刚体空间

Based on spatial kinematics of rigid body, a mathematical expression for jointed manikin and its spatial position and orientation is discussed and the translational and rotational transform of the objects in space is studied.

以刚体空间运动学为基础，讨论了作为关节链结构的人体模型及其在空间的位置和方位的数学表示方法，研究了物体在空间的平移变换和旋转变换。

The question of searching characteristic points or straight lines on moving rigid body is decomposed into two relatively independent sub-questions. The first one is to evaluate the characteristic of points and straight lines on moving rigid body, whose mathematics model is a kind of special non-differential max-mini optimal problem with inequality constraints. By the method of Saddle-point Programming and maximum entropy, the problem can be transformed as a differential optimal problem with single objective. The second oner is to search approximative character points or straight lines on moving rigid body within design space, whose mathematic model is nonlinear and non-differential problem with multiple constraints.

本文将在运动刚体上寻找特征点或直线的优化问题分解为两个相对独立的子问题，一是对运动刚体上点或直线的特征性评定，其实质是平面曲线的圆度或直线度的评定问题，优化模型是以最大误差为最小作为优化目标的约束不可微的优化问题，本文采用鞍点规划和极大熵方法，将其转化为单目标可微优化模型；二是在设计空间内，寻找运动刚体上特征性评定指标最小的近似特征点或直线，其优化模型是非线性、多约束的不可微优化问题，本文提出用遗传算法和BFGS局部搜索法相结合来求解。

Apply the rigid body movement of space and the matrix of loeation tronsformation of space to get the mathematic.

用空间刚体运动及空间位置变换矩阵导出自由刚体运动的教学描述方程。

Thirdly, the equations which are from the rigid transformation mode of surgical space and image space after identification of markers was solved to get the optimal transformation matrix and translation matrix of the two space.

用识别的数据建立手术空间和图像空间的刚体变换模型，再用最小二乘法解方程组得到两个空间的最优变换矩阵和平移矩阵。

Modeling of a rigid-flexible coupled dynamic system.we derivedthe equations of a rigid-flexible coupled dynamical system by usingLagrange Method,including the rigid's space three-dimensionmotion,the beam's vibration and the non-linear joint.

针对某一刚柔耦合多体系统，应用拉格朗日方程建立了含有刚体空间三维运动、柔性体弹性振动及非线性弹性铰的较为完善的动力学方程，由此可以根据不同的实际情况进行简化而得到相应的方程，免去了重新进行烦琐推导的过程。2。

In this project, we study the theory of higher order differential equations in Banach spaces and related topics. We solve an open problem put forward by two American Mathematicians and two Italian Mathematicians concerning wave equations with generalized Weztzell boundary conditions, introduce an existence family of operators from a Banach space $Y$ to $X$ for the Cauchy problem for higher order differential equations in a Banach space $X$, establish a sufficient and necessary condition ensuring $ACP_n$ possesses an exponentially bounded existence family, as well as some basic results in a quite general setting about the existence and continuous dependence on initial data of the solutions of $ACP_n$ and $IACP_n$. We set up quite a few multiplicative and additive perturbation theorems for existence families governing a wide class of higher order differential equations, regularized cosine operator families, regularized semigroups, and solution operators of Volterra integral equations, obtain classical and strict solutions having optimal regularity for the inhomogeneous nonautonomous heat equations with generalized Wentzell boundary conditions, gain novel existence and uniqueness theorems,which extend essentially the existing results, for mild and classical solutions of nonlocal Cauchy problems for semilinear evolution equations, present a new theorem with regard to the boundary feedback stabilization of a hybrid system composed of a viscoelastic thin plate with one part of its edge clamped and the rest-free part attached to a visocelastic rigid body. Also we obtain many other research results.

在本研究中，我们对Banach空间中的高阶算子微分方程的理论以及相关理论进行了深入研究，解决了由美国和意大利的四位数学家联合提出的一个关于广义Wentzell边界条件下的波动方程适定性的公开问题，恰当地定义了Banach空间中的高阶算子微分方程Cauchy问题的算子存在族及唯一族，建立了齐次和非齐次高阶算子微分方程Cauchy问题适定性的判别定理，获得了关于高阶退化算子微分方程的算子存在族、正则余弦算子族、正则算子半群、Volterra积分方程解算子族的乘积扰动和混合扰动定理，得到了关于以依赖于时间的二阶微分算子为系数的一大类非自治热方程非齐次情形下的时变广义Wentzell动力边值问题的古典解、严格解的最大正则性结果，获得了半线性发展方程非局部Cauchy问题广义解和经典解存在唯一的判别条件，从实质上推广了现有的相关结果；得到了一部分边缘固定而另一部分附在一粘弹性刚体上的薄板构成的混合粘弹性系统的边界反馈稳定化的新稳定化定理，还建立了一系列其他研究结果。

Theory; the spatial meshing theory includes comparative motion, comparative differential and conjugative curved surface; and the application of meshing theory includes gear drive and worm drive. The spatial meshing theory is the main part of the course.

课程的重点讲解内容有曲线的参数方程、切线、法面、弧长、曲率、空间曲线的基本公式、挠率及平面曲线的基本公式等；曲面第一和第二基本公式，法曲率、主方向和主曲率、欧拉公式、短程挠率、欧拉公式和贝特朗公式推广、相对法曲率和相对短程挠率等；刚体的绝对和相对运动速度、相对微分和绝对微分、相对速度和相对微分、轨迹曲面的法曲率和短程挠率等；空间共轭曲面的啮合条件、诱导法曲率、两类界限点、等距共轭曲面、空间啮合的二次接触原理等；蜗杆传动的数学模型建立及啮合特性分析方法等。

In this paper, the effects of the rigid body motions and low frequency surface errors on the image quality were analyzed. Quadratic equations were used to build the mathematical model of the Wolter type I and II X-ray telescopes and reduce the computational complexity of ray tracing. With the help of a self-developed optical surface analysis code, the effects of the perturbations of the mirrors on the image quality was analyzed and the growth of the image spot formed by deformed telescopes was calculated, this is important for giving the reasonable fabrication tolerance.

在本篇文章中，详细分析了刚体运动误差和低频表面误差对成像质量的影响；使用空间解析几何学的二次曲面方程建立Wolter I、II型X射线掠入射望远镜镜片的数学模型，降低光线追踪的计算复杂度；借助自主开发的光学仿真软件分析了国内研制的X射线成像望远镜的刚体运动误差和低频表面误差对成像质量的影响，计算出像点艾里斑半径均方根值随误差变化的增长率，对工程上提出合理的制造公差的误差容限有重要的指导意义。

Moreover, the more deep research has been given, such as introduction to working mechanism and design principle, kinematics analysis of planet gear transmission system by the method of theorem of finite distance.

运用点的复合运动和刚体空间运动的有限位移定理对行星轮传动系统进行了运动学分析，并进一步探讨了搅拌螺杆的工作机理与设计原则。

The orientation-singularity expression of the Stewart platform is deduced by using unit quaternion which can avoid singularity when using Euler angles to represent the orientation of rigid body, and then the algorithm of orientation-workspace of the manipulator at a certain position is proposed.

基于单位四元数描述的刚体姿态，避免了欧拉角等描述刚体姿态的奇异性问题，推导出Stewart机构处于给定位置时的姿态奇异解析表达式，并提出了该机构处于给定位置时的姿态工作空间算法，通过计算机仿真给出该机构处于一给定位置时姿态奇异轨迹和姿态工作空间的三维可视化描述。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。