提出

Firstly, we put forward twoways to reconstruct the correlation curve accordingto whether the changed correlation peak. After analyzing the character of the correlation curve,we find the method to judge whether the peak is excurved. Secondly, the confirmation of thecomplex signal and difference value curve, according to the present optimized arithmetics.

一是针对复合信号相对直达信号的相关曲线峰值是否偏移提出的两种不同重构相关曲线方法，分析其相关曲线特点，提出判断其峰值是否偏移的标准；二是复合信号相关曲线与差值曲线的峰值的确定，本文根据目前的最优算法，有针对性的提出分别由模拟退火与遗传算法解决此问题的原理、思路、方法、实现步骤、程序与判断正确性的仿真验证。

So, the study in this dissertation focuses on some key points in theuncertainty treatment of mobile robot localization as follows: Combined with the multiple proprioceptive and exteroceptive sensors ofmobile robot MORCS-1, aimed at the drift error of fiber optic gyro as theproprioceptive sensor, the neural network using genetic algorithm as optimaltool is proposed to accomplish the modeling and calibration for temperaturedrift of fiber optic gyro, which can reduce the drift error to the standard outputat constant temperature; and aimed at the noisy disturbance of ranging datafrom the exteroceptive sensor laser scanner, a dynamic adaptive filter isintroduced through the analysis of neighboring ranging data in time and spatialcorrelation to realize the real-time and dynamic filter, which can validly filter the noisy disturbance to meet the requirement of the accurately real-timeobstacle detection in mobile robot navigation.

总结全文，在移动机器人定位的不确定性处理研究中，提出了一些具有一定创新性的方法：结合自行研制的移动机器人MORCS-1系统的多种内外部定位传感器，针对内部本体感受传感器光纤陀螺仪的漂移误差，提出采用基于遗传算法优化的神经网络来对光纤陀螺仪的温漂建模及校准，能够将其温漂变化控制在恒温条件下标准测试输出附近；针对外部环境感知传感器激光雷达测距数据中包含的噪声干扰，考虑移动机器人导航中激光雷达测距数据的时空关联性，提出采用动态自适应滤波技术进行预处理，从而可以有效滤除噪声干扰满足导航中障碍实时精确检测的要求。

The "extinctive line method" is suggested for surveying the strike-dip of structural planes. The concept of Rock-slope Spatial Information System based on remote sensing of ground photogrammetry, and the method of "layer calculation" for study of rock blocks and sliding planes are put forward.

提出了测量结构面产状的&灭线法&；提出了以量测摄影仪与普通相机相结合的地面摄影遥感为基础，建立岩坡空间信息系统的概念；提出了分析块体和滑面的&层运算&方法。

Firstly, the paper, combining the characteristic of synchronous pulse bursts and inhibition with the modified PCNN model, presents a way of finding the foveation points in the images adaptively and effectively, and simulates the human vision system. Secondly, PCNN is extended to PCNNs, based on the properties of information couple and transmission, an algorithm that is used to fuse images of the same target got by several sensors to an image is presented to simulate the human vision system. Thirdly, combining the properties of synchronous pulse bursts, capture, and transmission and competition of waves, the paper presents two ways of classification, one is an algorithm based on the properties of neuron to capture and inhibit to classify the data taking on any complex unlinear distribution robustly, the other is based on the restricted distance and modified of the former to remove the influence of inferior samples in classification; Finally, based on the accumulative difference pictures, and the forming and transmission of PCNN wave, selecting and controlling the direction of autowave by connecting the neighbouring neurons selectively, the paper presents a way to simulate the tracks of moving object and detect the moving direction.

首先结合PCNN的同步脉冲发放和侧抑制特性，提出了基于改进型PCNN的图像凹点检测算法，该算法是一种自适应而有效的图像凹点检测方法，并且较好地仿真了人类视觉系统；然后，结合信息传递和信息耦合特性，将PCNN扩展成PCNNs，提出了一种基于PCNNs的图像融合算法，能够将多个传感器获取的同一目标的图像信息融合到一幅图像中，有效模拟了人类视觉系统；另外，结合PCNN的同步脉冲发放特性、捕获特性和波的传播竞争特性，开拓地将PCNN用于模式分类中，提出了基于耦合神经元点火捕获／抑制特性的分类方法和改进的约束距离下的PCNN分类方法，前者可实现对样本空间中任意复杂分布训练样本的稳健非线性分类，而后者能够消除训练样本中刺点对分类的影响；最后，结合累积差分图像思想、PCNN波的形成与传播特性，通过各神经元之间连接取向来选择与控制自动波的流向，将PCNN用于运动视觉分析中的运动轨迹模拟及运动方向检测。

The author believe that our Party must has hers theory and reality basement to bing forward the geal of Constructing Socialist harmonious society.

