加权指数法

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The modified double weight function method is to introduce new weight functions doing subtraction between two negative exponential-type functions. For a Pearson type three probability distribution, the MDWF is able to make estimations of the Standard Deviation and Coefficient of Skewness C(subscript S from the second-order weighted central moments reduced to the first-order weighted central moment estimations.

修改的双权函数法是将两个负指数型函数之差所构成的函数类取作权函数，对于皮尔逊Ⅲ型分布，它能使σ和Cs的估计由原权函数法的二阶加权中心矩降低为一阶加权中心矩估计。

Methods According to the weekly influenzalike illness consultation rate of fourteen sentinel hospitals in Guangdong province from 2004 to 2006,the surveillance data of 2007 were fitted into models for early warning of inflecenza with three methods including control chart method,historical limit method and exponentially weighted moving average method.

采用2004～2006年14所哨点医院门诊每周就诊的流感样病例占门诊病例总数百分比数据，使用控制图法、历史限法和指数加权移动平均法，对2007年的流感样病例就诊百分比数据进行拟合，分析早期预警的效果。

A new algorithm,which is called " weighting method of compensation " for exponential curve of acceleration and deceleration in CNC,is developed.

提出了数控系统中一种新的指数升降速控制曲线算法-加权补偿法，该算法用加权平均及权值修正技术，解决了数控系统中指数升降速控制曲线不能任意动态调整的难题。

Basesd on the precipitation difference in Tsaidam Basin of Qinghai Province, three sampling areas, including Geremu, Delinghan and Doulan, were selected, and then three sapmling plots in each sampling area were selected to study the characteristics of plant community which dominated by Ceratoides lateens, Nitraria tangutorum, Tamarix chinensis, Kalidium gracile, Haloxylon ammodendron and Salsola arbuscula respectively. At the same time, the morphological and physiological features of above-mentioned 6 species were measured for probing their drought tolerance. By using the subordinative function method, grey correlative degree analyse and no-weight index comprehensive evaluation method, their drought tolerance were compared as well. The results were showed as follows: The main xeric vegetation types in the desert steppe of Tsaidam Basin were Nitraria tangutorum community, Tamarix chinensis community, Haloxylon ammodendron community, Kalidium gracile+Salsola arbuscula community, Ceratoides lateens+ Haloxylon ammodendron+Kalidium gracile community.

根据青海省柴达木盆地不同地区历年降水量差异，在研究区内选择格尔木、德令哈、都兰3个采样区，每个样区内确定3个采样点(表示为D11、D12、D13、D21、D22、D23、D31、D32、D33)，以样区内唐古特白刺、甘蒙柽柳、梭梭、木本猪毛菜、里海盐爪爪、驼绒藜等6种主要植物为研究对象，通过调查采样地区群落特征，观测植物形态解剖特征，测定植物脯氨酸、可溶性糖、叶绿素、超氧化物歧化酶、过氧化物酶和过氧化氢酶等生理指标，研究了柴达木盆地6种植物抗旱生理特性及抗旱特性，用模糊数学隶属函数法、灰色关联分析和非加权指数评价法分别对6种植物的各个抗旱性指标进行了综合评价。

Spatial interpolation methods and principles of marine optical data based on GIS is researched, including inverse distance weighted interpolation, ordinary Kriging spherical model and exponential model interpolation.

研究基于GIS的海洋光学调查数据空间插值方法及其原理，主要探讨了反距离加权插值法、普通克里格法的球体模型和指数模型算法。

The mean square deviation was used to calculate the weight, and compositive appraisement method of hierarchy multiplayer and the linear weighted function were introduced to build the two levels and integrated indicator of health diagnoses model-the health index.

以均方差决策法确定了各指标的权重，运用递阶多层次综合法、线性加权函数法分别建立了二级层次和综合指标健康诊断模型－健康指数。

In this paper, the environmental suitability evaluation model of livestock regional was established by the Analytical Hierarchy Process and the Sum of Weighted Index Number, which provides information and decision-making support.

本文采用层次分析法和加权指数和法建立畜禽养殖区域环境适宜性评价模型，为新罗区畜禽养殖环境管理工作提供信息支持和辅助决策。

Price indices of investment in fixed assets are calculated as the weighted arithmetic mean of the price indices of the three components of investment in fixed assets.

编制固定资产投资价格指数应首先分别编制上述三部分投资的价格指数，然后采用加权算术平均法求出固定资产投资价格总指数。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。