数学基础

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。

In this paper, state-space averaging method is used to establish the small signal model of current regulator.

本文用状态空间平均法建立了电流调节器的充放电小信号数学模型，并在此基础上分别设计了电流调节器的充放电控制器，其中充电控制器采用滞环＋PI调节的方式。

The economics methodology has formed a whole battery of analytical framework and tool under the influence of scientific philosophy, which is characterized by logic positivism, negativism and historical materialism. The fundamental characteristics of the economics methodology are based on the axiomatization positive logic deductive method, which assumes the rational human being as its hypothetic premise. The most remarkable characteristic of the economics methodology is the general application of mathematics in economics and it is developing forward to the more accurate and magnificent system.

特别是在以逻辑实证主义、证伪主义和历史主义为代表的科学哲学的影响下，经济学的方法论已经发展出一整套的分析框架与工具，基本特征是建立在"理性人"假设基础上的公理化的实证的逻辑演绎方法，最突出的表现是数学在经济学中的广泛应用，并正在向着更为精密与恢弘的体系演进。

In mathematics, foundations refers to the rigorous development of a subject from precise axioms and definitions.

在数学，基础指的是严格的发展主题明确的公理和定义。

On the basis of the analyzing the whole launching process, the mathematics model of the inner ballistic is deduced. Computer procedure is complied through Visual C++ development tools, which simulate the launching process and obtain the main performance curve of inner ballistic trajectory. Mathematics model is also modified through the experimentation data. At the same time, the experiment has proved that the new launching technique has the capability of raising the muzzle velocity.

在此基础上，本文针对提出的辅助药室火炮结构建立了再生式液体发射药辅助药室火炮发射过程的零维数学模型，并利用VC++开发工具编制了计算机程序，对整个发射过程进行了模拟，得到了内弹道的主要性能曲线。

Be based on our country textile industry to be managed by extensive manage changed objective trend to intensive, the evaluation quota system that the crucial content that thinks to realize this kind of strategy to transfer depends on building base oneself upon to be managed on foundation of scientific maths model about intensive, give at this point discuss with research.

基于我国纺织工业由粗放经营向集约经营转化的客观趋势，认为实现此种战略转移的要害内容在于建立立足于科学数学模型基础上的有关集约经营的评价指标体系，并就此予以探讨与研究。

Magnitude is the basic representation during basic mathematical processes, with a consistence across notation and tasks.

数量表征是基础数学认知加工的基本心理表征，具有跨符号与跨任务的稳定性。

It lasts for three years, during which the children learn basie Chinese English, Mathematics, Physics and Chemistry.

在此期间，孩子们学基础汉语、英语、数学、物理和化学。

With respect to phonetics, Distinctive Features for the phonetic syncopation of spatial information are extracted based on Bertin's retinal variables. The importance of geographic reality, cognitive laws and geometric laws in the syncopation is pointed out following the thorough inspection of the physical characteristics of spatial information and a phonetic hierarchy of phoneme、 phoneme combination is proposed after the summarization of different methods of syncopation in Psychology, Pattern Recognition, Mathematic Morphology and Cartography, which provides linguistic interpretation for cartographic symbol design and understanding. With respect to the property that map symbol is represented as the combination of attribute and geometry in digital form of spatial information, suprasegmental phoneme as unit is proposed which deals with the high level phonetic units and their structure with the bend of curve and the simple area of complex area as primitive.

在语音结构方面，基于Bertin的视觉变量，提取了产生空间信息语音切分的区别特征；对空间信息的物理特征进行了详尽分析，指出了地理真实、认知规律和几何规律在语音切分中的重要作用；在总结心理学、模式识别、数学形态学和地图学等相关切分理论的基础上，提出了空间信息音位系统以及音位组合规律，为地图符号设计与理解提供了语言学解释；针对地图符号通常在空间信息中表现为属性和形态相结合的特点，提出在超音段音位层次上重点关注以线切分单元——弯曲和复杂面切分单元——弯曲构成的简单面为基本元素的语音高级层次及其结构。

On the other hand, various algorithms of morphological arithmetic of binary image and grayscale image are analyzed deeply, then expanded to color image.

另一方面，在深入研究二值图像、灰度图像的各种形态学分析算法的基础上，将数学形态学扩展到彩色图像中。

We have no common name for a mime of Sophron or Xenarchus and a Socratic Conversation; and we should still be without one even if the imitation in the two instances were in trimeters or elegiacs or some other kind of verse--though it is the way with people to tack on 'poet' to the name of a metre, and talk of elegiac-poets and epic-poets, thinking that they call them poets not by reason of the imitative nature of their work, but indiscriminately by reason of the metre they write in.

索夫农 、森那库斯和苏格拉底式的对话采用的模仿没有一个公共的名称；三音步诗、挽歌体或其他类型的诗的模仿也没有——人们把&诗人&这一名词和格律名称结合到一起，称之为挽歌体诗人或者史诗诗人，他们被称为诗人，似乎只是因为遵守格律写作，而非他们作品的模仿本质。

The relationship between communicative competence and grammar teaching should be that of the ends and the means.

交际能力和语法的关系应该是目标与途径的关系。