提出

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。

We used Reactionary Regionalism from Beeson as the core basis and used test method to deeply analyze East Asian regional development and address a case study to observe and analyze the following regional development of East Asian countries to extend and add interpretation of the difference of Reactionary Regionalism and address a more complete point of view. We expected to bring up more detailed point of view deeply and precisely to study East Asian regional integration development.

以Beeson所提出的回应性区域主义为核心基础，采用验证方式深入分析东亚区域发展并提出个案研究，观察分析东亚各国后续的区域发展，并延伸与补充回应性区域主义的不足之处并整理出更加完备的分析观点，以期能更深入、更细致地提出更有解释力观点来研究东亚的区域整合运作发展，提供东亚区域发展更为清晰与完整的研究。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

In the new historical period,it is imperative to establish the education,service and management system centering on college students.

党的"十六大"提出了我国在新世纪发展的宏伟蓝图，提出了"全面建设小康社会"的宏伟目标，同时也对高等教育和高校提出了新的要求。

Through above study, the theoretical analysis of the inherent fault tolerance of feed-forward neural networks has been extended from hard-limit activation functions to differentiable activation functions; 2. By using above method, fault tolerance of discrete Hopfield feedback neural networks have been also analyzed. It means that the above method can be applied not only for feed-forward neural networks but also for feedback neural networks; 3. For the feed-forward neural network with the Sigmoid activation function, Chebyshev Inequality method was presented.

这项研究将以前仅限于对硬限幅作用函数前向神经网络固有容错性能的理论分析推广到具有可微作用函数的前向神经网络； 2 针对离散型Hopfield反馈神经网络，利用上面提出的方法，对其同样进行了容错性分析，得出许多有用的结论和计算公式，说明上面提出的方法不仅适用于前向神经网络，同时也适用于反馈神经网络； 3 针对具有Sigmoid作用函数的前向神经网络提出了一种切比雪夫不等式法。

According to the development of the present study, its application in manned space flight and clinical medical treatment was proposed. the topic of "space chronobiology" and its research principles were put forward. treatment of cardiovascular diseases, metabolic system diseases, cancer and regulation of sleep were advanced.

根据时间生物学研究发展的现状，提出了其未来在载人航天研究领域和临床应用方面发展的前景和趋势，提出了建立"空间时间生物学"学科及学科研究的基本内容；在临床应用方面，提出了时间治疗学在治疗心血管疾病、内分泌系统疾病、肿瘤和睡眠调节等方面的应用前景。

Three classes of equivalent system methods which are used in finding high order flight control systems low order equivalent are studied. The first class methods are the classical frequency domain-based equivalent system methods which recommended by MIL-F-8785C and MIL-STD-1797A. Five longitudinal low order equivalent systems and fourteen lateral ones are discussed in detail and some pieces of advice are given. Also conduct an investigation in the time domain-based equivalent system methods .

研究了求取高增稳飞机的低阶等效系统的几种方法：研究了经典的频域等效系统方法，针对纵向5种、横向14种构型的低阶等效系统进行了拟配实践，并提出一些有益的看法；以频域等效系统方法为基础，提出了时域等效系统新方法；以最小二乘辨识为基础，提出了两种纵向短周期低阶等效系统时域辨识方法(等效延迟时间τ_q参与或不参与)。

At year 2005, fifth center committeeman meeting of the sixteen meeting of Communist Party emphasized that in the process of building well-to-do society and realizing renaissance of China enhancing the culture industry development is the inner demand of quickening socialism modernization establishment and important content of establishing socialism harmonious society.

2004年黑龙江省提出"建设边疆文化大省"的口号，把加快发展文化产业摆上了重要日程。2005年黑龙江省制定十一五规划纲要，对做大做强文化产业，促进形成布局合理的文化产业发展区域格局提出了明确要求。综上，对黑龙江省文化产业发展现状进行系统分析，并针对性地提出发展的对策建议，无疑具有一定的理论和现实意义。

This paper tries to have some innovations in the following aspects:(1) the main cause of our tax revenue depending mainly on turnover tax is short of innovation in system;(2) its innovation in system to impel the rising of income tax in developed counties, which is a good example for us to learn from in the optimization of our tax structure ;(3) the main function of turnover and income tax should be separated according to their characters;(4) the reforms in turnover and income tax should be taken simultaneously, congenially and complementally, although the former will be more progressive while the later more abrupt;(5) the essential function of tax is to raise revenue, but its fair-promoting effect is much more obvious in disbursing than in collecting.

本文力求在以下几个方面有所创新：(1)认为我国税种收入过度依赖流转税的主要原因是制度创新力度不够；(2)认为制度创新是推动发达国家所得税从弱到强的主要原因，提出我国税种结构优化需要在制度上大胆创新；(3)提出根据各个税种的特性，流转税和所得税的主要功能应有所分工；(4)流转税和所得税的改革应双管齐下，以渐进的方式改革流转税，以突变的方式改革所得税，分工协作，优势互补；(5)提出税收的主要功能是筹集收入，税收在征收环节在促进结果公平方面效果甚微，税收在支出环节更能有效促进结果公平。

This paper tries to have some innovations in the following aspects:(1) the main cause of our tax revenue depending mainly on turnover tax is short of innovation in system;(2) it's innovation in system to impel the rising of income tax in developed counties, which is a good example for us to learn from in the optimization of our tax structure ;(3) the main function of turnover and income tax should be separated according to their characters;(4) the reforms in turnover and income tax should be taken simultaneously, congenially and complementally, although the former will be more progressive while the later more abrupt;(5) the essential function of tax is to raise revenue, but its fair-promoting effect is much more obvious in disbursing than in collecting.

本文力求在以下几个方面有所创新：(1)认为我国税种收入过度依赖流转税的主要原因是制度创新力度不够；(2)认为制度创新是推动发达国家所得税从弱到强的主要原因，提出我国税种结构优化需要在制度上大胆创新；(3)提出根据各个税种的特性，流转税和所得税的主要功能应有所分工；(4)流转税和所得税的改革应双管齐下，以渐进的方式改革流转税，以突变的方式改革所得税，分工协作，优势互补；(5)提出税收的主要功能是筹集收入，税收在征收环节在促进结果公平方面效果甚微，税收在支出环节更能有效促进结果公平。

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