轴量法

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。

Plate and λ/2 plate were placed inside the Nd∶YVO4KTP green laser cavity with angle 90°between their fast axis.The composite plate composed of HWP,QWP and KTP has the function of QWP.The composite plate with Nd∶YVO4 can effectively suppress the coupling of polarized modes,and multi-longitudinal-mode lownoise green laser was obtained.Since the composite plate counteracted the phase shift induced by temperature sensitivity of quartz plate,the green laser operated with lownoise reliability in different output power and different operation temperature.The threelongitudinalmode, the noise of less than 0.5% and output power stability of less then 1% for 12 hour are obtained in the green laser.

介绍了一种LD泵浦腔内倍频全固体Nd∶YVO4KTP多纵模、低噪音、高功率稳定绿激光器在Nd∶YVO4KTP绿激光器组成的谐振腔内放置厚度约相等的石英晶体λ2波片和λ4波片，使两波片快轴夹角互呈90°，HWP、QWP与KTP构成复合波片，其作用相当于QWP，此复合波法与各相异性Nd∶YVO4共同作用有效抑制了腔内偏振模耦合，获得多纵模低噪音绿光输出此复合波片相互作用由于抵消了石英晶体波片温度敏感引起的相位延迟量漂移，所以此激光器在不同功率、不同工作温度下，均能稳定可靠地运转于低噪音状态实验结果为，绿光输出纵模数为3个，噪音小于0.5%，12 h功率稳定性优小于1

A correction formula for target deviations is derived by using the coordinate transform and its suitable conditions are proposed. Experiments show that it is coincident with the spherical trigonometry well.

分析了目前采用的脱靶量修正模型的适用条件，采用坐标变换法推导出经纬仪脱靶量修正公式，获得了与球面三角学相一致的推导结果，并在此基础上推导出成像系统无照准轴平行约束条件的通用脱靶量合成公式。

Based on Tseng-Lytton evaluation model for permanent deformation, and evaluation model for permanent deformation of clayed subgrade soils is established by improving and calibrating Tseng-Lytton model.

利用室内重复荷载三轴试验，研究了在含水量、压实度和偏应力影响下粘性路基土的永久变形特性，并以Tseng-Lytton路基土永久变形预估模型形式为基础，对Tseng-Lytton模型进行了改进和标定，建立了粘性路基土的永久变形预估模型；最后利用分层应变总和法，并结合一个典型粒料柔性基层沥青路面结构实例，计算了路基土的永久变形量。

Combined cylinder turbine ; gland leakage ; influence coefficient method ; efficency

合缸机组；轴封漏量；影响系数法；经济性

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。