比较地

The dissertation systematically analyses RV-M1 robot which is used in this study, thoroughly dissects the hardware and software of RV-M1 robot's controller, upbuilds RV-M1 robot's model and coordinate system, develops the robot's forward kinematics formulation, solves the robot's kinematics negative problem, develops RV-M1 robot's dynamic formulation in Lagrange-Euler form, does linearization about robot's dynamics model, and gets this robot's sign solution In order to solve practical problem in the process of robot automatic polishing, this dissertation makes some beneficial researches and trials.

本文比较系统地分析了本论文研究中采用的RV—M1型机器人，较为详细地剖析了RV—M1型机器人系统的控制器硬件、软件，建立了RV—M1型机器人模型及其坐标系，推导出了该机器人的正向运动学方程，并对机器人的运动学逆问题进行了求解；推导了RV—M1型机器人的Lagrange—Euler形式的动力学方程，对机器人的动力学模型做了线性化，给出了该机器人的符号解。

In this paper Ⅰ successfully applied these methods to fault diagnosis, and presenting some new innovative machinery fault diagnosis method; First Ⅰ present a new gear wornout fault diagnosis method, this method use the vibration signal's time-frequency attribute and instantaneous phase undulation to accurately detect gear's fault, and by comparing with the traditional frequency domain analysis method, this method reveals that many nonlinear and nonstationary characteristic exist in gear's vibration, this tell us that if we use frequency domain analysis method without pay attention to the signal's characteristic, we could get wrong diagnostic result; Then Ⅰ present a new bearing fault diagnosis method, this method use ATVFD and Hilbert transform to do envelop demodulation,Ⅰ analyze the envelop with time-frequency method and find out that this method is more accurate then traditional method.Ⅰ also explain that the modulation of the fault to the carrier wave may also be non-stationary and nonlinear; Finally Ⅰ present a cylinder pressure measurement method of diesel engine by means of vibration, cylinder pressure is an important parameter of diesel engine fault diagnosis, the pressure measuring is simplified a lot by this method,Ⅰ also use the ATVFD and time-frequency analysis to realize it.

本文中将上述理论方法成功地应用到故障诊断中去，提出了几点创新性的诊断方法；提出了一种齿轮磨损故障诊断的新方法，该方法利用振动信号能量的时频域分布特征与瞬时相位波动特征可以进行精确的齿轮故障诊断，并通过与传统的频域诊断方法的比较，揭示出齿轮振动中存在的明显的非线性与非平稳特征，说明了不加选择地利用频域分析方法进行齿轮故障诊断很可能会得到错误的诊断结果；提出了一种轴承故障诊断的新方法，该方法利用ATVFD分解与Hilbert变换进行包络解调，并对解调得到的包络信号进行时频域分析，可以实现更加准确轴承故障诊断，说明了故障对载波信号的调制往往也是非平稳与非线性的；提出了一种利用振动信号进行柴油机汽缸内压力检测的新方法，柴油机汽缸压力的变化是柴油机故障诊断的重要参数，利用振动方法可大大简化汽缸压力的检测过程，该方法也是综合利用ATVFD分解与时频域分析方法实现的。

This bath mat keeps your feet deliciously warm because the slippers are integrated in the mat. Also, you can certainly walk safely on dirty or wet floors.

这块浴室地垫结合了拖鞋的功能，可以让双脚觉得很暖和，穿着它走在脏或湿的地面上也会比较安全。

The tests of parasitic conduction current and TSC to polyimide used in inverter-fed motor have been done.

通过TSC曲线可以比较方便地研究介质材料中偶极子和可动离子的性质，准确地测量介质材料的活化能ΔE、以及弛豫时间τ等微观参数，近年来得到了人们广泛的重视[5-7]。

For increasing the determine efficiency of aerobic plate count in food,the electric impedance was used to determine aerobic plate count in 120 pasteurized milk samples and 114 pure water samples.

为更好地提高现行食品中的菌落总数的检测效率，快速、准确地对食品中的菌落总数作出评估，将电阻抗法应用到 12 0份巴氏消毒奶和 114份瓶装饮用纯净水中的菌落总数的测定，并与现行国标法测定结果作比较。

This model is better than the numerical D-S model in representing, updating the importance's of human catalogers, and aggregating the relevance's.

与数值的证据理论模型相比较，该模型不仅能有效地表示和更新分类专家的知识，而且还能构直观地解释分类观点的组合方式。

On the basis of getting the true and reliable monitoring datum, the methods of diagnosis algorithm based on state predicting are also discussed in this paper. A method based on BP artificial neural network is presented. A diagnosis model is also designed and emulated. The results of the emulations show that the algorithm is obviously better than that of the traditional three-ratio method, and the algorithm can accurately makes good judgments on the faults base on qualitative and quantitative analysis.

在获得真实可靠的监测数据的基础上，还进行了运行状态预测的故障诊断方法的探讨，提出了基于BP神经网络的故障诊断方法，建立了一个诊断模型，并对该模型进行了仿真，仿真结果表明该算法明显优于传统IEC三比值法等故障诊断方法，能够比较准确地定性和定量地对故障做出判断，为电力运营部门提供有用的决策依据。

Compared with the exponent function, the power function can be more suitable for fitting the change of chemicals concentrations in runoff under unsaturated conditions from the loess slope,as well as,the mass loss of potassium and bromine in runoff,but not for initial phase. The study offered a reference for developing the model of soil nutrient in runoff transport of the loess slope.

同时利用两种类型描述径流养分浓度模型对实测资料进行分析，结果显示与指数函数模型相比较，采用幂函数模型能够较好地模拟黄土坡面非饱和条件下径流溶质浓度变化过程，同时幂函数模型也能够较好地描述径流中钾离子和溴离子的质量变化过程，为进一步完善黄土坡面径流养分迁移模拟模型提供了参考。

The study results show that the dispersion of travelling wave is mainly caused by earth mode; Compared with aerial mode earth mode is greatly influenced by the factors such as ground conductivity, line average height above ground, bundle config...

研究结果表明：行波色散主要由地模引起；行波中地模受大地电阻率、线路高度、分裂导线数、分段地线、连续地线等因素的影响较大，而线模受到的影响较小，因此将线模作为故障定位用行波传播模式比较适宜。

In order to find the material connotation,different licorices with variable characters,habitats,species were researched with fingerprint and multiple constituents assaying.

利用多指标成分含量测定和指纹图谱方法，比较不同性状、产地、物种的甘草化学特征的差异，揭示甘草道地性物质基础内涵，进而探讨科学的甘草道地性的评价指标体系。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。