研究出

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。

Dapted from the technique used by neurophysiologists in studies of insect gustation, a new type of biosensor based on the use of intact chemoreceptor structures can be developed that differs totally from previous analytical attempts in which isolated or reconstituted receptor molecules are used as transducers.

mericana的整合受体生物传感器研究副题名外文题名 Study on a biosensor based on the maxillary palp of cockroach，Periplaneta americana 论文作者尹屹梅导师林祥钦教授学科专业分析化学研究领域\研究方向学位级别博士学位授予单位中国科学技术大学学位授予日期2001 论文页码总数94页关键词美洲蜚蠊生物传感器整合受体馆藏号BSLW /2003 /Q811 /3 本论文在综述了离体和整合膜受体生物传感器的研究进展的基础上，借助神经生理学家研究昆虫味觉特性的方法，发展出一种基于整合受体组织的新型生物传感器。

The soundness and completeness theorem of this method were proved at last. This part consists of the following points: 1. The properties of the indecomposable extremely simple form of LP were discussed, the theorem shown that every logical formula of LP was equals of a generalized conjunction normal form. 2. The method for judging a logical formula is a indecomposable extremely simple form or not was discussed, the necessary and sufficient conditions of a logical formula with not more than three implicative connective being a indecomposable extremely simple form was given. 3. The α-resolution fields of the indecomposable extremely simple form of LP were discussed, some elementary results were obtained. 4. The automated reasoning method based on the resolution principle of classical logic was discussed, the author given a method to describe the set of clauses by using a matrix, and translated the resolution of two clauses to column operations of this matrix.

二、关于格值命题逻辑系统LP中α-自动推理方法的研究 1、对LP中不可分极简式的性质进行了研究，证明了LP中任何一个格值逻辑公式等值于一个广义合取范式； 2、对LP中不可分极简式的判定方法进行了研究，讨论了含有不超过3个蕴涵运算的格值逻辑式为不可分极简式的充分必要条件； 3、对LP中不可分极简式的α-归结域进行了研究，得到了一些基本结果； 4、对经典逻辑中基于归结原理的自动推理方法进行了研究，给出了用符号矩阵表示子句集合的一种方法，把不同的归结过程转换成矩阵的列变换。

However, the consistency of theoretical promise and principle of the environmental sociology is the fundament of its research.

就这个目的，本文的研究虽然一定程度上在实证研究中对环境社会学的理论承诺和理论原则进行了表述，但是，环境社会学的理论承诺与理论原则的一致性问题是其研究的根基所在，本文只是给出了一种对此进行实证研究的可能途径，而在理论领域和实践领域此问题还有待进一步的研究。

First, the article introduces main theories of interest rate transmission mechanism in western countries, and then studies the actuality of the effect of interest rate transmission mechanism in China demonstratively. After that, based on the essential analysis of the efficiency about present transmission mechanism, the article discusses the factors that restrict and influence interest rate transmission mechanism of monetary policy in China, from microeconomic factors and macroeconomic environment respectively. Finally, the article puts forth the reformation target of monetary policy interest rate transmission mechanism and the corresponding innovation proposals to enhance the effect of the interest rate transmission mechanism in China.

本文在借鉴和吸收前人研究成果的基础上，采用了规范性研究和实证研究相结合的方法，构建了关于货币政策利率传导机制有效性研究的合理的分析框架：文章首先介绍了西方货币政策利率传导机制理论，着重分析了这些理论发挥作用的途径和模式；其次，通过各种数据分析了我国货币政策利率传导机制的现状；接着针对我国利率传导机制表现出的独特现象分别从微观因素和宏观环境两个层面研究了弱化其有效性的各种因素；最后，针对上述因素提出了加强我国货币政策利率传导效率的政策建议。

