深入研究

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。

He explored the social function of China's Historical Geography;brought forward the research method of combining literature record with field survey;developed the evolution of geography;set up a monument in the research of environmental changes in the Huanghe Valley;opened up a new field in the research of historical agricultural geogra-phy;unveiled the internal structure of form and evolvement densely-populated areas;settled a base in the research of histo-rical military geography;heightened the research level on the historical cultural geogranhy;made original study on the historical national geography;made systematic study on the issues of transportation in history;made fruitful achievement in the Shaanxi Historical Geography;set up the subject engaged in China's ancient capitals;illustrated the value of chorography;enriched the historical cartology;originated magazines on Chin's Historical Geography;trained a team of research staff in Historical Geography.

他对中国历史地理学史进行了深入研究；发掘了中国历史地理学的社会功能；提出了文献记载与实地考察相结合的研究方法；促进了沿革地理学的发展；树立了黄河流域环境变迁研究的丰碑；开辟了历史农业地理研究的新领域；揭示了人口稠密地区形成和演变的内在机制；奠定了历史军事地理研究的基础；提高了历史文化地理研究的层次；对历史民族地理进行了独到的研究；对历史上的交通问题进行了系统探索；对陕西历史地理的研究取得了丰硕的成果；创立了中国古都学；阐明了地方志的价值；丰富了历史地图学的内容；创办了中国历史地理学的定期刊物；培养了历史地理学的研究队伍。

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。

It indicates that emphasis should be put on the following subjects in the future: the determination of field infiltration coefficient and roughness coefficient;the optimal combination of field standard and irrigation technical index ,and the rational ground levelness degree and mode.

对近10多年来地面灌溉水流运动数值模拟方面的国内外研究进展进行了归类整理，并就目前研究中存在的不足和未来急待深入研究的问题进行了探讨，认为在今后的研究中应把地面灌溉入渗参数和糙率的确定问题，不同地区和作物条件下合理的田块尺寸与灌水要素的优化组合研究及经济合理的田间土地平整度及平地模式的研究，长畦分段灌、阶式水平畦灌、覆膜灌溉条件下的水流运动和合理灌水技术指标的研究，浑水灌溉和土壤气阻对地面灌溉水流运动的影响机理研究等作为重点内容。

Based on investigating the short and intermittent structural plane, surrounding rockmass of the huge underground powerhouse in Three Gorge has been divided into five statistical similar areas according to its characteristic of rockmass structure by applying structure plane network simulation. Distributed characteristic of structural plane has been studied and based on it mechanics macrocharacteristic has been studied:(1) It is the first time that based on the result of structural plane network simulation rockmass quality of every structure area has been studied with applying blurred information optimum seeking technique and be compared with and RQD method. The result indicated that it has better effect to evaluate rock quality with blurred information optimum seeking technique.(2) It is the first time that the interrelated relationship of the result of in-suit rockmass deformation test and fractal characteristic of structure on test point has been applied to determine rockmass deformation parameter. The question of evaluating deformation parameters of engineering rockmass has been solved.(3) Anisotropy strength parameters have been determined by applying shear zones simulating method. The result indicated that there are different strength parameters in every structural area, after comparing the result of Fast Lagranian Analysis in continua number simulation method with that of method of weighted mean according to continuity. The result indicated that when a suitable reduction coefficient is been considered rockmass strength parameters can be simply and fast determined with method of weighted mean according to continuity where there is not enough test result.(4) Damage characteristic has been studied based on analysis fractal characteristic of structural plane network by applying fractal-damage coupling method. It is the first time that the concept of damage degree has been set up to evaluate rockmass quality according to the biggest principal damage.

通过对短小、断续性结构面统计特征的研究，将地下厂房区划分为五个岩体结构统计均质区，应用结构面网络模拟技术研究了各个岩体结构均质区结构面的发育分布特征，并以此为基础对岩体宏观力学特性进行了深入研究：(1)首次通过在结构面网络模拟计算结果的基础上，应用模糊信息优化技术研究了厂房区各个岩体结构分区的岩体质量并与岩体基本质量指标研究法、岩体质量指标RQD值研究法作了对比，结果表明以结构面网络模拟结果为基础，应用模糊信息优化技术进行岩体质量评价能够取得很好的效果，解决了工程岩体质量的定量评价问题；(2)首次通过对已有的现场大型岩体变形试验结果的分析及相应试验点岩体结构分形特征的研究，建立了结构面分布的分形维数和岩体变形指标间的相关关系，并首次应用这种相关关系根据结构面网络模拟及分形维数计算结果确定了缺少试验结果的地下厂房各工程部位的岩体变形指标而且应用于围岩稳定性计算，解决了工程岩体宏观变形参数的评价问题；(3)应用在结构面模拟网络图上模拟岩体剪切破坏带的方法，得出了岩体在不同方向上的强度参数，结果表明岩体的强度特性与结构面的发育方向和程度有着明显的关系，各个岩体结构均质区具有不同的强度参数；同时还通过应用拉格朗日差分法对岩体强度指标的数值分析并与按连通率加权平均计算法对比表明，按连通率加权平均计算法在考虑合理的折减系数情况下，可以简单快速地对缺少现场大型试验结果的具体工程部位实现岩体强度指标的估计，通过以上研究解决了工程岩体抗剪强度参数的评价问题；(4)通过结构面网络分形维数的研究，应用分形损伤耦合分析方法，研究了厂房区岩体的损伤特征，并首次引入"损伤度"的概念，建立了应用最大主损伤评价岩体质量的指标体系。

