模型

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。

The thesis studies the difference between GWSs composition and traditional workflow applications, proposes the implement mechanism and technical architecture of GWSs composition and defines the reference model of GWSs composition platform, which provide holistic framework and top-level guidance for studying dynamic GWSs composition technology, designing GWSs composition platform, and implementing representative composite service applications.2、Theories and methods of composite process modeling and process analysis. This thesis proposes a meta-model of Geo-spatial Web services composition process defining from two aspects, i.e. process and resource. According to the process definition meta-model, we propose a new Geo-spatial Web services composition Process/Resource model based on extended WF-net, which effectively resolves the problems on uncertain activity option and dynamic variation of service in composite process model. A notion with regard to soundness of process model is proposed from three aspects, i.e. the structural correctness of process model, validity of data link and validity of resource. The notion of soundness definitely gives a dividing line on correctness of composite GWS process. This thesis analyzes sufficient and essential terms of soundness, and studies compositional property of WSCP/R-net models which provides an effective method to construct a soundness WSCP/R-net model. According to WSCP/R-net, the thesis proposes composition algebra and studies the properties of it. Based on the composition algebra, 6 kinds of composite process reduction rules are induced to optimize the process.3、Geo-spatial Web service QoS model and its application architecture. This thesis proposes an extendable GWS QoS model from three aspects, i.e. Geo-spatial Web Service itself, networking conditions and service consumer which can be used to distinguish GWSs with overlapping or identical functionality. We work over the QoS evaluation methods of composite GWS process which can be used to guide the execution, monitor and service selection of composition process. Aming at some disadvantages in traditional Web service discovery model for its lacking of QoS supporting, this thesis proposes a new service discovery model SDMQ supporting QoS constraints.4、Technologies of composite service executing. SSPL, a new composite service process language, is defined to overcome the disadvantages of existing composite services process languages which can not adapt to the dynamic variation of Geo-spatial Web Services. An algorithm is described to translate WSCP/R-net model into SSPL. The thesis studies the model of dynamic services selection with QoS global optimization, presenting an algorithm GODSS to resolve dynamic services selection with QoS global optimization in GWSs Composition.5、Design and implement experimental system and representative applications. According to the research findings presented above, we design and implement an experimental system and construct two representative applications to show that our achievements are effective and practical.

针对当前空间信息服务聚合研究中存在的若干不足，本文重点在基于工作流的空间信息服务聚合框架、空间信息服务聚合流程建模和分析技术、空间信息服务QoS模型及应用体系以及空间信息服务聚合流程执行等几个方面进行深入研究，主要工作和创新点包括：1、基于工作流的空间信息服务动态聚合框架：研究了空间信息服务动态聚合和传统工作流应用的不同，在此基础上提出了基于工作流技术的空间信息服务动态聚合实现机制、技术体系和参考模型，为研究空间信息服务聚合的关键技术、开发服务聚合支撑平台以及在此基础上构造特定的空间信息服务聚合应用提供了总体框架和顶层指导。2、空间信息服务聚合流程建模和分析技术：首先基于动态服务聚合流程建模的需求和空间信息服务动态变化的应用实际，从服务聚合的过程维和资源维出发定义了服务聚合流程定义元模型；与之相对应，对基本的WF-net进行扩展，提出服务聚合流程/资源网作为空间信息服务聚合流程的形式化描述模型，有效解决了现有的基于基本Petri网和工作流网的服务聚合建模方法所不能解决的不确定路径选择和服务的动态变化性问题；从流程结构正确性、数据依赖有效性和资源实现有效性三个方面提出了WSCP/R-net健壮性的概念，明确界定了聚合流程正确性的标准，并对WSCP/R-net模型的健壮性分析方法和WSCP/R-net模型的组合特性进行了研究；提出了空间信息服务聚合代数算子并对其性质进行了研究，在此基础上提出了6种聚合流程约简规则，从而可达到优化聚合流程、提高聚合流程执行效率的目的。3、空间信息服务QoS模型和应用体系：从服务本身、网络环境和服务消费者三个层次出发，提出了一个可扩展的空间信息服务QoS模型GSQM，实现了对空间信息服务的度量和评价，并对GSQM不同质量要素信息的客观、公正采集方法进行了研究；研究了空间信息服务聚合流程QoS评价方法，有效支持了空间信息服务聚合流程的执行、监控以及服务选择等操作；针对目前的服务发现模型仅支持服务功能性描述、不能有效满足空间信息服务应用需求的现状，提出了一种新的支持QoS约束的服务发现模型SDMQ，并对模型的实现框架进行了研究。4、空间信息服务聚合流程执行技术：针对现有的服务聚合流程描述语言不能有效满足空间信息服务动态聚合流程描述的特点，基于BPEL4WS提出了一种新的空间信息服务聚合流程描述语言SSPL；研究了满足健壮性要求的WSCP/R-net模型向SSPL的转换算法，在此基础上可以满足用户无显式编码来实现空间信息服务聚合应用的目的；研究了服务动态选择QoS全局优化模型，并在此基础上提出了一种解决服务动态选择QoS全局优化问题的实现算法GODSS.5、基于论文研究成果，设计实现了"空间信息服务聚合实验系统"，并构建了"矿产资源评价"和"城市消防应急响应"两个典型应用案例，对论文所述模型、方法的可行性和有效性进行了验证。

