策略模型

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。

To regulate policy composition and guarantee its correctness, an algebraic model called APoCA (attribute-based access control policy composition algebra) is proposed for composing access control policy. In APoCA, an authorization relation between entities is described at the attribute level. APoCA fertilizes the existing formal frameworks by taking into account the computation of attribute values.

为了规范策略合成和保障策略合成正确性，基于属性刻画了实体间的授权关系，通过属性值的计算结构扩展了现有的策略合成形式化框架，建立了新的基于属性的策略合成代数模型APoCA(attribute-base access control policy composition algebra)。

Both simulations and data analysis demonstrated that the random regression model with Legendre polynomial as submodels is more effective than the functional mapping with Logistic curve as submodel in mapping dynamic trait loci

模拟和实例分析结果都证明：以Legendre多项式为子模型的随机回归模型定位策略是有效的，优于用Logistic曲线为子模型的函数定位策略

The information integrated pattern based on PDM/PLM in the course ofmanufacture is put forward. Under the constraints of building CAPP platform, thearchitecture of CAPP platform is established. The models of decision making andfunction for process planning are given. Then the development means of CAPP basedSmarTeam are extracted.3. The structure of modular product life cycle is established. Toward the divisionand planning of the General Modules oriented product family, theCAD/CAPP integrated model of flexible module based on feature and CAD/CAPPmapping model based on process planning match board are set up. The keytechnologies of Solidworks/SmarTeam/CAPP integration are studies.4. From the point of view of process match board and step match board, theprocess of creating to process planning match board is studied. As an example, themachining process planning of up beam of hydraulic press machines is used tointroduce the establishment of process planning match board by means of inferencebased on expert knowledge. The organize model about the process planning matchboard oriented product family is brought forward.5. The multi-decision methods of CAPP system based on analytic hierarchy aregiven.. On the basis of uniform data model, the sub-machining process planning ofpart is auto-created by means of analytic hierarchy, The step decision methods basedon AHP is put forward.6. For the design/manufacture information in the course of product life cycle, thetree structure based on Object-Oriented and static model based UML are founded. Themethod of establishing design/manufacture information management system isbrought forward. The commercial PLM software—SmarTeam is regarded asdevelopment platform, on basis of which, the design/manufacture informationmanagement system is built, and the multi-view mapping technique ofdesign/manufacture information model is studies.7. A computer-aided CAPP platform based on PDM/PLM is founded, and itsstructure, function, work flow is illustrated. Some example of the system areintroduced.

阐述课题提出的目的和意义，明确了本文研究的主要内容。2、提出基于PDM/PLM的制造过程信息化集成模式；在平台式CAPP系统的设计约束模型基础上，构建了平台式CAPP系统的体系结构；并给出工艺决策模型和功能模型；最后提出基于SmarTeam的CAPP开发模式和实现策略。3、建立模块化产品生命周期模型的组织结构；针对面向产品族的广义模块的划分和规划方法，建立基于特征的柔性模块CAD/CAPP集成模型及基于工艺模板的CAD/CAPP映射模型；研究Solidworks/SmarTeam/CAPP集成的关键技术。4、从工序模板和工步模板的角度研究了工艺模板的创建过程；以液压机上梁模块机加工为例，采用基于专家知识的推理技术实现了工艺模板的创成；提出了面向产品族的工艺模板分层结构树的组织模式。5、提出基于分层规划的多模式工艺决策流程；在统一数据模型的基础上，从特征层和零件层分层规划，实现了零件加工子工艺的自动创成；提出基于AHP的工步排序决策方法。6、针对产品生命周期中的设计/制造信息，建立了面向对象的类树结构和基于UML的静态结构模型；提出基于PDM/PLM软件的设计/制造信息管理系统的构建方法；以商品化PLM软件SmarTeam作为开发平台，开发了基于SmarTeam的设计/制造信息管理原型系统；研究设计/制造信息模型多视图映射机制。7、开发了基于PDM/PLM的平台式CAPP原型系统，构建了系统的功能模型，并对系统的主要功能进行说明，给出系统的运行实例。

On the basis of the study on the mathematical model of the closed-loop location control, the analysis of contour error in the process motion control and error calculation model, according to the lack of using normal contour error model not to calculate contour error of curve in real-time, combining real-time contour error compensation control strategy and fuzzy logic theory, the fuzzy logic and real-time contour error calculation based self-discipline control strategy is proposed.

2在研究闭环位置控制数学模型、加工轮廓运动控制中的误差分析和轮廓误差计算模型的基础上，针对利用一般运动轮廓误差计算模型不能实时计算出曲线轮廓误差的不足，结合实时轮廓误差补偿控制策略和模糊逻辑理论，研究了基于模糊逻辑理论和实时误差计算的轮廓自律控制策略。

The algorithm is proved to be convergent theoretically and implemented for numerical calculation.Thirdly, two kind problems of multi-unit system maintenance based on the discrete-state deterioration model are analyzed:To achieve the optimization aim of series system consist of two types of units with different failure mode, an opportunistic policy is presented to combine the corrective and condition-based maintenance. The optimal model based on this policy is built and an iteration algorithm based on sequential decision is proposed according to the characteristic of discrete-state deterioration model.

