和指数

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 thesis tries to construct a model and evaluating system of TSI which composed of 6 affecting modules (environmental cognitions, tourism expectation, view value, tourists" satisfaction, loyalty and complains) on the basis of dual duties of Emei"s sustainable development and environmental protection, and also at the foot of actual present condition and unique characteristics of Mont.

本文在峨眉山景区发展与环境保护的双重任务的情况之下，基于顾客满意度指数模型，结合峨眉山景区旅游环境的实际特点，根据数学建模等知识从环境感知、旅游期望、游览价值、游客满意度、游客忠诚和游客抱怨6大影响模块建立了旅游者满意度指数的概念模型和测评体系；根据总指数的计算着重分析了满意度指数的指标结构。

During aging, Gastel index which is sensible to aging condition decreased with increase of aging temperature and aging time. As the same time, the exponential relationship between the change of viscosity and aging time was discovered. Both the gastel index and the aging index can be used to evaluate the aging resistance of the colored paving asphalt.

彩色沥青老化过程中，沥青胶体不稳定指数对沥青老化条件很敏感，随老化温度的升高和老化时间的延长而增加；粘度随老化时间的延长近似呈指数关系增加，所以可以用胶体不稳定指数和老化指数来评价彩色沥青的老化性能。

As a whole,the notable characteristic of primary productivity in size-fractioned structure was that nanoplankton occupied comparatively significant advantage in Beibu Gulf.Nanoplankton has the largest contribution to gross primary productivity,and picoplankton was the secondary contributor,while microplankton the least.The contribution of microplankton for primary productivity in the north Gulf was more than that in the other waters.Nanoplankton and picoplankton contribute more to the gross primary productivity in offshore deep waters than in inshore shallow waters3.The Beibu Gulf can be divided into three ecoregions:Region-Ⅰis the ecoregion in inshore shallow waters of the north Gulf.In average,the water depth is 18m,DIN is 1.88μmol/L,DIP is 0.20μmol/L,N:P is 9.4:1,dissolved silicate is 5.17μmol/L,the Chl a conentration in surface layer is 2.27mg·m~(-3),the assimilation index in surface layer is 3.80mg/,the primary productivity is 198.78mgC/(m~2·d), and potential fishery production is estimated to be 0.24gC/(m~2·a) according to the primary productivity.The ecoregion is mainly affected by the northern coastal water systems,and may be fit for aquaculture;Region-Ⅱis the ecoregion in offshore deep waters of the north Gulf and the coastal shallow waters to the west Hainan Island.In average,the water depth is 35m,DIN is 2.01μmol/L,DIP is 0.18μmol/L,N:P is 11.2:1,disovled silicate is 4.23μmol/L,the chlorophyll a of surface layer concentration is 1.45mg·m~(-3),the assimilation index of surface layer is 4.12 mg/,the primary productivity is 276.60mgC/(m~2·d),and the estimated potential fishery production is 0.34gC/(m~2·a) according to the primary productivity. The ecoregion was mainly influenced by ocean current from the South China Sea, rivers in the west coast of Hainan Island and the water from Qiongzhou Strait.It may be fit for aquaculture and fishery;Region-Ⅲis the ecoregion in offshore deep waters of the mid and south Gulf.In average,the water depth is 75m,DIN is 0.77μmol/L, DIP is 0.15μmol/L,N:P is 5.1:1,disovled silicate is 3.05μmol/L,the chlorophyll a of surface layer concentration is 0.70mg·m~(-3),the assimilation index of surface layer averaged is 3.69mg/,the primary productivity is 350.89mgC/(m~2·d),and the estimated potential fishery production is 0.43gC/(m~2·a) according to the primary productivity.The ecoregion was mainly affected by the circulation inside Beibu Gulf, and may be fit for fishery.