From this point of view,it ispointed out that there are two kinds of commonalities among diverse prob-lems,one is the relative commonality and the other is the homogenous co-mmonality,and it is advanced that the approach to effectively make useof the relative commonality is to divide models suitably and to set up theorganic relation between models convenient to their composite conection oncondition that models are shared,and the approach to effectively make useof the homogenous commonality is from the view point of different problemsneeding their special models for solving,to convert their special modelrepresentation to comparatively general model depth representation on theprinciple of independence and share of commonality.The articles in thepast has made deep and complete research on model management in aspectssuch as model division and compositive conection,and a number of theoriesand methods are provided,but none of them is in relation to model depthrepresentation.

从这一角度出发，作者指出，在多样性问题中存在两种共性，一种是问题相关共性，另一种是问题同构共性，并提出有效利用问题相关共性的方法是在实现模型共享的前提下对模型进行合理划分和建立便于模型复合联接的各模型之间的有机联系，而有效利用问题同构共性的方法则是从不同问题求解本质上需要的专用模型出发，根据独立与共享原理，将这些专用模型表示转化成较为通用的模型深层表示，以往的文献在模型划分、复合联接等诸方面对模型管理进行了较为深入全面的研究，并从这一角度提出了许多模型表示的理论和方法，但对模型深层表示方面尚没有涉足。

Firstly, the course reviews the basic knowledge about matrix algebra and linear model, and introduce the BLUP for mixed linear model, then, learn the approaches to contruct and solve various animal models, including single trait animal model, repeatability model, maternal model, threshold model, random regression model, non-additive model and multiple traits model, finally, train application of animal model to animal genetic evaluation by means of a software on estimation of breeding values.

本课程首先回顾有关矩阵代数和线性模型的基础知识，介绍线性混合模型的BLUP求解方法，然后根据动物性状和动物育种资料的类型和特点，具体讲授不同种类动物模型，包括单性状动物模型、单性状重复率模型、单性状母体效应模型、单性状阈模型、单性状随机回归模型、单性状非加性效应模型和多性状动物模型等的建立和求解方法。最后，结合动物育种值估计软件，进行动物模型在动物生产性能的遗传评估中的应用训练。

This model will play an important role in the architectural optimization process of the Godson series microprocessors.超标量;微处理器;分析模型;性能分析;工作负载;微体系结构; MAMOsuperscalar; microprocessor; analytical model; performance evaluation; workload; microarchitecture; MAMO

作为基于详细模拟的处理器性能分析方法的补充，微处理器性能分析模型能够更加有效地分析处理器性能瓶颈，探索设计空间，也将在龙芯处理器的结构优化工作中发挥重要作用。

So a nonexperienced flyer can find a wonderful teacher in this model and a more experienced one will get considerable advantage using light thermics in which heavier models can't hold up.模型资料中心R_y2Qv

如此一个非富有经验的梯级能找这一个模型的一位令人惊奇的老师，而且一个更富有经验的将会得到使用较沈重的模型不能向~~索高利的轻热相当多的优点。6v

A integrated mathematical model was established in accordance with the process of metallurgical production and it was composed of the process models and the raw materials distribution models. The process models include the sintering process model, the pelleting process model and the iron making process model.

