计算误差

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

The asymmetric stripline is widely used in LTCC microwave integrated circuit system. Different kinds of discontinuity are often encountered in the circuit design, such as open circuits, steps, right-angle bends, T-junctions and so on. This paper successfully transplantes the equivalent circuit model of microstrip line discontinuity to the asymmetric stripline so as to deal with T-junction discontinuity and the branch-line coupler constructed by parts with various discontinuity. Compared with numerical results, the average error of S parameters is less than 2%.

偏心带状线广泛应用于LTCC微波集成电路系统中，其电路设计过程中也经常会遇到诸如开路端、阶梯、直角拐角及T型接头等各种不连续性问题；该文成功地将原有的微带线不连续性等效电路模型移植到偏心带状线上，从而分析了其T型接头不连续性和由其不连续性部分组成的电路组件分支线耦合器；与数值计算结果相比，其S参量的平均误差小于2%。

The calculated leakage magnetic flux densities are compared with the measured values, and the results are satisfied for engineering design.

把计算结果与实测的漏磁场进行了比较，误差满足工程设计的要求。

First of all, in the study from magnetohydrodynamics equilibrium equations describe the plasma derived from the balance of the Grad-Shafranov equation of the theory of expression, and to analyze its borders in a fixed way to solve the region;then we solved the equation with Variational method in given pressure, and the exact numerical value of poloidal magnetic flux and the profile of the magnetic flux surfaces contours in the definite error range are given.At last, the poloidal and toroidal magnetic field with D-shaped is obtained.

在研究中首先从磁流体力学平衡方程出发推导出描述等离子体平衡问题的Grad-Shafranov方程的理论表达式，并分析其在固定边界区域内的求解途径；然后在给定的压强分布情况下采用基于能量形式的变分法对其进行了数值计算，并在一定的误差范围内得到了极向磁通的大致图像以及等离子体的平衡位形分布；最后求出了D-型截面下的极向磁场以及环向磁场分布。

Details of mathematical function and matrix formulation are describ ed in this paper.

经验证模型计算结果和实测温度场十分接近，误差在5℃以内。

Under all of the operational conditions, there is the point at the boundary area of reactor wall and tubes, where the transfer resistance is high, whose deviation value is maximum.

在所有的操作条件下，一般位于器内壁和器内管体等构件的传递阻力高的边界层区域模拟计算值与实验值间的误差较大。

The calculating results show that the analytical and numerical results have great consistency, and the maximum relative error is only 4.5%.

计算结果表明，能量法的解析解和有限元结果吻合很好，其最大相对误差仅为4.5%。

The modeling results agree reasonably with experimental data, and the mean relative deviation is 25%.

对比结果表明本文建立的模型计算得到的HETP值与实验值吻合较好，其平均相对误差为25%。

The effective thermal conductivity of interfacial layer was put forward through the definition of effective mean free path.

通过"当量自由程"把描述微尺度传热的界面层热导率与描述Fourier导热的热导率用同一个式子表达，给出了用Fourier定律进行界面层热流密度计算的误差。

Computer simulations show that the scheme proposed increases the transmission efficiency, and at the same time, can obtain lower error bit rate and mean square error of channel estimation than conventional OFDM systems with relative low complexity.

仿真实验表明，该策略可提高传输效率、增强系统的抗噪性能、获得比传统OFDM系统更低的信道估计均方误差和误码率，且具有较低的计算复杂度。

In the negative and interrogative forms, of course, this is identical to the non-emphatic forms.

。但是，在否定句或疑问句里，这种带有"do"的方法表达的效果却没有什么强调的意思。

Go down on one's knees;kneel down

屈膝跪下。。。下跪祈祷