跟踪

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。

And at last the gray projection algorithm is used to calculate the centroid of detected object.

解决跟踪算法的计算量与实时性这对矛盾，是提高系统跟踪精度和跟踪稳定性的关键。

It is shown that a continuous flow with the AASP is chain transitive and some equivalent conditions of the continuous flow with the AASP to be chain recurrent are obtained.

对连续流引入渐近平均跟踪性质概念，证明具有渐近平均跟踪性质的连续流是链传递的，同时对具有渐近平均跟踪性质的连续流给出链回归的几个等价条件。

The principle and design scheme is set forth about antenna tracking control system of orbit weather secondary planet in the paper. Its characteristic is that the circuity of the system is greatly simplified by tracking logic circuit, The well effect is shown in practice.

阐述轨道气象卫星天线跟踪控制系统的工作原理及系统设计方案，其特点是采用跟踪逻辑电路，大大简化了天线控制跟踪系统的战略，在实际应用中获得良好的效果。

to reduce the impact of carrier frequency offset in ofdm system,this thesis designs a new carrier frequency offset estimation scheme for ofdm system.the carrier frequency offset estimation includes acquisition and tracking.we adopt variable step size adaptive algorithm.the acquisition range of the proposed algorithm is as large as one half of the overall signal bandwidth.through this method we can not only avoid the feedback by using forward error correction,but also reduce the times of complex multiplication in order to reduce the power consumption of the system.this algorithm not only has low complexity and fast convergence nut also can improve the demodulation performance of ofdm system.computer simulation illustrates the superior performance of the proposed algorithm with regard to estimation accuracy in both awgn channel and multi—path channel.

摘 要：为了减小正交频分复用系统受频率偏差的影响，在ofdm系统中设计了一种新的载波频偏估计算法。频偏估计包括跟踪和捕获两个阶段，文中采用变步长自适应算法来进行跟踪，这个跟踪算法的捕捉范围是整个信号带宽的一半。通过此方法，不但可以利用前向纠错的方式来避免反馈，而且可以缩减复数乘法的次数以降低计算复杂度和系统功耗。该方法运算复杂度低，并具有较好的收敛性，能改善odfm的解调性能。从计算机的仿真效果可以看出无论是在awgn信道上还是在多径信道上都表现出了卓越的性能。

A search engine selects one or more search hits from among a plurality of hits, wherein a hit is a reference to a page or a site, based on a user interest, comprising an input module for accepting a query from a user, the query representing an interest of the user; a tracking module for tracking the user's navigation through the plurality of pages, including at least a destination purchase page, the destination purchase page being a page from which the user makes a purchase; a sales module which records associations between purchases and queries where the associations are provided, at least in part by an output of the tracking module; and a search module, which takes as its inputs at least a query and sales associations of that query provided by the sales module, and which outputs one or more search hits based on at least the query and the sales associations of that query.

一搜索引擎从一一击的多数状态中选择一或更多搜索一击，在哪方面一一击是一参考一页的或者一地点把代表一用户的利益问题建立在一用户权益的基础上因为承认一从一个用户问题包括一投入模数；一因为跟踪用户的航行通过页的多数状态，目的地购买页，包含至少一目的地购买页，是一从其用户买东西的页跟踪模数；一记录在购买和问题之间协会其协会部分地至少被一输出提供的销售额模数的跟踪模数；和一把至少那经过销售额模数提供问题的一问题和销售额协会视为它的投入，和哪一个使出，把一或更多搜索一击建立在至少那问题的问题和销售额协会的基础上的搜索模数。

Based on emphasis of strategic environmental assessment of highway network planning, main contents of follow-up evaluation of highway network planning were proposed involving analysis of cooperation with other dominical planning and timely supervision of environment impact from highway network planning.

新颁布的《环境影响评价法》对环境影响的跟踪评价提出了明确规定，文章基于公路网规划环境影响事前评价的侧重点，提出公路网规划跟踪评价的内容主要包括两个方面：一是与相关规划的协调性分析；二是公路网规划实施过程中环境影响的实时监督，并进一步提出了跟踪评价方法。

In the process of tracking target, using dynamic programming algorithm,which has the advantage of global optimization and constringency stability,to split the test target,and using the Kalman filter to predict the object center to help tracking the contour of the target, in order to implement the right moving target detection and tracking.

在跟踪过程中，结合动态规划法全局最优、收敛稳定的优点，对待检测目标进行分割，并采用卡尔曼滤波器预测目标中心来辅助跟踪目标轮廓，以实施对运动目标的检测和跟踪。

Meanwhile, it was difficulty to apply angle conversion system to practical goniometry curcuit. The fast following-up conversion was improved and a high-precision dynamic goniometer system and a nonlinear high-speed following-up conversion mode based on inductosyn were proposed, which were applied to the serve system of some weapon. The results of the dynamic and static tracking indicated that the servo system with fewer errors could satisfy the requirements of the accuracy.

对快速跟踪型轴角转换方法进行了改进，提出了一种基于感应同步器的高精度动态测角系统及非线性快速跟踪型转换方式，并在某武器伺服系统中进行了应用，动静态跟踪结果表明该伺服系统的误差较小，满足精度的要求。

From the experimental results, the new tracking device has the advantages of reasonable design, steady operation and rapid reaction, besides, the real-time tracking accuracy can be higher than 3.5 mrad and overshoot is less than 3.2%, which make heliostat be able to realize the real-time and accurate tracking.

实验结果表明，该跟踪装置设计合理，运行稳定，反应速度快，实时跟踪精度优于3.5 mrad，超调量小于3.2%，实现了定日镜的实时精准跟踪。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了