系统函数

The mentioned control scheme can effectively control two joint of space manipulator to stably track the desired trajectory in joint space. It has obvious advantages that with needless feedback and measured the position, velocity, acceleration, attitude angle velocity and attitude angle acceleration of the floating base. At the same time, no requirements for the dynamic equations of the system are linearly dependent on inertial parameters.

文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节，可以协调地完成期望的轨迹运动，并具有不需要反馈和测量空间机械臂载体的位置、移动速度、移动加速度，同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。

The nonlinear items only satisfy the local Lipschitz condition, but not the uniformly Lipschitz condition. The step function is applied to the approximate controllability problem of the corresponding linear system.

这类非线性系统中的非线性项只满足局部Lipschitz条件，于是采用了阶梯函数的方法，对于热传导方程的逼近能控性进行了讨论，得到了线性系统的逼近能控性，并给出了控制的显式表达，而在文献[103]中控制的具体求法是未知的。

Application of macroinstruction in aerospace ground measurement-launch-control system software is elaborated.

介绍了带参数宏替换在重复过程调用方面的作用以及它与函数的区别，详述了它在航天某型号地面测发控系统软件中的应用，最后着重分析了它对增强测发控系统软件总检查程序的可靠性方面的意义。

The real-time learning ability and the fast convergence of the recurrent network model of nonlinear dynamical system have been obtained by introducing the forgetting factor in the objective function and the maximum likelihood estimation principle.

本算法在目标函数中引入了遗忘因子，并借助于非线性系统的最大似然估计原理成功地解决了动态非线性系统回归神经网络模型权系数学习的实时性和快速性问题。

In chapter 4, the factorization and cascade decomposition for first order singular systems have been discussed, the if and only if conditions have been obtained, the invariaty of minimality under factoiization and cascade decomposition has been proved.

第四章，讨论了一阶奇异系统的因子分解和级联分解，给出了其具有上述分解的充要条件，证明了极小性在分解下的不变性；对具有一阶奇异系统实现的有理函数矩阵，给出了判定其为正实函数的充要条件，推广了著名的正实引理。

Under the small deformation assumption and by the principle of minimum potential energy, the system function was established.

提出一种基于分子力学的分子结构力学方法，该方法用分子力学中的力场势能函数表述系统的势能，从能量原理出发，在小变形假设的基础上建立系统方程。

This paper firstly reviews the history of Automated Theorem Proving and Mizar,then gives a description of methods of mechanical theorem proving and verification to mathematical proposition under Mizar system.Based on that basis,the paper has done some Mizar researches on mixed operation of quaternion,differentiati- on of special composite function and the application of Rolle\'s theorem.

本文首先介绍了定理机器证明和Mizar语言系统的发展历史，其次简单描述了Mizar系统下定理机器证明和校验数学命题的方法，在此基础上对四元数的混合运算，特殊复合函数的微分以及洛尔定理的应用等方面进行了Mizar实现。

Based on that the dielectric permittivity of cell suspensions is monotonic function of the measuring frequency and cell concentration at radio-frequencies,a new method for detecting cell concentrations on-line and in-situ is proposed .

利用发酵液在无线电频率范围内的电容率是测量频率与菌体浓度的函数，提出了一种实时在线检测发酵过程菌体浓度的新方法，设计了检测传感器和自动检测系统，并且实验验证了该检测方法及检测系统的可行

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

Presents a new formulation of Lagrange s equations by using an augmented Lagrangian function with the first order non linear nonholonomic constraint equations, and offers a unified variational approach to both holonomic and nonholonomic constraints.

采用带有二阶非线性非完整约束方程的扩张性拉氏函数，建立起了拉格朗日方程的又一新公式，该新公式较为规则，它提供了一种完整约束系统和非完整约束系统两者统一的变分方法。

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。