笔者认为党提出&构建社会主义和谐社会&的目标是有其理论和现实基础的，这个目标的提出，对建设有中国特色的社会主义具有重大的政治、经济和理论意义；笔者以为，构建社会主义和谐社会是一个长期的历史过程，提出了全面提高党的执政能力，以科学发展观为指导，构建社会主义和谐社会的措施；坚持以人为本，提高党激发社会创造活力的本领；坚持从有利于全面发展的角度加强社会建设，提高党管理社会事务的本领；坚持从有利于协调发展的角度，提高党协调利益关系、促进社会公平和正义，实现社会安定团结的本领；加快推进经济结构调整和增长方式转变，不断提高驾驭社会主义市场经济的能力；坚持从有利于可持续发展的角度来加强党的执政能力建设，实现人与自然的和谐发展。

The research of this thesis is under the circumstances that the international shipping center of Shanghai builds Yangshan deep water port project, first of all, through its SWOT analytical method analyze Shanghai maritime affairs situation, maritime affairs office existing boat policy, Yangshan deep water port hydrometeorological situation, analyze the present main ship type, to explain the background of the choice the ship the small waterline, to put forward the necessity of building small water-plane area twin hull maritime affairs patrol ships. Then, it introduces the principle, characteristic of the small waterline, and has analyzed the domestic and international state of development of the SWATH ship, and conclude that it is feasible to build SWATH maritime affairs patrol ship technical, through the research and analyze of design at home and abroad,; Then it analyzed the application of the SWATH ship in maritime affairs manage both at home and abroad, put forward the preliminary scheme, and carry on research to the economic performance of technology of the scheme, through putting forward the preliminary model of plan of design to main yardstick and selecting type of host computer finally after relatively optimize, and confirm design specifications .

本文的研究是在上海国际航运中心建设核心工程洋山深水港的大前提下，首先，通过利用SWOT分析方法分析了上海海事局面临的形势，对上海海事局现有航政管理船舶现状进行分析，对洋山深水港海域的水文气象情况进行了调研，对当前主要船型进行分析，对选择小水线面船的背景加以阐述，提出建设小水线面双体海事巡逻船的必要性：接着，对小水线面船的原理、特点加以介绍，并对小水线面船国内外发展状况进行了分析，对国内设计建造小水线面双体海事巡逻船的技术可行性进行了研究分析，得出国内设计建造小水线面双体巡逻船在技术上是可行的；然后对国内外应用于海事管理等工作的小水线面船型进行分析，提出初步的方案，并对方案的技术经济性能进行研究，通过对主尺度和主机选型等进行比较优化后最终提出初步的设计方案模型，并确定设计任务书。

Data pre-processing technologies such as singular points elimination, registration and radius compensation are studied. Base on chord high difference algorithm, a new one called chord high difference-ratio algorithm is proposed to improve veracity and robusticity of singular points elimination. Then, a registration algorithm based on local surface reconstruction is proposed, which avoids infaust influence coming from single reference point error.

在弦高差法的基础上，提出了全新的弦高差—比法，提高了异常点剔除的准确性和柔韧性；提出了一种基于局部图形重构的重定位方法，该方法通过对特征球的最小二乘拟合，消除了单一参考点的精度对重定位的影响；在此基础上对重定位的误差进行了详细的分析，给出了精确的误差值，从数学的角度保证了重定位的精度；在三角网格法的基础上提出了基于Delaunay三角剖分的半径补偿新方法，有效改善了补偿矢量的计算效率和准确性。

Nagadum has an inseperable relationship and interactive basis with school education, family education and social education. Chapter six mainly analyzes the current inheritage of Nagadum and its existing problems from the position that the realization of its educational funtion relies on its effective inheritage, it also provides the concept to rebuild the transmission of Nagadum. Chapter seven tries to analyze and reflect the current courses in national school education and its disadvantages of isolating from its native culture and living practice from the position that the realization of its educational function relies on the widely identification of national school education. It proposes that the essence of national education is "the education of national culture", the aquisition of native knowledge is obtained on the basis of practical mode of acquisition, hence the author tries to provide some constructive suggestions that school education in minority areas should return to native knowledge and culture, and the construction of the interactive relationship between schools and communities should be established.

