误差因素

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。

The magnitude of coning error which is affected by the fixing error , gyro' s quantizing error and frequency band , and so on is deduced based on the analysis of kinematic mechanism of coning error generation.

本文在分析了圆锥误差的运动学机理的基础上推导了由于安装误差、陀螺量化误差、陀螺频带选取等因素影响下圆锥误差的大小。

The error coefficient is investigated by means of matrix norm; With results of computer simulation, the effects on position error equation are studied.

首次建立了三杆并联平动机器人机构的误差表达式；首次采用矩阵范数对误差传递系数进行考察；结合计算机仿真分析了影响该并联机器人位置误差的因素以及特征系数对该机器人位置误差的影响。

Second, the data checking and correction process, to understand the various sources of measurement error, its three main areas: equipment error (determined by the instrument itself, is an objective source of error), observation error (due to the technical level personnel a result of belonging to a subjective source of error), external influence error (subject, such as temperature, atmospheric refraction effects of external factors such as these factors are also constantly changing and difficult to control, belonging to a variable source of error).

其次，在对数据的检查和矫正的过程中，明白了各种测量误差的来源，其主要有三个方面：仪器误差（仪器本身所决定，属客观误差来源）、观测误差（由于人员的技术水平而造成，属于主观误差来源）、外界影响误差（受到如温度、大气折射等外界因素的影响而这些因素又时时处于变动中而难以控制，属于可变动误差来源）。

First of all, the valuation errors in TXO of the BS-IV model are the smallest among all volatility models. In the whole, the BS-IVmodel underprices the market value, BS-HV, BS-EV（EGARCH（1,1））and Ad hoc BS model overprice the market value respectively. Next, there exist the linear relationships between the valuation errors and moneyness in TXO mostly. At last, in view of hedging errors, the other thing being equal, the shorter is the maturity, the smaller is the hedging error.

本文的实证发现，在评价误差方面，整体而言，隐含波动性模型对买权及卖权的评价误差最小，隐含波动性模型之理论价格低估了市场价格；而历史波动性模型、EGARCH（1，1）模型及平滑后的历史波动性模型之理论价格则大多高估了市场价格；接著，在评价误差与金融特性关系方面，各波动性模型之评价误差与价内价外程度、股价指数报酬率、股价指数波动性、距到期日及无风险利率等因素，大多具有显著的线性关系。

Southwest University of Science and Technology,Mianyang 621002,China）Abstract: This article discussed the measurement error of VOM and introduced the relationship between the relative error and intrinsic error according to the error theory.

摘 要：针对模拟万用表在测量电阻时产生的误差，通过误差理论的分析方法，导出了相对误差与基本误差之间的关系，得出了相对误差是产生测量误差的主要因素，并提出了如何减少测量误差和提高测量准确度的方法。

Moreover, the accuracy analysis for different measurements and parameters(such as time measure error, azimuth measure error, buoys error, baseline length and sound velocity fluctuation) are given respectively. To make the best use of the observation datas, the weighted least square localization algorithm is used to improve the accuracy in bistatic sonar. The simulation results show that the positioning accuracy of this algorithm is higher than the other four algorithms, with which the positioning accuracy in stations areas and side areas can be improved effectively.

同时，通过对系统各个因素，如系统的各观测量的测量误差、站址误差、基线长度、声速波动等参数对算法性能的影响，得出了各方法定位误差的分布规律；为了充分利用双基地声纳系统的观测数据，提高系统的定位精度，采用加权最小二乘方法对系统的数据进行优化处理，仿真结果表明该方法定位精度明显高于基本方法的定位精度，能有效的改善发射站和接受站侧边区的定位精度，且定位性能受站址测量误差的影响较小。

Firstly, the formulas of continuous profile curves are educed from the formulas of the cutter profile curves, so the profile of helical gears can be fast and accurately created.

修形技术对提高齿轮箱传动性能有重要意义，而齿面偏差和轴线偏差是对齿轮强度产生影响的误差因素。

In order to fix quarter-wave plate accurately, a new method is presented to measure the optical-axis azimuth of quarter-wave plate.

为了准确安装四分之一波片，介绍了一种精确确定光路中四分之一波片光轴方位的新方法，并利用米勒矩阵理论分析了影响测量结果的误差因素。

The complexity of bodywork decides variety of it's error. The station and primary factor which cause error is inconstant change and using correlation analysis can find out the primary factor. With an project given, the theory of correlation analysis for dimension variation of bodywork is discussed through correlation analysis and the layer structure of the bodywork,the state in which the error happened can be found out. How to use eigenva...

车体装焊的复杂性决定了误差产生的多因素性，车体制造过程中产生误差的工位和主要因素是不断变化的，采用相关性分析方法从众多的误差根源中准确地发现最主要的误差源；结合工程实践，论述了车体尺寸波动的相关性分析方法的原理，根据测量点的相关性分析和车体焊接工艺的层次结构，可准确地找到产生车体尺寸误差的工位；讨论了如何利用相关系数矩阵的特征值和相应的特征向量判断尺寸波动的模式，指出测量数据的波动主要按最大特征值所对应的特征向量方式波动，引起这种波动的原因是车体误差产生的主要原因，应重点采取措施加以控制；提出了应用计算机进行相关性分析的解决方案。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。