操作误差

All theorems about the upper limit of a rounding error, including that of epsilon, refer only to the 'rounding' operation, nothing more.

关於舍入误差上限，包括精度的所有理论，都只考虑'舍入'操作，不考虑其它。

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。

Under all of the operational conditions, there is the point at the boundary area of reactor wall and tubes, where the transfer resistance is high, whose deviation value is maximum.

在所有的操作条件下，一般位于器内壁和器内管体等构件的传递阻力高的边界层区域模拟计算值与实验值间的误差较大。

Reduced SQP based on orthonormal bases, orthogonal bases and coordinate bases are studied and compared. With the correction item introduced, the null-space move is adjusted and the reduced SQP based on coordinate bases decomposition is improved.●The key problem of steady-state data processing for RTOPT is studied. A new algorithm of simultaneous strategies for data reconciliation and gross error detection is proposed. Here the objective function that is constructed using maximum likelihood principle and joint distribution function is minimized. Efficient algorithm is developed which exploited the nonlinear lease-square structure of this objective function.

仿真结果表明了算法的有效性；●深入研究了在线优化中的一个关键问题——稳态数据处理问题，用基于组合概率分布的目标函数联立求解粗劣误差检测和数据调和问题；以精馏塔在线优化的数据处理和模型修正为例，提出一种根据模型方程对参数的依赖性进行过程模型分解的分层策略，可以将数据调和和参数估计统一在数据处理的大框架中，为进一步的过程性能分析、操作状况评价以及在线优化提供可靠的基准，具有非常重要的工程应用价值；●将优化命题的形式扩展到更通用的形式。

Key-based files are not egular files and do not operate using a normal data offset space.

依据key的文件不是可执行文件，不能用常规的数据误差空间进行操作。

But nowt,here are some errors created in the actual operation,circuitt,emperature compensation and the confining pressure formulation.

但是目前，空心包体地应力测量在实际操作、电路情况、温度变化以及率定公式等方面仍然存在一些误差。

The method avoids inconvenience and error from human's experience,and is simple,observable and operable.

该方法避免了依赖人的经验所带来的不便和误差，并且简单、直观、易操作。

This method requires manual operation, and it also has minor errors caused by human vision.

该方法需要人工操作，并且存在人为目视产生的误差。

The system has the features of high precision, good repeatability, high automatic degree and simple operation. The measurement result indicates that the measurement range is from 400nm to 1000nm, the measurement accuracy excels 0.1 percent, the repetitive error is less than 0.6 percent.

创建的测量系统具有测量精度高、重复性好、自动化程度高和操作简单的特点测试结果表明：系统的测量范围为400~l000nm，测量准确度优于0.1%，测量的重复误差小于0.6%。

In order to acquire the real coordinates of the robot,a radial basis function neural networkis applied for mapping the robot's coordinates in image plane to them in real space.

中文摘要：遥操作中采用全局摄像机对机器人进行定位时存在图像畸变带来的误差，针对这一问题提出了一种图像畸变校正方法，该方法采用径向基神经网络进行畸变校正，从而获得机器人在实际空间中的坐标位置。

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。