坐标变换

Then, the minutiae sets are aligned globally through coordinate transform, and the alignment parameters are optimized by using affine transform and least square method. Finally, minutiae matching and directional field matching are respectively achieved based on the minutiae alignment, and the two matching scores are fused into a single to obtain a more reasonable result. Experimental results show that this method contributes to ensure the accuracy of fingerprint identification as well as possesses the real-time performance.

该算法首先利用脊线信息快速确定满足局部匹配要求的细节点对，在此基础上进一步通过全局坐标变换完成细节点的全局配准，并采用仿射变换模型通过最小二乘估计对配准参数进行优化，然后在配准的基础上分别进行细节点匹配和方向场匹配，最后对两种匹配分值进行融合，以取得较合理的匹配结果。

The infinite elliptic cone geometry can be transformed into the two-dimensional plane under the assumption of pure TEM spherical waves. The closed-form solutions for the characteristic parameters are obtained.

应用坐标变换和共形变换研究椭圆双锥天线，在传输纯TEM波的假设下，把无限长椭圆双锥结构变换为二维平面结构，从而得到椭圆双锥天线输入阻抗闭合解，其典型结果与文献一致。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Research on the theory of structure light sensor Originating from the principles of projective and perspective transformation, for the first time, the models of coordinate transformation between workpiece and camera with arbitrary angle of laser light and camera are presented. The model give some very important rules for the design of structure light sensor, and is very important to the design of structure light sensor, the sensor designed based on the theory above is used in automatic welding.

结构光传感器的理论研究依据透视变换理论给出了光源倾斜照射和摄象机倾斜接收情况下，被检测物体与摄象机之间的一般坐标变换数学模型，该模型揭示出结构光传感器设计时应遵循的一些原则，对结构光传感器的设计具有非常重要的指导意义，基于该模型设计的结构光传感器已在自动焊接实验中获得了成功的应用。

Originating from the principles of projective and perspective transformation, the models of coordinate transformation between workpiece and camera with arbitrary angle of laser light and camera are presented.

对电弧光的干扰进行了深入的研究，建立了电弧干扰的光照模型；依据透视变换理论，给出了光源倾斜照射和摄像机倾斜接收情况下，被检测物体与摄像机之间的一般坐标变换数学模型。

Converting the three-phase current coordinate by d-q transformation,picking out the fundamental active component,then the harmonic and reactive component was detected.

通过d-q变换对三相电流进行坐标变换，提取其基波有功分量，从而检测出其谐波与无功分量。

Firstly, based on the force acting on a single-particle, establish a discriminant formula of the sand threshold, and prove that the sand threshold belongs to the cusp catastrophe. Then establish the basic equation of the cusp catastrophe using coordinate transformation and catastrophe theory. Finally, while particle Reynold number and equivalend diameter are the state variables and Shields parameter is the control variables, we can obtain the model of cusp catastrophe of sand threshold, putting those variables into the basic equations of the cusp catastrophe. The model is derived from the mathematics, which has a certain mathematical theory foundation.

首先从单颗沙粒受力分析出发，建立沙床沙粒起动条件判别公式，进而证明了风沙起动属于尖点型突变；然后通过坐标变换和突变理论建立了尖点突变的基本方程；最后本文选择颗粒雷诺数和等效粒径作为控制变量，希尔兹参数作为状态变量，并把它们代入尖点突变的基本方程，经过拓扑变换得到风沙起动的尖点突变模型，并与前人的公式及实验数据进行比较。

In order to resolve this problem, the boundary-fitted curvilinear coordinate system was utilized and inerratic reservoir region was changed into rectangle rigon.Recently, the theory of stochastic differential equation was applied to the water quality models of river.

本文中采用正交边界拟合坐标变换方法，将不规则的水库平面域变换成便于计算的矩形域以克服上述困难，从而使建立的富营养化模型能够适用于边界复杂的水域。

With the state-of -date computer-aided control technology,in which the coordinate transformation and retransformation,the digital calculation and filtering/regenerative compensating calculation are carried out,the compound control-tracking system with regenerative feedback is built up and the high-precision tracking to high-speed moving objects is finally realized.

为提高伺服系统跟踪精度，利用现代计算机辅助控制技术，用软件进行坐标变换与反变换、数字计算与滤波和再生补偿量的计算，构成具有再生反馈的复合控制跟踪系统，最终实现对高速运动目标的高精度跟踪。

Two coordinate conversion matrices respectively for rotation angles in two rotators express the same conversion,they are thus equal,and by contrasting them the relationship between these two kinds of rotation...

分别用两个三自由度转动体的转角所表示的两个直角坐标系之间的空间旋转坐标变换矩阵，代表同一变换，因而相等，由两个矩阵的对应元素相等可直接得出两个转动体之间的转角关系式。

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。