第五、六、七章阐述了那达慕如何实现教育功能，其中第五章阐述了实现那达慕教育功能的内在基础和现实条件，即那达慕与学校教育、家庭教育、社会教育都具有不可分割的关系和互动基础；第六章从那达慕教育功能的实现有赖于那达慕的有效传承的立论出发，分析了那达慕传承现状及其问题，并提出了重构那达慕传承模式的构想；第七章从那达慕教育功能的实现还有赖于民族学校教育的广泛认同的立论出发，分析和反思目前民族学校课程知识及教育方式脱离本土和生活实际的弊端，提出民族教育的实质是&民族文化的教育&，本土知识的获得需用实践建构的认知方式，从而对民族学校回归本土知识与文化，建构学校与社区之间经常性文化互动关系提出了笔者的建议。

The supporting technologies of network information security are summarized. The unitive authentication systems existing are analyzed in this paper; their virtues and shortcomings are discussed.2. About the distributed peculiarities of allied resource, the concept of alliance grid is established. The access control model of alliance grid is established by directive ideas of access control security of alliance grid. AG-RBAC model is set up in the basic of common RBAC, interbedded relations between roles are set forth.

针对制造联盟企业资源分布式的特点，提出了联盟网格的概念；根据联盟网格安全访问控制的指导思想，提出了联盟网格访问控制模型；在一般RBAC模型的基础上提出了基于角色的联盟网格访问控制模型，清晰的表述了角色之间的层次关系；初步分析了AG-RBAC的实现模式，重点讨论了角色定义和权限配置的实现方法。

Hypercube has many advantages, such as smaller diameter, simple routing algorithm, many parallel paths between any two nodes, and fault-tolerance, on the other hand that the Hypercube nodal degree increased logarithmetically to the number of nodes has limited network population. So we propose a constant nodal degree hierarchical topology to remedy the weakness of Hypercube and take advantages of Hypercube most. Given the definition of FCCN we analyse the basic properties including nodal degree , number of links , extensibility and diameter (maximum network communication delay). Also we proposed a simple and self-routing algorithm applied in FCCN. Although the self-routing algorithm is not optimal, but at more than 82% case it can get the shortest path, and the percent is larger and larger increased with network levels. By the self-routing algorithm the internodal distance is calculated to evaluate the network communication delay more clearly. The average internal distance is in order of the cubic root of the network population that is almost same as logarithmetically relation in a few thousands. FCCN is a highly scalable network due to its recursive construction.

首先在比较了基本互连网络的基础上，看到超立体网络的杰出性能，包括网络直径小、寻路算法简单且为自寻路算法、容错能力好等等，但是由于其节点度随网络的规模的增加而按对数关系增长，使得超立体网络的应用规模受到极大限制，所以为了能最大限度利用超立体网络的优点的同时弥补其节点度方面的不足，作者提出了节点度等于常数4的FCCN网络结构，来最多地利用立方体网络的优点；然后在对FCCN网络进行严格的定义后，分析了网络的节点度、链路数、延伸特性、网络的直径（决定网络的最大通讯延迟）等，并提出了适于FCCN网络的简单的自寻路算法，计算自寻路算法可得到最短路径的比例，看到在多于82％以上的情况自寻路算法都是最优的，而且比例随网络层数的增加而增加；应用所提出的自寻路算法计算了可以更加准确反映网络通讯延迟的参数—网络平均节点距离，计算得到此参数与网络大小的立方根成正比，此比例关系在网络的规模在几千节点以内与对数关系的网络几乎一样；FCCN网络是一高度可扩展结构，这是因为FCCN的递归构成方式，使得网络在增加节点时其原有的拓扑结构可以保持不变，不需对网络进行重新设计，为网络的实用扩展提供了条件；理论分析得出FCCN网络是一种高度可扩展高性能网络的结论。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了