补偿的

Thischaracteristic of Atriplex canescens is consistent with that of many local species. TheLCP of Atriplex canescens in different treatments (light, medium, no and heavy watersoil stress) are 314.8μmolm~(-2)s~(-1)、272.5μmolm~(-2)s~(-1)、176.7μmolm~(-2)s~(-1)、143.1μmolm~(-2)s~(-1), respectively, which indicates that the LCP of Atriplex canescens is reducingwith the escalation of soil water stress. This tendency is favorable for Atriplexcanescens under drought stress to maintain certain photosynthesis even in weaksunlight so as to ensure the survival of itself, and keep balance between maintainingwater content inside and its photosynthesis.

四翅滨藜在不同土壤水分胁迫下的光补偿点：轻度土壤水分胁迫、中度土壤水分胁迫、无土壤水分胁迫和重度土壤水分胁迫下的光补偿点分别为，314.8μmolm~(-2)s~(-1)、272.5μmolm~(-2)s~(-1)、176.7μmolm~(-2)s~(-1)、143.1μmolm~(-2)s~(-1)，说明四翅滨藜的LCP随着土壤水分胁迫的加重而呈现降低的趋势，这种变化有利于处在干旱胁迫中的四翅滨藜在光强较弱的条件下仍然能维持一定的光合作用，以满足植物自身生命活动所需，同时也可以使植物在保持体内水分和进行光合作用之间寻找平衡。

The technology of error compensation based on Multi-Body system and the design method of cam machining were combined together.

针对精密凸轮加工中存在的精度问题，推导出凸轮磨削中的理想砂轮中心包络线的求解方程，进而将基于多体系统理论的误差补偿技术与凸轮加工设计方法相结合，研究了理想数控指令的生成方法、砂轮轮廓误差的计算方法、精密数控指令和逆变凸轮廓型的求解算法，在此基础上，开发出凸轮精密磨削过程的误差补偿与动态仿真分析软件。

Furthermore, a content adaptive IMC algorithm in MCTF, composed of two estimation models, is put forth to reduce the ghosting artifacts. One model is based on characteristic of subbands coefficients for low activity region estimation, and the other is to estimate the MV accuracy in high subbands from the energy after ME. Artifacts, caused by inaccuracy ME or update step, can be reduced effectively by the estimation models.

根据小波变换的子带系数特性，建立了图像平坦区域的估算模型；根据运动估计后的高频子带能量，建立了运动估计准确程度的估算模型，从而实现了具有内容自适应特性的MCTF反向运动补偿算法，减小了ghosting伪影，克服了由于运动估计的不准确以及更新步骤可能导致的低频子带反向补偿误差。

I am assured by our Merchants, that a Boy or Girl, before twelve years Old, is no saleable Commodity, and even when they come to this Age, they will not yield above three Pounds, or three Pounds and half a Crown at most on the Exchange, which cannot turn to Account either to the Parents or the Kingdom, the Charge of Nutriments and Rags having been at least four times that Value.

我从我们的商人那里得到确证，十二岁前的男孩或女孩作为商品并不适合销售，即使他们到了十二岁，他们的利润也不会多于三镑，最多通过交易获利三镑五先令，可这并不能补偿他们的父母，也不能补偿王国，他们吃过的营养品和穿过的衣物的钱至少是这些的四倍。

The gray balance curves were obtained by the gray balance function and regression analysis. The main works: The parameters in the mathematic models were ascertained, as well as all the regression functions. The models included the relation between the ink quantity and the solid density, the relation between the gamma and printing contrast, the printing reproduction curves, the dot-gain curves and the dot-gain compensation curves. The fitting accuracies of the regression models were checked out by the correlation coefficient or multiple correlation coefficients. The effect that the ink had on the solid density and the gamma on the printing contrast were analyzed. And the methods of choosing the ink and gamma were gained.

