匹配问题

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。

By constructing a job-schedule network that can present job-time relationship,the FJSP is transformed to a network flow problem,and a 0-1 integer programming mathematical model is developed.

针对一般形式的固定工件排序问题(即可用机器数是有限的，存在机器与工件间匹配约束，以机器分配成本最小为优化目标)，作者通过建立描述工件间时序关系的工件时序网络，将固定工件的排序问题转化为沿工件时序网络的网络流问题，并建立了0-1整数规划数学模型。

On the base of applied tech. and system structure, the key tech. are expressed in detail. It includes:Knowledge representation technology: it is described in two stages by "Depictive frame + Rule group"."Depictive frame" is used to reflect the factors concerning question field."Rule group" reflects the son-question in question field; knowledge management system: it is made up of knowledge-base editing component, factor classifying component, knowledge inspecting component and extractive knowledge component; uncertainty reasoning adopt method of elicitation search strategy and data drive controlled by member knowledge. It take reliability of compound proof at first. That can resolve the matching contradiction. Reasoning explanation introduce pre-text and followed method of resolving path. Knowledge discovery component take SLIQ as basic arithmetic. It provides classification model in two stage forms which aim at training suit. That is decision tree and productive rule.

在确定应用技术与系统结构的基础上，重点阐述了本文的核心技术，这包括：知识表示技术，采用"描述框架+规则组"的层次结构，"描述框架"用于描述问题域所涉及的因素，"规则组"反映问题域内的子问题；知识管理系统，由知识库编辑构件、因素分类构件、知识检测构件和知识求精构件组成；不确定性推理机采用启发式搜索策略，元知识控制的数据驱动，以复合证据可信度优先作为匹配冲突消解的策略，推理解释采用预置文本与求解路径追踪的方法；知识发现，采用SLIQ快速可伸缩算法，分类模型用判定树与产生式规则两种形式描述。

Efficient detector generation algorithm is the kernel of anomaly detection. Aiming at low true positive value, unhandy matching threshold value and large detector set size of existent algorithms, a novel detector generation algorithm based on multiple populations genetic algorithm is put forward in this paper. According to morphologic analysis of intrusion detection system and covering problem principle, self set is divided into several partitions on the basis of their characters.

摘要有效的检测器生成算法是异常检测的核心问题，针对现有算法存在检测率低、匹配阈值固定、检测器集合庞大等问题，本文提出了基于多种群遗传算法的检测器生成算法，根据形态学空间的分析和覆盖问题原理，自体集根据特征进行划分，各个种群根据划分独立按遗传算法进化，最后求得所有检测器种群的并集得到成熟的检测器。

In the human body model based on the use of apar strip ie, 3' IA-body parts, and use a rigid body on the different nature of the human body to determine the end use of region matching and feature point matching the completion of many of the track, and it a better solution to the occlusion.

在人体模型的基础上，利用apar条形ie，3 IA-体的部位，并利用具有刚体性质的躯干对不同人体进行确定，最后采用区域匹配和特征点匹配完成多人的跟踪，并且很好的解决了遮挡问题。

4This paper expounds the basic theory of wavelet transform, makes use of the characteristic of wavelet multi-resolution to delaminate the image and explain in detail the existing problems in matching.

4阐述小波变换的基本理论，利用小波多分辨率的特性对图像进行分层匹配，对小波匹配中的若干问题进行详细的阐述。

And some people at the time argued that essentially by outlining what was okay or not okay with respect to spam, the nature of the law was such that it would actually legalize certain forms of junk email, and increase the problem, simply by legitimizing certain kinds of spam.

有些人当时争论该法案必须明确概述什么匹配或者不匹配&垃圾邮件&的概念，而该法案的原意却是通过简单的宣布一定垃圾邮件的合法化，让一定形式的垃圾邮件合法，却增加了更多的问题。

The characteristic of this approach is that the registration parameters are calculated according to the centroids and long axes of matched contour pairs in the input images. It is robust as it overcomes the difficulties of control point detection and correspondence in normal feature-based registration techniques.

该配准算法的特点是根据匹配轮廓对的质心和长轴计算配准参数，克服了传统的基于特征的图像配准算法控制点检测与匹配的问题，算法鲁棒性较高。

First, based on the measurements of absorption cross-section, the absorption characters of the main polluted gases in flue gas were deeply studied, and found that SO_2、 NO、 NO_2、 NH_3 had a character of approximate periods absorption at some wave band, which is a good chance of a new measurement introduced. Secondly, the factors about absorption cross-section of the gases measured, which affect on the measurement precision of DOAS, is studied deeply. The influence of pressure and temperature on absorption cross-section was given special research, and the compensated measures were given to the gases based on the character of the gases. Thirdly, in practical measurement, it must have been satisfied that the monochromator was consisted with the reference spectrum, which was based on absorption cross-section. In order to satisfy the consistency, the technique of reversion in the image was introduced, the reversions of spectrums were realized with wiener filter and noise elimination based on wavelet transform.

首先从吸收截面的测量入手，对烟气中主要的污染气体SO_2、NO、NO_2、NH_3的吸收特性进行详细研究，发现这些气体在局部区域具有准周期吸收特征，这为引入新的测量方法提供了契机；其次，对决定DOAS测量精度的被测气体吸收截面的诸多问题进行了深入研究，重点研究了压力、温度对被测气体吸收截面的影响，并针对被测气体的特征提出了相应的修正措施；再次，在实际测量中，要求所使用的光谱仪必须与以吸收截面为基础的参考光谱相匹配，为了满足匹配这一条件，文中将图像复原技术引入到光谱复原，使用维纳滤波和小波消噪实现了光谱的复原，将复原后的光谱与所使用光谱仪的仪器函数卷积，即可实现；最后，在对DOAS测量原理详细分析的基础上，对传统的最小二乘—差分吸收光谱法进行了详细的阐述，通过实验证实两点：1。

Our research work of combination of iceland and glass polarizing prism is based on four points: select suitable material、 calculation、 machining and testing. Select suitable material means that select the optical glass and glue that can match with iceland suitably; The optimal design scheme of prism is determined by calculation and analysis; The samples are machined, solving the technical problems, such as the matching of material and increasing transmittance; We pay attention to the transmittance and extinction ratio of prism in experimental test.

本文对冰洲石—玻璃组合偏光棱镜的研制工作主要围绕选材、计算、加工和测试这四个要点展开：选材即选取可以与冰洲石晶体实现较好匹配的光学玻璃和胶合剂；通过计算、分析，确定最优化的棱镜设计方案；样品加工，解决该棱镜加工的技术难题，如材料匹配和提高透射比问题；实验测试主要关注棱镜的透射比和消光比。

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。