函数矩阵

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。

Here, we chose simple polynomials as shape functions, and derive the element matrice on the regular element (a isosceles triangle with a right angle).

这里选取逐渐升幂的简单多项式作为基底函数，并且据此推导了升到六阶的正规单元矩阵。

In this paper, a cost function related to residual errors was introduced, and a weighted robust algorithm was presented.

通过构造与余差有关的目标函数，给出了一种高精度估计图像几何变换矩阵的鲁棒算法——加权鲁棒估计算法。

In this paper, a cost function relative to residual errors is introduced, and a linear algorithm by exploiting the strategy of weighted translation transformation is presented.

通过引入与余差有关的代价函数，给出了一种高精度估计基础矩阵的线性算法？？加权平移算法。

Using the coil with low resistance and magnetic-core with high magnetic conductivity in the transformer and inductor to reduce the power loss and increase the efficiency.The elements and structures of some functional unit of power amplifier are analyzed.

然后从双端口网络的散射矩阵和功率传输增益函数入手，对常用的单、双谐振点匹配技术和原始实频法进行了论述，给出了原始实频法的计算机实现过程以及设计中的注意事项。

Utilizing Sylvester's theorem and Fourier series expansion method, commonly used in the spectral decomposition for matrix, the frequency response functions of parametrically excited system were derived theoretically and the external resonance condition was obtained.

采用矩阵谱分解中常用的Sylvester理论和Fourier级数展开法，推导了单自由度参数振动系统的频响函数，并得到了系统外激励共振条件。

It can be a memory storage ( in this case a sequence of circles is created in the storage and returned by the function) or single row / single column matrix of type CV_32FC3, to which the circles' parameters are written .

可以是内存存储仓此种情况下，一个线段序列在存储仓中被创建，并且由函数返回）或者是包含圆参数的特殊类型的具有单行/单列的CV_32FC3型矩阵

Using the result for non-restricted model, we transform the restricted model to common model, and multi collectivity model to single collectivity model, thus, the necessary and sufficient conditions that nonhomogeneous linear estimators for Sβ are admissible in the class of nonhomogeneous linear estimators are obtained which filled the blank for admissibility for restricted linear model.

对线性等式约束的共同均值线性模型，利用无约束单总体模型的现有结果，通过适当变换，把等式约束模型向无约束转换，并把多总体转换为单总体，在矩阵损失下找到了均值参数β的条件可估函数Sβ的线性估计∑mAiyi+a在非齐次线性估计类中可容许的充要条件，填补了等式约束的共同均值线性模型可容许性方i=1面的空白。

The improved criteria on the constraint conditions of kernel functions in our results should also provide a better understanding of the asymptotic properties of the ESD of large dimensional sample covariance matrices.

具我们结果中核函数的限制的改进准则，可以对大维样本协方差矩阵的经验谱分布的渐近性质有一个更进一步的理解。

Firstly, a signalized point is stuck on a moving object to be tested, a microphone array and two video cameras are arranged, and the video cameras are demarcated to obtain a projection matrix; sound pressure signals of a sound source in the moving object to be tested are obtained by the microphone in an array mode, the dynamic video of the moving object to be tested is obtained and disassembled into an image by the video cameras; the signalized point on the moving object to be tested is identified in the video image and the matched signalized point is treated with three-dimension reconstruction to obtain the spatial location of the moving object to be tested; the sound pressure signals are treated with beam forming treatment to obtain a sound field characteristic function scattergram of the moving object to be tested, the video image is treated with spatial coordinate superposition frame by frame and restored into a dynamic video image.

首先在被测运动物体粘贴标志点，布置传声器阵列和两台摄像机，对摄像机进行标定，得到投影矩阵；传声器阵列获取被测运动物体中声源的声压信号，摄像机获取被测运动物体的动态视频，将动态视频拆解成图像；在视频图像中识别出被测运动物体上的标志点，对匹配后的标志点进行三维重构，获取被测运动物体的空间位置；对声压信号进行波束成型处理，得到被测运动物体的声场特征函数分布图，将其视频图像进行逐帧空间坐标叠加，并还原成动态视频图像。

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。