To accelerate the widespread of Synchronous Chip Seal and improve the operation quality of Synchronous Chipsealer, key techniques which influence the operation quality is studied detailedly, including the control of distributing quality, the dynamics characteristics of hydraulic system and the spray characteristics of asphalt nozzle of Synchronous Chipsealer.1 The factors which influence Synchronous Chip Seal quality are studied. Fiducial probability of simultaneous distribution density is advised to be used in evaluating the distribution bias and standard deviation of asphalt and aggregates simultaneously, which is more advanced than the single index evaluation method used before.2 The volume efficiency formula of asphalt pump is revised after analyzing the data of volume efficiency with mathematical statistics, which is helpful to match the asphalt spray system and control the flow out of asphalt pump accurately. With equation deduction and experiment, dynamic of hydraulic system used in Synchronous Chipsealer is studied, which lay the theory foundation on improving the stability and efficiency from design and controlling.4 Simulation on hydraulic system used in Synchronous Chipsealer is done with AMESim; the results indicate that multi-circle parallel connected hydraulic system with constant pressure power is better than that with load-sensing pressure power at present, because the latter will oscillate when the multi circles work at the same time. This conclusion has been proved during the debug of Synchronous Chipsealer.5 Asphalt nozzle characteristics, such as flat jet shape, flow distribution, are studied with experiment, the results indicate that cross quality of asphalt distributing is not increased linearly follow the increase of fan overlap level, the best point usually exists between two whole overlap level, asphalt distributing quality is better than±4% at the 2.5 overlap level, meets the superior specified in standard; The distribution quality of Synchronous Chipsealer can be increased by spray asphalt of different flow rang with nozzle of different diameter

为了加快同步碎石封层技术的推广，提高同步碎石封层设备的作业质量，本文对同步碎石封层设备作业质量的影响因素与控制方法、液压系统的动力学特性和沥青喷嘴的喷洒特性等关键技术进行了深入细致的研究：1研究了影响同步碎石封层作业质量的因素，提出了采用联合密度分布置信概率对同步碎石封层中沥青洒布量和碎石撒布量的系统偏差和标准差指标进行综合评价的方法，克服了传统评价方法只能对单一指标进行评价的缺陷；2采用数理统计的方法，研究了沥青泵的容积效率特性，修正了沥青泵容积效率公式，为沥青喷洒系统的匹配和沥青泵出口流量的精确控制提供了依据；采用数理方程推导与试验相结合的方法，研究了同步碎石封层设备液压系统的动力学特性，为从设计和控制的角度提高同步碎石封层设备液压系统的稳定性和效率奠定了理论基础；3运用AMESim软件对采用负载敏感控制和恒压控制的两种同步碎石封层设备液压系统进行仿真，结果表明：负载敏感控制的并联液压系统在多回路同时工作时，由于液压泵排量控制参考压力不稳定，容易引发液压系统振荡，恒压控制的并联液压系统是目前技术条件下比较理想的同步碎石封层设备工作装置驱动方案；该结论亦通过同步碎石封层设备装机试验得到了验证。4采用试验的方法对沥青喷嘴的喷洒特性进行了研究，结果表明：沥青洒布的横向精度并不是随着喷洒扇面重叠度的增加线性增加，其最高点通常出现在二个重叠度之间的"半重叠位置"，"2.5重叠"洒布时，沥青的横向洒布精度≤±4%，可以达到国家相关标准中的优级标准；同步碎石封层设备还可以根据不同洒布量情况下的流量需求，采用不同通径的喷嘴进行喷洒，提高沥青洒布精度。

Firstly, this paper discusses the development actuality of the research on double-front axle steering system and power-train of automobile. Based on the structure of the design experiences from others, the kinematics formula of double-front axle steering system is fetched, and the mathematical model of optimization design of double rocking arms mechanism and steering trapezium mechanism is established by space geometry method. Considering the difference between the real steering angle from wheels and the ideal steering angle from the ideal formula as the objective function, the optimization design method of double-front axle steering system is presented.

本文首先论述了国内外对汽车双前桥转向系统和动力传动系统研究的发展状况，在总结前人研究设计经验的基础上推导出汽车双前桥转向系统运动学关系，运用空间几何法建立了双前桥双摇臂机构及转向梯形机构优化的数学模型，以转向轮实际转角值与理想公式求出的理想转角值之间的误差达到最小为目标函数，提出了双前桥转向系统参数的优化设计方法。

We selected from 222 students at first grade in a primary school as subjects. A One to One intervention was given in the subjects by using self-made program computer programs. This study is composed of two experiments. The first experiment discusses the effect of self-explanation which guided by different direct instruction in problem solving on procedural learning, procedural transfer and conceptual understanding. The purpose of this experiment was to test whether self-explanation can promote transfer and which is the most the most effective combination of self-explanation and instruction. The second experiment, based on the results of the first experiment, compared the effect of self-explanation of different types in problem solving on procedural learning, procedural transfer and conceptual understanding. There are two methods: explain aloud, explain without voice. The purpose was to compare which effect is better?