The first chapter introduces the background、significance、framework and methods. In the second chapter, it analyzes basic theories. The third chapter presents the imbalanced strategy of Tianjin Unicom in all-business operation. The fourth chapter introduces organizational structure reform. In the fifth chapter, it studies the lever which promotes structure reform. In The last chapter, the shortage and discussible questions are given.

本文共六章节，第一章介绍了论文的选题背景和意义、研究思路和研究框架、研究方法和研究内容；第二章阐述了本研究所用到的相关背景知识及理论；第三章以看不见的资产动力论为框架，论述了天津联通在全业务运营条件下的&不均衡&经营战略；第四章分析了与经营战略相适应的组织架构及组织形态，第五章深入研究了撬动天津联通组织变革的杠杆，第六章在总结前文基础上，提出了不足和有待讨论的问题。

In order to provide some references for the further research,the author tidies up some results of self-control studies at home and abroad,especially in definition,structure,theories,empirical research and correlation study,etc.

特别在21世纪的今天，增强自我控制的能力，更是成了高素质人才的必备素质。自从蒲莱尔等学者开创儿童自我控制研究的先河后，自我控制的研究迅速成为国内外学者的研究热点，并取得了丰硕的理论和实证研究成果。本文拟对国内外关于自我控制理论的研究成果进行粗略的梳理，以期为自我控制的深入研究提供借鉴。

Based on a thorough analysis of the character and mechanism of city-retaining-wall structures, the design theories, construction technology, new wall types and development tendency are deeply discussed. Besides, the characteristics of various types of city retaining wall are discussed, and the usual methods for earth pressure calculation are summarized. For the anchored bar retaining wall, the anti-pulling bearing mechanism of anchored bar is first probed into, from which anti-pullforce computation method are obtained. Combined with quite a few engineering examples and spot tests, the advised design and calculation methods of anchored bar are verified. From the abundant spot measured date, an adjusted hyperbolic model is put forward to determine the anti-pullforce bearing capacity. Furthermore, a new type of H-like block retaining structure is advised with its working mechanism deeply discussed as well.

本文在综合分析目前常用城市挡土结构的特点及其受力特性等基础上，针对一般挡土墙设计理论、施工技术、新型结构以及未来的发展趋势进行了深入探讨，论述了城市挡土结构的特点，并对常用土压力理论进行了综述，介绍了城市挡土墙常见的类型，并介绍了常规的设计理论和方法；通过分析比较，优选出锚杆挡土结构和砌块式挡土结构，并从锚杆锚固原理出发，结合工程实践和大量现场试验、对锚杆的抗拔承载力进行了深入研究，提出了用调整双曲线模型法计算锚杆抗拔承载力的方法，对土压力计算方法进行了探讨，对其设计计算方法进行了研究。

In order to realize the automated fingerprint identification system, the fingerprint identification has been researched deeply in recent years. But there are a lot of research contents which can be researched deeply in AFIS.

为了能够准确、可靠的实现自动指纹识别，人们已经对自动指纹识别技术进行了深入、细致的研究，但就自动指纹识别技术本身而言，仍然存在很多可以更加深入研究的内容。

Systemic works was carried out on the followed area, the surface modification of templates, the optimization of roll-press technique, the reason and simulation of crack formation in RPCs using FEM , the investigation of the two-step centrifuging technique.

在对工艺过程深入研究的基础上，通过有机泡沫体的表面处理、辊压工艺的优化、缺陷形成原因及有限元计算结果的分析、两次离心挂浆工艺及其影响因素等方面做了深入系统的研究，并为具有可控结构网眼多孔陶瓷的制备提供了一条崭新的途径。

Finally, according to market conditions and market products this article paper analyzes the trends in the development of camera technology, and designs a color night vision camera.

最后根据市场情况和市面上产品的情况分析了摄像机技术的发展趋势，并设计了一款彩色夜视摄像机。

Only person height weeds and the fierce looks stone idles were there.

只有半人深的荒草和龇牙咧嘴的神像。