力矩的

A neural-network-based robust compensating control method is proposed for the robots with constructed and unconstructed uncertainty The robust controller consists of a computed torque controller and add-on compensating controller The effective way using neural network to estimate the system uncertainty is also given.

四、对具有结构型和非结构型不确定性的机器人提出了一种基于神经网络补偿的鲁棒控制方法，控制器由一个计算力矩控制器和一个可切入的神经网络补偿控制器组成，给出一种利用神经网络学习机器人不确定性的有效途径。

Turn-table is one of the devices which are used to simulate aerocraft's performance on the ground .

引言三轴飞行模拟转台是飞行器控制系统地面半实物仿真设备之一，属于复杂的机电系统，它存在很多不利于系统性能提高的因素，诸如电路参数的漂移、轴系间的力矩耦合、负载变化等，这些都容易引起参数时变。

To observe and measure the distance and angulation of some muscles such as flexor carpi ulnaris,extensor carpi ulnaris , flexor carpi radialis,extensor carpi radialis longus,extensor carpi radialis brevis, brachioradialis,etc,we achieved the moment of force and loaded them in the model .

测量8具新鲜成人尸体的前臂主要肌肉和韧带横截面积，分别取其平均值，通过横截面积的肌力计算法，求得肌力和韧带力。主要肌肉为肱桡肌、桡侧腕长伸肌、桡侧腕短伸肌、尺侧腕伸肌、尺侧腕屈肌、桡侧腕屈肌等。测量的主要韧带为腕掌侧韧带、腕背侧韧带等。测量主要肌肉和韧带与坐标轴的夹角，求得分力值，然后直接或根据力矩等价原则间接地将肌力加载于模型体表各节点。

Moreover we formulize the optimal path according to the theory of B-spline Curve, so the path which is composed by the grid point can transform into a continuous and smooth curve. By formulizing path we can also calculate angular velocity, angle acceleration, and torque in dynamics.

另外我们根据B-spline Curve的理论将最佳路径参数化，使由格点所组成的最佳路径转换为一条连续且平滑的曲线，藉此我们也可以计算动力学中的瞬间角速度、角加速度与力矩。

At the same time,apply akind of trail controller using self-adapted controller to induce the effect arisen by the torque vibration because of load,frication and so on.

同时，应用了一种基于自适应控制器的跟踪控制结构，以解决由于负载、摩擦等因素的变化带来的力矩波动对加工精度的不利影响。

Comparing the experimental results with the results calculated using the OCIMF method, the reliability of using the OCIMF method is testified.Thirdly, the basic configuration plan of a ship undocking assisted by different number of tugs is given. The relationships among the gyroidal moment, gyroidal time and drag forces of tugs in the process of ship undocking are analyzed.

三、制定了不同数量拖轮协助船舶出坞时的基本布置形式，给出了不同拖轮协助船舶出坞时的拖轮布置示意图，并试验分析了船舶出坞回转力矩与回转时间和拖轮拖力之间关系，并确定了用于船舶出坞回转的拖轮拖力的余度大小。

The results show that, for the first with no headwall, when there is no crosswind, it has small front face areas, so the aerodynamic resistance is the least. Since the second and the third have headwall, the front face areas are large, so they have bigger aerodynamic resistance. Under the condition of crosswind, as the third design option has the highest side beam, the area of positive pressure at the upwind is bigger, and the area of negative pressure is smaller when the bigger eddy area appears, so the side forces become larger. The first has the least side forces; the overturning moment of the first is the least.

研究结果表明：在无横风情况下，方案一中没有端墙，迎风面积较小，受到的气动阻力最小，方案二和三中平车有端墙，迎风面积较大，受到的气动阻力也较大；有横风情况下，方案三中平车侧梁较高，车体迎风面正压区较大，而背风侧产生较大的涡流区，在此区域内压力较小，故其横向力较大，方案一中平车侧梁没有加高，受到的横向力最小；方案一中平车倾覆力矩最小，稳定性最好。

With horizontal shear component of intercolumn forces ignored, four equilibrium equations were formed, i.e., force equilibriums along the vertical direction, the sliding direction, Y axis direction, and moment equilibrium around Y axis. The equilibrium equations contained the actions of underground water, earthquake and supporting forces.

在忽略条柱间作用力的水平剪切分量的基础上，建立铅直方向、滑动方向、垂直滑动方向的力平衡以及绕Y轴的力矩平衡共4个方程，平衡方程中纳入地下水、地震、支护力作用。

The results showed that the three kinds of prealloy powder have excellent low temperature sintering characteristics and good wear resistance. They have excellent physical and mechanical characteristics close to ultrafine cobalt and imported prealloy powder, good retention to diamond and excellent bonding momental for high frequency brazing. At one time, they have lower cost and reduced dosage.

结果表明：三种预合金粉末有着优良的低温烧结性能和耐磨性，表现出接近于超细钴和相当于国外代钴粉末的优良的物理、机械性能，对金刚石把持力高；具有高的高频钎焊结合力矩；粉末成本较低，用粉量可降低。

The neuromotor control is responsible for carrying out 2 functions:(1) produce torque about a given spinal joint to carry out the task at hand, and (2) develop appropriate forces required to stabilize the spine.

中枢神经的控制主要表现在两个方面：（1）产生扭转力矩以便支持颈椎和实现手的功能；（2）提供适当的力量以便支持脊柱的稳定。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了