确定因素

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。

If these parameters are determined, the uniqueness of evaluation result is contrary to the high risk of exploration. This paper analyzes the distribution characteristics of probability and the probability value by Montekaro simulation, all possibilities are simulated. And all possibilities can be gaine...

本文运用蒙特卡罗模拟进行风险分析，对勘探阶段的所有主要不确定因素的概率分布特征和概率值进行详细分析，力求不漏掉任何一种可能，通过蒙特卡罗模拟得出其所有可能值，最后运用这些模拟值和其他确定的参数进行勘探项目的经济评价，得出各种因素组合的经济评价结果和评价指标的概率分布值，量化了勘探参数和评价指标的风险。

Risk management can offset the uncertain factors throughout the project such as inaccurate core sampling, incredibility of the contractor, etc.

因为，公路工程项目从立项到运营都存在许多不确定因素，如设计过程的地质勘探取样失真、施工过程中承包商的信誉等，这些不确定因素会使得原定计划、方案受到干扰，使原定的目标不能实现。

The experimental method of the three-factor quadratics rotary orthogonal combination was adopted to establish the relationship between performance function and each factor, and the effects of each factor on the drying moisture uniformity were investigated.

通过三因素二次回归正交旋转组合试验，建立热风温度、表现风速和谷层厚度与干燥均匀度的回归方程，分析各因素对干燥均匀度的影响，利用贡献率法确定因素的主次关系为热风温度＞表现风速＞谷层厚度。

Microwave-assisted extraction was applied for polysaccharide extraction from Morus alba L.. Factors and levels were optimized by single factor test. Box-Behnken design was used to 3-factors and 3-levels test. The optimal process conditions were obtained by regression analysis of response surface methodology.

利用微波辅助技术进行桑叶多糖提取，通过单因素实验确定因素与水平，应用Box-Behnken设计3因素3水平的试验，依据回归分析确定最优的提取工艺条件。

On the basis of these studies, we propose a robot track compensation control, and this strategy compensates the robot's track error caused by the structural and unstructural uncertainty well.

并在此神经网络的基础上，提出了基于CVSNN的机器人运动补偿控制策略，良好地补偿了机器人的结构性不确定因素与非结构性不确定因素造成的跟踪误差。

This CVSNN only learn to know the parameter's variation and unstructural uncertainty instead of robot's inverse dynamic model.

本文的CVSNN不需学习复杂的机器人逆动力学模型，而只要学习参数不确定因素和非结构性不确定因素，具有很强的自适应能力。

In view of great uncertainty factors in the effect of shrinkage and creep, stochastic finite element method is applied to structural analysis. It can calculate the coupled stochastic response of uncertainty factors through randomizing input variables representing the stastics stochastic factors.

4考虑到收缩徐变效应分析中大量不确定因素的存在，本文引入随机有限元理论，通过对这些随机因素进行统计分析并作为输入变量，有效地计算模拟了不确定因素的混合随机响应。

The Senate passed the bailout plan by a wide margin Wednesday night, leaving backers optimistic that the easy approval would lead to House acceptance by Friday and end the legislative uncertainty that has rocked the markets.

星期三晚参议院大比例地通过救市方案，让救市方案的支持者相信，该方案也会在星期五较容易地得到众议院的批准，从而消除立法的不确定因素。这些不确定因素已经冲击了市场。

In this text, on the basis of analyzed the accident characteristic of combustible liquids and influence factors of combustible liquids vapor spread, the leakage of combustible liquids is studied when the vehicle is stopped because of the factors such as traffic accident etc in the highway transportation course of flammable liquid, and its vapor density spread models in the atmosphere is set up; and the leakage of combustible liquids is also studied when the vehicle is steering because of the undefined factors during the highway transportation course of flammable liquid, and its vapor density spread models in the atmosphere is set up.

本文在分析了易燃液体的事故特性及影响易燃液体蒸气扩散因素的基础上，分别研究了易燃液体在公路运输过程中因发生交通事故等因素导致运输车辆停止时的易燃液体泄漏，并建立其蒸气在大气中的浓度扩散模型；因不确定因素致使运输车辆行驶过程中易燃液体泄漏，并建立其蒸气在大气中的浓度扩散模型。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。