余因子

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

The main work of this paper is: First,we get the condition that the equation 2py~2 = 2x~3 + 3x~2 + x have no positive solution by the method of simple congruence and decomposition.

利用简单同余法、分解因子法等初等方法，给出了方程2py~2=2x~3+3x~2+x无正整数解的条件。

Then A is said to be congruent to a B modulo-N

的因子，则称A与B是模N的同余式。

The relationship between the topology and convegence of networks is approached and the reason causing overtraining and overfitting is analysed. Then the redundant weights and nodes in the network are defined by using improved activity function and a new algorithm called the BPNSO for determining the network structure for any application is proposed, which use dual optimization objective function combining the mean squre error of the network output with network complexity penalty function.

文章对网络拓扑结构与网络收敛性和稳定性的关系进行了探讨，分析了网络出现Overtraining或Overfitting的原因和解决的目标，提出了神经网络结构优化的策略，改进了活化函数，定义了冗余权值和冗余节点的概念，为辨识和删除冗余权值和冗余节点，提出采用优化目标函数中增加网络复杂度罚函数的双重优化目标函数，并对罚因子提出了基于学习误差和权值的自适应动态调整公式，论文定义了这种BP网络结构优化方法为BPNSO，并给出了完整的计算流程。

A ring of integers derived from the set of all integers according to the following rule: Let N be an integer greater than 1, and A and B be two other integers; if N is a factor of A·B, then A is said to be congruent to a B modulo-N.

由全体整数的集合按下列规则产生的整数环：设N为大于1的整数，A和B是两个其它整数，若N是A·B的因子，则称A与B是模N的同余式。

By using this strategy, we have found a dozen of susceptibility loci in different chromosomes and suscessfully identified Ncf1 as the gene located in Pia4 to regulate susceptibility to pristane induced arthritis of rats.

我们应用这一策略从朴日斯烷诱导的关节炎大鼠模型中已筛选出十余个控制关节炎发生发展的非MHC基因位点，在此基础上克隆的Pia4基因被鉴定为是中性粒细胞胞浆因子1(NCf1)。

The status of gradient projection method of redundant manipulator is analysed, the effect and selection methods of the scale factor of the homogeneous solution is expatiated.

分析了冗余度机器人梯度投影法的研究现状，阐述了齐次解的比例因子的作用及其选择方法，提出了一种实时连续变化的比例因子计算方法。

When chemostats were used to study the Monod kinetic coefficients of garbage digestion under thermophilic condition, it was found that the maximum yield coefficient, the decay coefficient, the maximum specific utilization, and the half-velocity constant were 1.747 mg VSS/mg COD, 0.1191 1/d, 0.326 mg COD/mg VSS-d, and 2715 mg COD/L, respectively.

在温度因子对厨余之水解实验结果方面，热前处理温度设定为37℃、50℃及60℃达84小时后，发现以60℃处理之水解率(18.1%)及油脂去除率(37.7%)最高；将上述经37℃、50℃及60℃处理84小时之厨余，以气泡式呼吸仪实验探讨生物分解性之结果亦显示，以60℃处理时经过约300小时后TCOD去除率79.2%最高。

An approach of multivariate stepwise regression is proposed to screen for informative markers as cofactors for MCIM.

给出了多重逐步回归的方法，可用来筛选能提供遗传信息的标记作为MCIM模型中的余因子。

The determinant can be evaluated from the cofactors of any column.

行列式可根据任何一列余因子来求算。

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。