初级生产力的粒级结构的一个显著特点是总体上微型浮游生物在全调查海区均占较明显优势，对总初级生产力的平均贡献最大；微微型浮游生物对初级生产力的平均贡献次之；小型浮游生物对总初级生产力的平均贡献最小；湾北部小型浮游生物对初级生产力的平均贡献高于湾中部和湾南部，而湾中部和湾南部微型和微微型浮游生物对初级生产力的平均贡献高于湾北部，远岸深水区高于近岸浅水区。3、北部湾可以分为三个生态区：湾北部近岸浅水区，该区的环境主要特点是平均水深19m，DIN浓度平均值为1.88μmol/L，DIP浓度平均值为0.20μmol/L，N：P为9.4：1，硅酸盐浓度平均值为5.17μmol/L，表层叶绿素a平均值高达2.27 mg·m~(-3)，表层同化指数平均为3.80 mg/，初级生产力平均值198.78mgC/(m~2·d)，根据初级生产力计算潜在渔业资源碳生产量平均为0.24 gC/(m~2·a)，该区主要受湾北部沿岸水系影响，适合作为水产养殖区；湾北部深水区和海南岛西部沿岸浅水区，该区的环境主要特点是平均水深35m，DIN浓度平均值为2.01μmol/L，DIP浓度平均值为0.18μmol/L，N：P为11.2：1，硅酸盐浓度平均值为4.23μmol/L，表层叶绿素a平均值1.45 mg·m~(-3)，表层同化指数平均为4.12mg/，初级生产力平均值276.60 mgC/(m~2·d)，根据初级生产力计算潜在渔业资源碳生产量平均为0.34 gC/(m~2·a)，该区主要受南部湾口区海流向湾内延伸，沿岸海南岛河流注入湾内和琼州海峡过道水的影响，适合作为渔业作业区和水产养殖区；湾中部和南部远岸深水区，该区的环境主要特点是平均水深75m，DIN浓度平均值为0.77μmol/L，DIP浓度平均值为0.15μmol/L，N：P为5.1：1，硅酸盐浓度平均值为3.05μmol/L，表层叶绿素a平均值0.70 mg·m~(-3)，表层同化指数平均为3.69 mg/，初级生产力平均值350.89 mgC/(m~2·d)，根据初级生产力计算潜在渔业资源碳生产量平均为0.43 gC/(m~2·a)，该区主要受北部湾环流影响，适合作为渔业作业区。

Angle in flow path is the biggest influence factor to flow index, the relationship each other is negative, and the relationship between the discharge coefficient and angle is also negative.

梯形流道上底宽对流量系数和流态指数影响显著，且与流态指数和流量系数呈正相关关系；流道转角对流态指数的影响显著，且与流态指数和流量系数呈负相关关系。

China Securities Index Co., Ltd. October 31 announcement, the Shanghai Stock Exchange and China Securities Index Co., Ltd. decided to SSE 180 Index and SSE 50 Index to adjust the rules, the rules will be the next regular adjustment of the sample unit implementation.

中国证券指数有限公司宣布10月31日，上海证券交易所和中国证券指数有限公司决定，上证180指数和上证50指数调整规则，这些规则将成为下一个样本定期调整单位的执行情况。

The maximum values of the species richness index, Simpson index and Shannon-Wiener index of sawfly communities occurred at the altitude of 1000-1500 m, being 12.293, 0.971 and 3.830, respectively, while the dominance index was the highest at high altitude.

不同海拔叶蜂群落的物种丰富度指数、Simpson多样性指数和Shannon-Wiener多样性指数均以中间海拔(l000~1500m)最高，分别为12.293、0.971和3.830；优势度指数则以高海拔最高。

Subindex as the proxies of the stock price.The results show that(1) there is no long equilibrium relation between the stock price and the performances of the listed companies,that means the movements of ...

研究发现：①股票价格与上市公司业绩变化之间不存在长期均衡关系，说明股票价格不反应上市公司业绩；②沪市指数和深市指数之间存在长期均衡关系，并且沪市指数是深市指数的G ranger成因；③沪市上市公司净资产收益率和深市上市公司净资产收益率之间存在长期均衡关系，不论是从长期还是短期来看两者都呈同向变化关系。

Around all survey areas there were totally 8 dominant species in 4 seasons,which were Trichiurus japonicus,Pseudosciaena polyactis,Setipinna taty,Acropoma japonicum,Apogon lineatus,Engraulis japonicus,Champsodon capensis,Psenopsis anomala.

生物多样性指数中丰富度指数和Shannon-Wiener多样度指数变化趋势一致，在春、夏两季3个区域相差不大，而在秋、冬两季黄海南部与东海北部和中部有明显分异；种类均匀度指数在四季节3个区域之间相差不大。

From the PMI manufacturing sector purchasing managers index and the consumer confidence index, the two leading index of view, from the beginning of July two indices have been turning point .

从采购经理指数制造业采购经理人指数和消费者信心指数，两个角度领先指数，从7月初两个指数已转向点。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