal pyramid configuration has been studied individually by means of zero movement additive.

基于五棱锥构形和金字塔构形两种构形采用零运动添加的方法研究了两种不同质量的卫星(6吨、9吨)的控制情况，表明五棱锥构形的控制力矩陀螺系统能够满足任务要求，姿态稳定度1×10~4°/s，指向精度0.1°。

The key point of the thesis was system's communication. The paper offered a simple and effective communicate method which achieved data communication between computer and PLC. The paper discussed the system how to change data、transfer and rejigger parameter accurately、advert problems in communication process between computer and PLC. This method is applied and innovative. The paper described the TCP protocol and its encapsulated Winsock module and its application for data communication of remote control. User defined protocol is used for data exchanging between the client and the control server.

本文提出了一种简单有效的通信方式实现了计算机通过串口与PLC的本地数据通信，阐述在实现上位机与下位机的通信过程中，如何在上位机进行数据转换、参数正确传递和更改以及实现方法和注意的问题，该方法具有一定的实用性和创新性；基于TCP协议，使用封装组件Winsock进行实时控制的数据交换是远程控制的核心任务，对此文中首先探讨选用TCP协议和Winsock封装组件的理由，详细描述了如何通过Winsock组件进行数据通信以及自定义协议。

Inheriting the advantage of this algorithm, the adaptive control algorithm and the switching control algorithm applied in the situation that the load affected the rotation inertia of the axes are developed to satisfy the requirements of the CP motion.

提出了一种基于输入—输出稳定性理论的控制算法，以完成空载状态下CP运动的控制任务，该算法无需转子各轴向的加速度反馈信号，减轻了转子位置检测系统的压力。

The technology of multi-thread and thread pool are used to optimize the run of task thread, it can control the cocurrent access and reduce the waste of resource and fall of performance due to the repeat creation of thread.

设计使用多线程和线程池技术来优化任务线程的运行，可以控制并发访问量及系统因线程反复创建而带来的资源浪费和性能下降，适应大量的并发访问并有效控制负载。2。

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。

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。