动力学的

This paper mainly introduces experimental methods and basic principle about gelled acid reaction kinetics. Through the reaction kinetics experiment of straight acid and gelled acid, the reaction parameters of acid - rock reaction and kinetic equation in different conditions were achieved.

介绍了胶凝酸反应动力学的试验方法及基本原理，进行了普通酸和胶凝酸与灰岩的反应动力学试验，得到不同条件下的酸岩反应动力学参数及反应动力学方程，对优化碳酸盐岩油藏酸压设计有一定的指导作用。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

Based on Kane's dynamics theory of multiple rigid body, the firing dynamic model was established for the coupling system of firer and rifle, and dynamic numerical simulation of the system was carried out. The launching motion parameters of equivalent bodies of firer and rifle were obtained.

基于凯恩多刚体动力学理论，建立了射手与步枪系统的发射动力学模型，进行了高频点射步枪人机耦合系统发射动力学的数值仿真，得到了射手及步枪等效体在发射过程中的运动参数。

The kinetic process of hydride and its difference with that of gas-solid reacytion kinetics are described.

分析了Ti-V合金吸氢动力学的影响因素，金属氢化物动力学过程的特点及其与气-固反应动力学的区别。

In the following,we discuss the Lagrange multiplier method of flexible multi-body system dynamics and its application.

接下来详细讨论了多柔体系统动力学的Lagrange乘子法及其应用。多体系统动力学特别是多柔体系统动力学，是一个刚刚兴起的动力学研究的新方向。

In this topic, the dynamic analysis methods for piezoelectric vibrator are studied systematically based on the theoretical model, FEM numerical experimentation and FEM governing equation for given compound-mode vibrator, and some valuable conclusions are obtained. The main work accomplished is summarized as follows: 1.Elaborate the main modeling methods for piezoelectric vibrator and the significance and necessity to study the dynamic characteristics of piezoelectric vibrator which emphasize the urgency of this paper. 2.Take the bending deformation induced by piezoelectric ceramic as example, the energy transfer mechanism of electric energy to mechanical energy are analyzed; the motion and force transfer mechanism are analyzed for the longitudinal-bending vibrator. 3.Based on mode assumption and Hamilton principle, the coupling model of piezoelectric vibrator of linear USM is built; moreover, the equivalent circuit model is obtained and a coupling equation represents the relation between electric parameters and mechanical parameters is derived which provides foundation to match the vibrator and driving circuit. 4.Combine the constitutive equation of piezoelectric ceramic with elastic-dynamical equation, geometric equation in force field and the Maxwell equation in electric field and the corresponding boundary condition equation, the FEM control equation for piezoelectric vibrator of USM to solve dynamic electro-mechanical coupling field is established by employing the principle of virtual displacement. The equation lays the foundation to study the non-linear constitutive equation of piezoelectric ceramic driven by high-power. 5.Define the dynamic indexes of characteristic of vibrator and carry out variable parameters simulation by calculating the model parameters and the electric characteristics of vibrator are simulated according to the equivalent circuit model. By numerical experimentation, the working mode of vibration of vibrator and the shock excitation results of the working frequency band which provides the mode frequency to realize bimodal are analyzed. Detailed calculation of the electro-mechanical coupling field parameters is made by programming the FEM control equation.

本课题从理论模型、有限元数值试验、有限元控制模型等方面以复合振动模式振子为例对超声电机压电振子的动力学特性及其分析方法进行了全面系统地研究，得出了许多有价值的结论，主要概括如下： 1、阐述了目前针对超声电机压电振子的主要建模方法，对压电振子动态特性的研究意义和必要性进行了论述，突出了本文研究内容的迫切性； 2、以压电陶瓷诱发弹性体发生弯曲变形为例，分析了压电陶瓷通过诱发应变来实现机电能量转换的机理；对基于纵弯模式的压电振子的运动及动力传递机理进行了分析； 3、基于模态假定，利用分析动力学的Hamilton原理，建立了面向直线超声电机压电振子的机电耦合动力学模型，并据此建立了压电振子的等效电路模型，导出了电参量与动力学特性参量的耦合方程，为压电振子与驱动电路的匹配提供了依据； 4、从压电陶瓷的本构方程出发，综合力场的弹性动力学方程、几何方程、电场的麦克斯韦方程以及相应的边界条件方程，采用虚位移原理，建立了压电振子动态问题机电耦合场求解的有限元控制方程，为研究其大功率驱动下的非线性本构模型奠定了基础； 5、界定压电振子的动力学特性指标，对压电振子的机电耦合动力学模型参数进行计算及变参数仿真；依据等效电路模型，对压电振子的电学特性进行了仿真分析；通过有限元数值实验，对压电振子工作模态附近的模态振型及工作频率附近的频段进行了激振效果分析，找出了实现模态简并的激振频率；利用有限元控制方程，通过编程计算，对压电振子的力电耦合场参数进行了详细计算，得出了一些有价值的结论。

The kinetics process and temperature impact of natural groundwater denitrified by sulfur autotrophic was investigated. The results revealed that the denitrification rate of up-flow sulfur autotrophic denitrification filter followed a half-order kinetics model; and the reaction rate constant was mainly affected by the temperature. Based on the Arrhenius calculation, the activated energy was 80.38 kJ/mol.

研究实际地下水硫自养反硝化动力学过程，考察季节因素对动力学的影响，实验结果表明，地下水升流式硫自养滤柱反硝化动力学符合1/2级动力学模型，其反应速率常数受温度的影响很大，用阿仑尼乌斯方程计算硫自养反硝化活化能为80.38 kJ/mol。

This paper mainly introduces experimental methods and basic principle about gelled acid reaction kinetics.

介绍了胶凝酸反应动力学的试验方法及基本原理，进行了普通酸和胶凝酸与灰岩的反应动力学试验，得到不同条件下的酸岩反应动力学参数及反应动力学方程，对优化碳酸盐岩油藏酸压设计有一定的指导作用。

We review domestic and abroad research progresses of epilepsy by nonlinear dynamical theory and method, which include dynamical interpretation of epileptic pathogenesis, analysis of dynamical characteristic quantity of EEG signals during interictal and ictal stage, foundation of prediction mechanism and system.

我们综述了国内外采用非线性动力学的理论和方法对神经科癫痫研究的进展，包括发病机理的动力学解释，发作间期和发作期脑电图信号的动力学特征量的分析，以及预报机制的建立等；同时介绍了最近本课题组采用建模分析的方法研究癫痫脑电的主要结果，以及对癫痫发作过程的动力学性态变化规律的若干新发现；据此提出了研究中的一些问题和设想。

In the paper, adsorption equilibrium and kinetics of water in the solvents of benzene series and low-carbon alcohol on 3A zeolite molecular sieve were studied including effective pore size of zeolite, adsorbate concentration and temperature. The mechanism and characteristics of water adsorption in such systems, the effect of solvents to adsorption equilibrium and kinetics of water were discussed, and diffusivities of water under different conditions were obtained.

论文研究了苯系列物质—水体系、低碳醇—水体系中水在3A沸石上的吸附动力学，考察了沸石晶格窗口大小、吸附质浓度、温度等因素对吸附动力学的影响规律；分析了吸附机理以及两类体系的特点；通过数学模型对实验数据的拟合，求取了各种条件下的动力学参数；研究了两类体系的溶剂对吸附平衡和动力学的影响。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。