主要工作：确定了墨量与样张实地密度、γ与相对反差、阶调复制曲线、网点扩大曲线以及网点扩大补偿曲线各自数学模型中的参数，得到了回归表达式；得到了各个回归表达式的相关系数或复相关系数，检验了回归模型的拟合程度；分析了墨量对实地密度的影响以及γ对相对反差的影响，并提出了墨量和γ的选取方法；得到了喷墨印刷质量控制的灰平衡控制、网点扩大以及扩大补偿规律。

Unscented transformation is used to improve the performance of extended kalman filter in the field of automatic control because it can reach accuracy of second order linear approximation. UT compensation can make us to estimate more accurate noisy acoustic model parameters corresponding to static feature of speech and we also proposes several kinds of engineering implementations to improve the efficiency up to six times faster than usual implementation of UT compensation.

针对声学模型参数在噪声环境下非线性变化的补偿问题，现在国际上广泛使用的PMC和VTS声学模型参数补偿算法只能达到其线性展开的一阶近似，所以本文通过使用自动控制领域用来提高扩展卡尔曼滤波器性能的称作Unscented Transformation的技术，可以达到对声学模型参数非线性变化的二阶近似，得到的声学模型参数更加精确。

In order to reduce the periodic current tracking error of the deadbeat control when compensating abruptly changing nonlinear load current, a repetitive controller is plugged into the deadbeat controller. Also, the repetitive controller can alleviate the parametric dependency of the deadbeat control and eliminate the effects on compensation performance caused by the uncertainties in the system.

另外，为了降低无差拍控制对系统参数的依赖型和系统中存在的不确定性对补偿性能的影响以及减小在补偿电流变化剧烈的非线性负载电流过程中存在的周期性的局部跟踪误差，本文在无差拍控制器的基础上，又提出了基于无差拍和重复控制的复合电流控制器。

The technique made full use of the characteristic of PR controller which can realize zero steady-state error in AC input signal in stationary frame. In the method, the active and reactive current component in the vector control strategy were transformed in the stationary frame to achieve the objective of keeping the DC-link voltage constant, adjusting the power factor and decoupling the active and reactive power. Compared with conventional double close-loop proportional integral controller, the PR technique is better in harmonic compensation without the complex rotating frame transformation and the couple or feedback voltage which is easily influenced by temperature and circuit parameters. The control algorithm is easy to be realized while the robustness and power quality is improved.

该方法充分利用了PR控制器能够在静止坐标系下对交流输入信号无静差控制的优势，将矢量控制策略下的有功电流和无功电流分量转换到静止坐标系下进行调节，实现网侧变换器维持直流电压稳定和调节功率因数的控制任务和双馈电机有功、无功功率的解耦控制，与传统的双闭环PI控制相比，该策略无需繁琐的坐标旋转变换，不存在受温度及电路参数影响的耦合项和前馈补偿项，且易于实现对系统低次谐波电流的补偿，减小了控制算法实现难度，提高了控制系统的鲁棒性和电网电能质量。

The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

To this end, Shunde reunification and improve the land requisition compensation standards for land compensation and resettlement fees for individual parts of a one-time allocation of shares in accordance with honor, so that the interests of farmers to be the fastest most direct implementation; curing homestead villagers, the villagers issued a one-time residential construction land arrangements for the construction of indicators and year after year to solve the "limited land resources to implement an unlimited distribution" problem; the abolition of the construction of village-level decentralization of industrial sites remain targets, stop approving the non-fragmented集约工业区of agricultural land to switch to the implementation by the proportion of land area set-aside land for building approach, to the Village to develop enough land to stay.

为此，顺德统一和提高征地补偿标准，土地补偿和安置补助费的个别部分一次性分配股份按照荣誉，使农民利益得到最快最直接的执行情况；固化霍姆斯泰德村民，村民们发出了一次性住房建设用地安排建设的指标和年复一年地解决了"土地资源有限，实施无限分配"问题；废除建设村一级的权力下放的工业网站仍然指标，停止审批非支离破碎集约工业区的农田切换到执行土地面积的比例预留土地兴建的办法，对村开发足够的土地，留下来。

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。