结构

It can be seen that the bulk modulus depends mainly on electrons per atomic volume and mass density, while covalent structure of chemical bonding and N content make more contribution to theoretical hardness, and appropriate content N—N covalent bonding in the same direction tends to increase the shear modulus of nitrides.

说明在Tc的氮化物中，其体弹模量与材料的晶体结构、平均每个原子上的电荷密度和材料的质量密度有关；化学键的共价性结构和氮元素的含量对理论计算硬度有正作用；而剪切模量的极大值则与其层状结构及体系中一定量的方向基本一致的N—N键相关。

The chelate structure was examined by AFM scaning, single strand structure at AFM gram is Ala-Gln, two combined single strand is Ala-Gln-Zn~(2+), and atomic radius of Ala-Gln-Zn~(2+)'s conjunctive atom is about 0.24 to 0.25nm, which is near to Zn~(2+), so the conjunction atom is Zn~(2+). Thus the coordination reaction and the molar ratio 2:1 is proved again.

原子力显微扫描指出，大量出现的单一弯曲链状结构是Ala-Gln分子，而两两组合连接的链状结构，则是Ala-Gln-Zn~(2+)螯合物，且连接两个链状结构、半径约为0.25nm的中心原子是Zn~(2+)，证明Ala-Gln与Zn~(2+)形成配位比为2：1稳定螯合物。

The results show: the strongest bond is the Al-Al bond in the segregated cell without containing vacancy, where the Al atomic covalence radius is greater than that of Li atom in the cell; while the strongest bond is the Al-Li bond in the segregated cell containing vacancy, and the Al atomic covalence radius in the cell is less than that of Li atom. Since the difference of electronagativity between the Al and Li atoms is obvious, it is inclined to formed the Al-Li segregated cell of short range order structure in the condition of vacancy present. The short range order structure containing vacancy is probably the embryo or precursor structure of the metastable phase δ′(Al3Li). Because the strongest covalent bond in the Al-Li-vacancy segregated cell in alloy formed in quenching is the main strength reason for supersaturated solid solution of alloy. The bond net of succeeding precipitation of δ′(Al3Li) has the picture of anisotropic Al-Al bonding and the bond intensity enhanced. Since the δ′(Al3Li) is coherence with matrix, the bond net strength is enhanced by the precipitation of δ′(Al3Li) and so strengthen the alloy.

计算结果表明：不包含空位的偏聚晶胞的键络最强键为Al—Al键，其中Al原子的共价半径较Li原子的共价半径要大；而含空位的偏聚晶胞的最强键为Al—Li键， Al原子的共价半径要比Li原子的共价半径要小；在空位存在的情况下，由于Al原子与Li原子的电负性相差明显，促使Al和Li原子结合，倾向形成Al-Li短程序结构偏聚区，这种含空位的短程序结构很可能就是δ′(Al3Li)亚稳相的前兆结构和生长胚胎；由于Al-Li-空位有序偏聚晶胞的Al—Li键络比基体键络要强许多，因此，淬火过程中合金生成的Al-Li-空位偏聚晶胞对合金过饱和固溶体起主要强化作用；后续析出的δ′(Al3Li)亚稳相键络各项异性显著，键络强度明显提高；由于Al3Li与基体共格，其大量均匀弥散析出起到提升基体整体键络强度，同样对合金产生强化作用。

The results show: the strongest bond is the Al-Al bond in the segregated cell without containing vacancy, where the Al atomic covalence radius is greater than that of Li atom in the cell; while the strongest bond is the Al-Li bond in the segregated cell containing vacancy, and the Al atomic covalence radius in the cell is less than that of Li atom. Since the difference of electronagativity between the Al and Li atoms is obvious, it is inclined to formed the Al-Li segregated cell of short range order structure in the condition of vacancy present. The short range order structure containing vacancy is probably the embryo or precursor structure of the metastable phase δ'(Al3Li). Because the strongest covalent bond in the Al-Li-vacancy segregated cell in alloy formed in quenching is the main strength reason for supersaturated solid solution of alloy. The bond net of succeeding precipitation of δ'(Al3Li) has the picture of anisotropic Al-Al bonding and the bond intensity enhanced. Since the δ'(Al3Li) is coherence with matrix, the bond net strength is enhanced by the precipitation of δ'(Al3Li) and so strengthen the alloy.