数学模型分为6个子模型，其中工艺模型有烧结机优化模型、竖炉优化模型、高炉优化模型，物料配置模型有铁精粉优化配置模型，烧结矿优化配置模型和球团矿优化配置模型，模型之间交互的数据流为原料或产品的物料流量、物料性能、价格及原料性能的影子价格。

Step 3.4.4: Financial Modeling 步骤3.4.4:财务模型步骤: Process: Using mathematical models containing low-case,expected-case and high-case assumptions, Hewitt consultants will produce projected financial outcomes of the programs.

w 程序：通过使用包含有各种设想的数学模型，程序：通过使用包含有各种设想的数学模型，翰威特的咨询顾问将确定这些方案的预期财务结果。财务结果。

Thirdly, it analyzes and studies in detail Surpac mechanism and the relevant concepts on constructing the model of mineral deposits and mining engineering systems according to the modeling procedure and the actual conditions of Jinchuan"s mines. Based on these:Lit points out some differences between the western countries and China in the practice of the geological data record, explores the inputting data on computers performed by more people at the same time and the method to improve constructing the data-base and finished the data-base of Jinchuan mineral deposits;2.It puts forward the steps and flow chart to construct the solid model and brings forward the scheme of "first individual then whole to set up Jinchuan mineral deposits geological model, summarizes some experiences for constructing the complicated geological ore body of the high accuracy: add control lines, add auxiliary demarcation lines +control lines, the operation of intersection, cross and incorporation between solid bodies and plane and section combination. The above-mentioned methods applied to construct the mineral deposits solid models of four mine areas in Jinchuan; 3.lt studies and presents the detailed flow chart of constructing block and grade model, analyses the workable scheme in setting up the block and grade model of main ore body for Jinchuan mineral deposits and also sets it up.

接着，按建模流程并结合公司矿山实情，详细研究、分析了Surpac构造矿床模型和采矿工程系统模型的机理、有关概念，在此基础上：(1)指出了西方国家与我国在地质数据记录习惯方面存在的一些差异，探索出多人多机同时录入、提高建库效率的方法，建立了金川矿床地质数据库；(2)研究并提出了构造实体模型的步骤和流程图及&先分后整&建立金川矿床地质体实体模型方案，总结出建立高精度复杂地质体模型几点经验：添加控制线法、添加辅助分界线+控制线法、实体间的交、叉、并运算法及平剖面图联合法，建立了金川矿床四个矿区主矿体的实体模型；(3)研究并提出了建立块模型、品位模型详细流程图，分析了建立金川矿床主矿体块模型和品位模型的可行方案，建立了金川矿床主矿体的块模型和品位模型。

The four models were analyzed and normalized. We studied the procedure and method of building forest fire model base. Model base was build by object-oriented method based on category of model. Forest fire spreading models algorithm were implemented. We designed model dictionary base, model file base, and model knowledge base. Model base administration and maintenance functions were developed and implemented model file management, parameter management and knowledge management. The problems of interface between of model base and database were solved by means of model data control files. Model base ensured the availability of supporting for forest fire model suitability selection technology and forest fire model self-adapting updating technology.(3) Based on BP artificial neural network, we designed a frame construction of forest fire model selection of suitability. Forest fire model selection knowledge was produced through BP artificial neural network.

2建立了林火模型库建设的林火蔓延模型评价标准，根据模型评价标准和试验区实际情况，在42个林火蔓延模型中选择了目前最具有影响力和最具有典型代表性的Rothermel模型、王正非模型、加拿大模型和澳大利亚模型进行了解析和归一化处理；对林火模型库的建库过程和方法进行了研究，在林火模型分类基础上，采用面向对象的模型库表示方法建立了林火模型库；实现了林火蔓延模型算法，设计了模型字典库、模型文件库和模型知识库；开发了模型库管理与维护功能，实现了模型的文件管理、参数管理和知识管理；通过模型数据管理文件解决了模型库与数据库之间接口问题；实现了林火模型库对林火模型适宜性选择和林火模型自适应修正技术的有效支持。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失