法

Chapter Two explains the process of the negotiations of the Anglo-French Entente. In July 1903, the talk between Foreign Ministers of Britain and France started the negotiations, which was hard and endless.

第二章主要阐述了英法协约谈判的具体过程。1903年7月，英法两国外长的愉快谈话成为英法协约谈判的开始，然而接下来，英法之间的谈判是艰难的、漫长的。

By comparison among different methods, it was found that arrest-board together with drug insufflation application was an effective method for prevent and cure aphides indoors.

使用捕虫板法、喷洒药物法和综合法对蚜虫进行防治，通过效果比较，发现综合法是培养室内拟南芥蚜虫防治的理想方法。

Combining the definition of CWT and the derivative property of convolution, we constructed a general method to calculate the approximate derivative of signal through CWT by using the first and second derivative of Gaussian function, Haar, and the first derivative of three-order-Spline function as wavelets. As compared with the other approaches of calculating derivative, which include the numerical differentiation, polynomial filters, Fourier transform, and the recently proposed DWT method, fast calculation and simple mathematical operation were remarkable advantages of CWT method. For the signal corrupted by severe noise (Signal-toNoise Ratio=5), the satisfactory results could also obtained via CWT method through appropriately adiusting the dilations.

在此基础上，(1)结合连续小波变换的特点和卷积的微分性质，提出了使用Gaussian函数的一阶和二阶导数，Haar和三次样条函数的一阶导数作为小波函数的连续小波变换计算信号近似导数的一般性方法，与其他导数计算方法(包括数字微分法，多项式滤波法，Fourier变换法和离散小波变换法)相比，本法简单便捷，计算速度快，对于噪声含量较高的信号(S/N为5)，只要适当调节尺度即可获得比较满意的结果。

The purpose of the study is to investingate the feasibility of closed-microwave method instead of traditional aqua regia hotplate reflux method for heavy metal determination in soil.

中文摘要本研究利用密闭微波法消化土壤，并以火焰式原子吸收光谱法分析镉、铜、铅、锌四种金属元素，目的在探讨以密闭微波法取代传统王水热板回流消化法，测定土中重金属之可行性。

A special investigation was made in some of the arithmetic,including image sequence difference method,backdrop method,luminous flux method,etc.

对其中一些算法作了着重的研究，其中包括图像序列差分法、背景差分法、光流法等，进一步的分析了这些算法所存在的优缺点，并对图像序列差分法做了改进。

This is a square spiral design, its features are: recursive method used to run, using arithmetic progression method to run, using the recursive method and comparison method such as arithmetic functions.

详细说明：这是一个螺旋方阵的设计，它的功能有：用递归法来运行，用等差数列法来运行，用递归法和等差法进行比较等功能。

The main methods for measurement of the resistance leakage currents of metal oxide arrester were introduced in this paper.

本文介绍了目前常用的监测氧化锌避雷器泄露电流的方法，即：全电流法，补偿法，基次谐波法和三次谐波法，并分析了每种方法的优缺点。

The theory of the angle measurement based on optical autocollimation, internal reflection ,interferometry and the ring laser geniomctor are described in detail.

通过综述光学自准直法、内反射法、激光干涉法和环形激光法等测角方法的测量原理，给出典型实验装置，比较了各种方法的优缺点，并对它们的使用场合进行了探讨。

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 principle and system structure of direct measurement method and indirect measurement methods （ including thrust wall pressure integral method and ballistic pendulum method） are introduced.

针对脉冲爆震发动机瞬时推力、平均推力测量问题，介绍了直接测量法和间接测量法（包括推力壁压力曲线积分法和抛物摆法）的测量原理及系统构成。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。