第三、在部件优化分析的基础上，针对基于离散状态劣化模型的多部件系统视情维修决策中的两类典型问题，提出了相应的机会维修策略和优化分析方法：(1)针对串联系统由分别采用视情维修和事后维修的两类部件组成的情况，提出了一类事后维修与视情维修相结合的机会策略，建立了相应的多部件系统维修优化模型，并根据离散状态劣化模型的特点，提出了一类基于序贯决策的求解方法。

According to this phenomenon, this paper established game model for passerby and traffic officer by means of the basic principles of game theory. Two methods including pure strategy and mixed strategy will be introduced here. Based on the analysis, this paper found that there was no Nash equilibrium on pure strategy. And strengthening management on the traffic officer will reduce the probability of passerby running a red light. Furthermore, even though strengthening the penalty of the illegal passerby will make effect in short time. However, in the longtime, the phenomenon will go on and the traffic officer will be lazier at reverse.

针对这一现象，本文利用博弈论的基本原理，建立行人和交警的博弈模型，通过纯策略与混合策略这两种方法对行人和交警的博弈进行分析，结果发现行人和交警之间的博弈不存在纯策略纳什均衡，而在混合策略下，得出了只有加大对交警的监管力度才可以降低行人闯红灯的发生率，相反即使加大对闯红灯的行人的处罚力度，短期内的确可以起到一定的效果，但是就长期而言，闯红灯现象发生依旧频繁，而且使得交警更加的懒惰，达到适得其反的效果。

The safety concept of the space rendezvous is improved, and several rendezvous strategies are given; Based on the rendezvous dynamic stochastic model, the computational equations of the collision probability are given and analyzed, and three kinds of simple models of collision avoidance are given.

3完善了空间交会安全性概念，提出了几种提高空间交会安全性的策略；基于交会动力学随机模型，推导了碰撞概率的计算模型，分析了绕飞时不同因素对碰撞概率的影响，提出了利用碰撞概率模型对不同类型轨道碰撞规避策略进行设计的简单方法。

Combined with (1)"The Five Competitive Forces analysis" proposed by Michel E, Porter (2)"Strategic matrix analysis" proposed by Dah-Hsian Seetoo,(3)"Strategic Management of Health Care Organizations" proposed by Ginter, Swayne and Duncan (1998), and (4)"The Nature of the Strategy" proposed by Se-Hwa Wu. This paper tries to combine these theoretical perspectives and highlights a normative model and it's details for industrial competitive analysis and strategy formulation. One side of academic aspect, we expect this model could generalize to apply to other industry as well as to health care industry. On the other side of practical aspect, we expect to offer CEO of hospital a more complete and fruitful framework for strategic and competitive analysis.

本文以国内外学者所提出不同观点的策略学说，应用於医疗产业分析，以往竞争策略架构的分析模式多引用Porter的五力分析，本文另从司徒达贤提出的策略矩阵分析法中之产业及策略分析构面来加以考量，加上Ginter，Swayne and Duncan(1998)之医疗管理分析模型及吴思华所提出的策略九说，使得在实务分析上更为完整，以期藉由此分析方式，提供医疗产业更丰富多元的思考模式。

The microenvironment of the enterprise is analyses, which includes the survey .advantage and disadvantage analysis of Tengen company. The strength of the company and the market of Tengen electrical apparatus are analyses by utilizing GE model. And the marketing situation in the future is forecast. The structure of Tengen electrical products is analysed and the situations of various kinds of products in market are analyses by means of Bostons matrix method. The marketing target of Tengen is presented by using subdivision principles to analyses the market of Tengen. The weak links of the company in the marketing are found through comprehensive analysis of the marketing situation of Tengen company. The counter meashres and advice in marketing are presented for Tengen company.

本论文共分六章：在第一章引言部分中对本论文的研究背景及意义，研究宗旨、目标及范围做了说明；第二章中对一些营销的基本理论做了总结回顾：第三章从企业的外部环境入手对低压电器市场的市场竞争、用户情况、国内外差距、政策问题、技术发展趋势做了分析；第四章对企业的内部条件做了分析，主要运用了SWOT分析法，另外运用波士顿矩阵法、GE模型对产品结构及公司在市场竞争中的实力情况做了分析；第五章根据前面的分析得出了企业应该制定歧异性的集聚战略；在战略的指导下，作者提出天正公司应该采取的几种竞争策略，如渠道策略、直接营销策略、关系营销策略、综合促销策略等；第六章中对论文做了简要总结。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。