计算结果表明：不包含空位的偏聚晶胞的键络最强键为Al-Al键，其中Al原子的共价半径较Li原子的共价半径要大；而含空位的偏聚晶胞的最强键为Al-Li键，Al原子的共价半径要比Li原子的共价半径要小；在空位存在的情况下，由於Al原子与Li原子的电负性相差明显，促使Al和Li原子结合，倾向形成Al-Li短程序结构偏聚区，这种含空位的短程序结构很可能就是δ'(Al3Li)亚稳相的前兆结构和生长胚胎；由於Al-Li-空位有序偏聚晶胞的Al-Li键络比基体键络要强许多，因此，淬火过程中合金生成的Al-Li-空位偏聚晶胞对合金过饱和固溶体起主要强化作用；后续析出的δ'(Al3Li)亚稳相键络各项异性显著，键络强度明显提高；由於Al3Li与基体共格，其大量均匀弥散析出起到提升基体整体键络强度，同样对合金产生强化作用。

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。

Considering the axial symmetry of the structure, the computation model can be simplified as a planar truss.

考虑到该结构是一种轴对称结构，将结构简化为半榀平面桁架，采用节点平衡理论进行分析。

The fuzzy set theory is a rapidly growing branch of applied mathematics whereas the Boolean-valued model is a nonstandard model of the axiomatic set theory.

在文献[1]中我们曾引进正规弗晰集合结构的概念，这种正规弗晰集合结构是对弗晰集合论的一种本质的刻划与推广；在文献[1]中还证明了任一正规弗晰集合结构都是带本元的集合论公理系统ZFa的一个布尔值模型。

Researching on the filter structure on the performance of it. Thus find a more reasonable model of the structure to achieve bandpass filter function. This paper used in the theoretical analysis and simulation software.

论文主要是研究带通滤波器的设计和仿真，同时也对带通滤波器的性能和结构进行了分析，研究了滤波器结构上对其性能的影响，从而找到一个比较合理的结构模型来实现带通滤波器的功能。

Network structure not only achieved by using smaller beam size of the bar construction of long-span structures, and the structure of space smaller, more efficient use of space.

网架结构不仅实现了利用较小规格的杆件束建造大跨度结构，而且结构占用空间较小，更能有效利用空间。

A theoretical model is built to investigate the simulation of the infrared characteristic of the metal structure with the PCM false target.Structure parameters of the PCM false target that suit for the simulation are investigated numerically.According to the results,further request on the improvement of the thermal conductivity of PCM is presented.An experimental platform is built and the numerical model is validated experimentally.Three key thermal characteristic components of the false tank(barbette,wheel and front armor plate) are manufactured and tested,and good results are obtained.A method for the thermal conductivity enhancing of PCM by using aluminum fins is studied,the influence of the structure parameters of PCM plates to the simulation effects are investigated numerically,and the reasonable configuration parameters of the PCM plates used to simulate the steel plates of different thickness are obtained.In the study of the application of heat convection method in IR false target,a passive infrared simulation system is designed to simulate the infrared characteristic of metal constructions.The system is made up of pipe-plate,pump,receiver,and working fluid.

在相变材料应用于红外示假的研究中，通过数值模拟，研究确定了适用于制作假目标的相变材料各物性参数的范围，分析了相变材料制作假目标的可行性，并根据所得结果，选取石蜡为研究对象，建立了相变材料模拟金属构件红外特征的理论模型，研究了适用于模拟各金属构件红外特征的相变材料假目标的相关结构参数，得出了相变材料假目标模拟各金属构件红外特征的理论结果，并对相变材料的导热系数这一物性提出了进一步的改进要求；搭建了假目标实验平台，验证了所建理论模型的准确性；以坦克假目标为研究对象，制作了炮塔、负重轮和前上装甲板三个坦克假目标的关键红外热特征部件，并进行了野外实验，取得了较好的结果；以添加铝肋片作为改进相变材料导热能力的手段，理论研究了此类导热增强型相变材料的相关结构参数对模拟效果的影响，得出了模拟不同厚度钢板红外特征的导热增强型相变材料的结构参数及模拟效果。

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。