调整过的

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。

Steve's English is better than Tom; Steve is from the English Dept while Tom majors in Physics. This is like comparing apples to oranges. Now the Chinese university students are living better than those in North Korea and some African countries, which is comparing apples to apples. Some students have mp3, new brand model mobile phones, multi-geared bikes and they are leading a much wealthier life than those from breadline families. But they still think they are poorer than those rich classmates. They need both apple to apple comparison and apple to orange comparison.

斯迪夫的英语比汤姆好，前者是英语专业的，后者的专业是物理，不同类的事物不具可比性，正如苹果和桔子不具可变性一样；如今我国的大学生比朝鲜和部分非洲国家的大学生过得好，这是可类比的，正如两个都是苹果，是可以比较的那样；部分大学生已经有了MP3，新款手机，变速单车，比靠领救济的家庭的学生富裕多了，可他们仍一味与更有钱的富家子弟攀比，他们应该客观平和地调整心态，横向和纵向都要比。

Steve's English is better than Tom; Steve is from the English Dept while Tom majors in Physics. This is like comparing apples to oranges. Now the Chinese university students are living better than those in North Korea and some African countries, which is comparing apples to apples. Some students have mp3, new brand model mobile phones, multi-geared bikes and they are leading a much wealthier life than those from breadline families. But they still think they are poorer than those rich classmates. They need both apple to apple comparison and apple to orange comparison

斯迪夫的英语比汤姆好，前者是英语专业的，后者的专业是物理，不同类的事物不具可比性，正如苹果和桔子不具可变性一样；如今我国的大学生比朝鲜和部分非洲国家的大学生过得好，这是可类比的，正如两个都是苹果，是可以比较的那样；部分大学生已经有了MP3，新款手机，变速单车，比*领救济的家庭的学生富裕多了，可他们仍一味与更有钱的富家子弟攀比，他们应该客观平和地调整心态，横向和纵向都要比。

Adjustments from the time of view, the risk of economic overheating in the August meeting due to the debt crisis in the United States to block bulk commodity prices to be resolved before, and in appreciation of the pressure before the cost and has made operational difficulties of some enterprises, local industry crisis, a sharp fall in prices caused by the confusion, but also a blow to many enterprises, a mechanism for smooth operation of the economy has been damaged, these are changes in economic trends to determine the main factors.

从时间的角度调整，经济在8月会议是由于美国的债务危机，阻止大宗商品价格过热的风险，必须先解决，而在之前的压力升值的成本并取得了一些企业，地方工业危机，由混乱造成的价格大幅下跌，而且对于许多企业，为经济的顺利运行机制的冲击经营困难，已被破坏，这些都是对经济走势的变化确定的主要因素。

There are many complex factors, such as age, environmental, social, psychological, personal factor and human diseases, etc., affecting the development of insomnia symptoms. Insomnia is one kind of neurology/psychiatry diseases, due to brain overstrains and stresses in the nerve center system, in Western Medicine, while there are approximately two factors that can cause the insomnia symptoms, including the anti-pathogenic- qi deficiency and the pathogenic-factors invasion in Traditional Chinese Medicine.

失眠的原因有年龄、环境、社会心理、身体疾病等繁多复杂因素所造成，西医学认为失眠是由大脑压力所造成脑与神经所支配命令的自律神经系统降低或失去其调整身体功能作用之中枢神经系统失调的疾病症状，然而，中医学的失眠病因病机可概括为正虚、邪扰两种，其中正气虚涉及心、脾、肝、胆、肾、胃等脏腑，邪气扰则以痰、热、火、饮、食为多，失眠的病因主要有脏腑虚损、精血不足、神魂失养、七情所伤、内邪滞扰、外邪所感、思虑劳倦太过或暴受惊恐，亦可因禀赋不足、房劳久病或年迈体虚等所致；失眠的主要病机在於阴阳及气血失和，脏腑功能失调，进而神明被扰、神不安舍所致。

Despite the central bank's mortgage policy adjustment program introduced now appears to be nowhere in sight, but Judging from the recent central bank and commercial banks in mortgage interaction term,"prevention and control of overheating," the work of thinking has not been the outbreak of SARS epidemic and have a significant change.

尽管中央银行的抵押贷款政策的调整计划介绍现在似乎遥遥无期，但是从近期中央银行和商业银行抵押贷款的互动来看，&预防和控制经济过热，&的工作思路还没有爆发的SARS疫情，并发生了重大变化。

However, bankers are the prospects for the mortgage market remain optimistic about the real estate industry generally felt that as a result of consumer items are rigid and will not be greatly affected, as the overall mortgage policy adjustment, bankers, who think "prevention and control overheating "focus not on the buyers of consumer loans, but a variety of development loans, land leasing and other areas prone to loopholes.

然而，银行家们的前景抵押贷款市场仍然乐观，房地产行业普遍认为，由于消费刚性的项目，也不会受到很大的影响，整体按揭贷款的政策调整，银行家，谁认为&预防和控制过热&的重点不是在买家的消费贷款，但不同的开发贷款，土地租赁及其他多发地区的漏洞。

The result is volatility: even when British prices reach eye-watering levels (as happened in each of the previous two winters), gas imports do not increase to match, leading to factory closures and, in 2006, fears that residential customers might be cut off too.

结果带来的是不确定性，甚至当英国能源价格达到了无法接受的水平（2006和2007的冬季就曾经发生过），进口的天然气价格没有做调整，导致工厂停工，并且在2006年，出现居民用电可能被切断的担忧。

At large scale, the result of comparing of optimization structure of forest type with the present structure of forest type illustrates that the present economical forest area is larger while the mixed forest is smaller. So decreasing economical forest area and increasing mixed forest area should be the main measurements to optimize spatial patterns. At small scale, the evaluation of the landscape inner structure index illustrates that the forest structure and coverage is smaller, which should be regulated and so the uneven-aged, multi-layered and mixed forest should be the object of the forest structure design.

大尺度上根据植被类型优化结构和现有植被类型结构数据的对比分析可知，现有经济林面积则过大，混交林面积较小，因此主要是减少经济林面积，改造针叶和阔叶纯林为混交林，从而增加混交林面积，以达到最优植被类型结构时的空间配置；在小尺度上通过对景观内部结构指数的计算分析可知，该区林分结构和郁闭度分指数值较小，应予以着力调整；由研究结果可知，异龄、多层次、混交的水源保护功能最好，因此稳定的林分结构设计目标就是尽量使林分形成异龄、多层次、混交林。

Physiological role - opal shade of golden sun wheel also corresponds to the corresponding umbilical round, right after eating and drinking does not have to re-purify the body and adjust the functions of the body and can bring a warm feeling, can rapidly improve the common cold syndrome bronchitis is also able to use her own energy to strengthen joints and bones, calm the nervous system calm metabolic psychological effects - like eye of the tiger-like dynamic energy, make it easier to achieve a breakthrough in their careers, to understand self-discipline, to defuse the pressure to achieve goals, live a happy life, but also can improve attention and concentration to maintain a flexible mind.

生理作用-猫眼石金黄色的色光对应太阳轮也对应脐轮，对暴饮暴食后身体的不适有重新净化及调整的功能，并可为身体带来温暖的感觉，可迅速改善感冒症支气管炎，也能运用她本身的能量加强关节与骨骼，安抚镇定新陈代谢的神经系统心理作用-如同虎眼般的活力能量，可使人更容易在事业上有所突破，懂得自律，化解压力达成目标，过着幸福快乐的生活，也可提高注意力与集中力，保持头脑的灵活。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。