以222名小学一年级学生为被试，经过筛选后，采用自编的计算机程序对被试一对一实验，研究由两个实验组成，实验一探讨问题解决中不同教授条件下引导的自我解释，对程序的学习、程序的近迁移、程序的远迁移和概念知识的影响，探讨是否自我解释能够促进迁移以及与哪一种教授条件相结合是更有效的；实验二根据实验一的研究结果，比较问题解决中引导的不同形式的自我解释，对程序的学习、程序的近迁移、程序的远迁移和概念知识的影响，探讨出声的自我解释和不出声的自我解释哪个效果更好。

The new circumstances that the discrete manufacturing enterprise is confronted with are analyzed; the function and configuration of production system is expounded; the research actuality and contents about production system capacity in the discrete manufacturing enterprise are summarized; the main research contents in this paper are developed.2. The calculating and analytical methods about production system capacity are studied systemically, a model to calculate rough-cut capacity instantly in "excel" table style is designed, the means to analyze production capacity in different production mode are brought forth, and the balance tactics of production capacity versus load are put forward.3. The application characteristics used in production system about the methods of Computer simulation and CRP in the MRPII/ERP are analyzed and compared; the advantages of Computer simulation method are pointed out; and the simulation researches aiming at production system capacity are implemented by Ithink simulation software.4. A simulation model is founded under the analysis of production system capacity in the production system background of a firm; the change instances of yield, output rate and WIP in the production system are simulated by the action of procurement cycle, machining time, setup time and so on. 5. The change instances of production capacity in the assembly stage are simulated , and rational employees are obtained.

本文主要进行了以下几个方面的研究：1、分析离散型制造企业面临的新情况，阐明生产系统的功能和结构，对离散型制造企业生产系统生产能力的研究内容和现状进行分析，提出本课题的主要研究内容。2、在系统地研究生产系统生产能力的计算和分析方法后，设计了用Excel表快速计算粗能力的方法；给出不同生产方式下的产能分析方法，并提出产能与负荷平衡的策略。3、比较和分析了MRPII/ERP的能力需求计划方法与计算机仿真方法在生产系统中的应用特点，指出计算机仿真方法的优势，并用Ithink仿真软件对企业生产系统生产能力进行了仿真研究。4、以A公司的生产系统为背景，在对生产系统生产能力分析的基础上建立了仿真模型，模拟了在采购周期、加工时间、调整时间以及返工率、废品率、机械开工率等因素作用下生产系统的产量、产出率和在制品数量的变化情况。5、研究在装配阶段生产能力的变化情况，通过仿真优化后确定合理作业人员数量。

In June 2008, a group of Norwegian researchers released a study showing that firstborns are generally smarter than any siblings who come along later, enjoying on average a three-point IQ advantage over the next eldest—probably a result of the intellectual boost that comes from mentoring younger siblings and helping them in day-to-day tasks. The second child, in turn, is a point ahead of the third.

2008年6月，一群挪威研究人员公布的一项研究表明，家中第一个出生的孩子大体要比晚出生的孩子聪明，他们的智商平均比第二个孩子高出3点——这很可能是因为他们每天要管教以及帮助弟弟妹妹应付日常生活和学习，而第二个孩子的平均智商依次比第三个孩子高出1点。

Singer Leona Lewis and former Led Zeppelin guitarist Jimmy Page emerged as the bus transformed into a grass-covered carnival float, and the pair combined for a rendition of "Whole Lotta Love".

歌手leona刘易斯和前率领的飞艇的吉他手吉米页出现巴士转化为基层所涵盖的嘉年华花车，和一双合并为一移交&整个lotta爱&。

This is Kate, and that's Erin.

这是凯特，那个是爱朗。