多自由度的

For a monotone twist map the well-known Birkhoff fixed point theoremsays that the circles with rational rotation number will break up whence a finitenumber of pairs of periodic points arise,half of which are elliptic and the othershyperbolic.Moreover,around each elliptic periodic point a few of new invariantcurves will appear and make a picture of phase space with a self-similar structure.Again one may ask is there a similar picture for higher dimensional Hamiltoniansystems?

对于单调扭转映射，著名的Birkhoff不动点定理指出，在通有情况下旋转数为有理数的不变曲线一般会破裂，在原来的不变曲线附近会产生有限多对周期点，其中一半是双曲的，一半是椭圆的，而在椭圆型周期点的周围又会产生一圈圈的不变曲线，使得椭圆周期点附近的动力学行为和整个相空间的动力学行为十分相象，换句话说，整个相空间具有无限嵌套的自相似结构，自然又产生了一个问题：对于自由度数目大于2的高维哈密顿系统，其相空间是否有类似的图象？

The vibro-impact systems are familiar with the non-smooth dynamic systems.The dynamics research of the vibro-impact systems not only is significant in theory but also has practical values in engineering.Firstly,using the Poincaré map method,we get an existent criterion of single impact period-n motion in a two-degree-of-freedom vibro-impact system with damper.It is shown that our conclusions are valid through the numerical simulations.Moreover,the satiability of periodic motions is studied and the correspon...

基于Poincaré映射的方法，通过解析的方法导出了一类具有阻尼的两自由度碰撞振动系统的单碰周期n次谐运动存在性判据，经过数值模拟验证了理论分析的正确性，并给出了分析其稳定性的判别公式，通过数值模拟，讨论系统的局部分岔与全局分岔，同时比较了系统参数变化对其周期运动的影响，发现在强阻尼、弱激励、小质量比、较大恢复系数下系统将会出现较多的有规律的周期碰撞。

Thirdly, a welding platform scheme for huge circumferential seam's sealing is proposed, which is composed of multiple 3 DOF robots. It can control the pose adjusting during the rotation of the ship module. As to the different part of the ship hull, the inverse kinematics arithmetic of cylindraceous, elliptical and conical ship modules are given respectively.

第三，在船体环缝焊接系统中，本文提出了一种由多个3自由度滚轮机器人组成的环缝焊接平台的控制方法，实现了船体模块在旋转焊接时的姿态调整，并分别针对船艏、船舯和船艉的不同形状给出了相应的逆运动学算法以及可用于实时操作的简化控制算法。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。