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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。

The main content of this thesis includes: studies on the preparation, surface-modification mechanism and electrochemical performance improvement of spinel LiMn〓O〓; Preparation and properties of 5V cathode materials 〓; Physical properties and electrochemical performance studies on layered 〓 for lithium ion batteries.

本论文的主要研究内容包括：正尖晶石LiMn〓O〓的制备、表面修饰改性机理以及电化学性能的改善；具有正尖晶石结构的5伏正极材料〓的合成与性能探索；具有层状结构的镍锰基化合物〓的物理性质与其作为锂离子电池正极材料的电化学性能以及该材料的产业化探索。

There have been a lot of studies this aspect when the exact solution u∈H~2 or u∈H~3. [4], [52] and [50]studied the convergence of conforming linear triangle elements with minimal regularity assumptions u∈H~4, here u is the solutions of the second order elliptic problems. However, their is another vital deficiency of the previous studies, i.e., they relies on the regularity assumption or quasi-uniform assumption on the subdivision of meshes.

对二阶问题，构造了一个新的单元格式，当其精确解具有低正则性时，在不要求网格满足正则假设或拟一致假设的条件下，我们得到了最优误差估计，与[33]相比，我们的证明方法较为简单；对于Stokes问题，研究五节点非协调矩形元对它的逼近，通过引入全新的估计方法，给出了关于速度、压力的超逼近性质。

In lingual orthodontics, the applying of intrusion force was less useful than the well control of the M/F ratio to control the torque of upper incisors. If the crown of the incisor had been inclined lingually, it would be very difficult to recover the torque.

3舌侧正畸中，首要的是控制好M/F值，否则即使加大垂直压低力也难以抵抗冠唇向转矩的不足；而且一旦产生舌倾趋势，将比唇侧正畸更难以恢复。

It is an important method to improve restoration quality by choosing regular parameter according to local feature of images. For example, the variance of pixel brightness in iterative process is a useful feature.

根据图像的局部特征来选取自适应变化的正则化参数是提高图像恢复质量的一个重要方法，可以根据像素在迭代过程中的亮度变化量大小来选取正则化参数。

In the study based on noise-distribution, an approach to compute local regularization parameter and design local regularization operator adaptively is proposed according to the distribution of the noise.

在基于噪声分布的方法中，提出根据噪声分布自适应计算正则化参数及设计正则化算子的方法。

Compared to the existing adaptive approach, the proposed approach needs not the original image or the accurate noise-variance value to compute the local regularization parameter, and work well in the presence of serious noise.

该方法与现有的自适应正则化方法相比，在计算局部正则化参数方法时不需要知道原始图像或精确的噪声方差，在噪声较为严重的条件下复原结果更优。

This paper discusses the equivalent normal distribution of logarithmic normal distribution and weibull distribution.

本文着重研讨了对数正态分布和威布尔分布的等效正态分布。

For the first time, a checking point method is proposed by using equivalent logarithmic normal probability distribution, and its application is studied for calculating durability reliability of reinforced concrete structures.

根据在役结构的特点，提出了用对数正态分布拟合未知概型的随机变量的方法；首次提出了当量对数正态型概率分布的验算点法，并研究了其在钢筋混凝土结构耐久性可靠度中的应用；对功能函数非线性引起的误差进行了深入的研究，提出了误差判别方法。

When the deformation modulus of soil is logarithmic normal distribution, even if the variation is large, reasonable precision can be obtained by center point method, in which the deformation modulus of soil is normalized equivalently.

对于土的变形模量服从对数正态分布的情况，采用将其当量正态化后的中心点法即使在参数大变异的情况下也可以获得理想的计算精度。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。