运动方程

The perturbative theory of laser induced collisional charge exchange is presented, in which the laser induced collisional charge exchange is described as a four body system and the compound atomic and ionic states are used as basis states of LICCE, and the equation of motion for the probability amplitudes of the states are obtained.

将激光感生碰撞电荷交换看作一个四体系统，发展了激光感生碰撞电荷交换的微扰理论；以独立原子和离子的复合态波函数作为激光感生碰撞体系的基组函数，得到了体系态振幅的运动方程。

Starting from the classical motion equation of a nondissipative mesoscopic inductive coupling circuit with source , the quantum fluctuation of the charge and current of the coupled circuit with source is evaluated in excitation state of squeezed vacuum state, and the results are discussed.

从无耗散的含源电感耦合电路的经典运动方程出发，在压缩真空态的激发态下求解了耦合电路电荷和电流的量子涨落，并对结果进行了讨论。

Corresponding equations of motion allow then for more initial data to be specified.

相应的运动方程，然后让更多的初步数据，以作出具体规定。

Based on the experiments a series of motion equations of water in jig were developed.

在对实时采集的大量数据观察分析的基础上，提出了一整套水流运动方程。

Optimal liquidation ; intraday liquidity pattern ; Lagrange equation of motion ; Frobenius

最优变现；日内流动性模式；拉格朗日运动方程； Frobenius方法

Considering that the trade's price impact function includes the trade size and the liquidity discount of security market at that time,under the assumption that the risky asset's price follows the arithmetic Brown motion,and based on the none-shape,L shape or U shape of intraday liquidity patterns,this paper introduced the Lagrange equation of motion and the method of Frobenius,and found out the optimal intraday liquidation strategies of large security positions.

考虑到交易的价格影响是该时刻的交易量与市场流动性折扣的函数，假设风险资产价格服从算术布朗运动，以及分别在不考虑日内流动性模式，考虑L形和U形日内流动性模式的基础上，采用拉格朗日运动方程以及Frobenius方法，得到了大额风险头寸的日内最优变现策略。

With a rational dynamic model established on basis of the structural features and constraining conditions of the annular plate installation and through Duhamel＇s integral solution of Lagrange motion equation, the impact load and dynamic response of surface casing cementing unit induced from the cementing operation have been analyzed.

根据表层固井环板装置的结构特点和约束条件，建立了合理的力学模型，应用杜哈默积分求解拉格朗日运动方程的方法，对固并碰压状态下承受冲击载荷及其动力响应问题进行了分析。

With a rational dynamic model established on basis of the structural features and constraining conditions of the annular plate installation and through Duhamel's integral solution of Lagrange motion equation,the impact load and dynamic response of surface casing cementing unit induc.

根据表层固井环板装置的结构特点和约束条件，建立了合理的力学模型，应用杜哈默积分求解拉格朗日运动方程的方法，对固井碰压状态下承受冲击载荷及其动力响应问题进行了分析。

Furthermore,we find that the total time derivative of a function in Lagrangian has some relationship with phase factor of the wave function.

而且在具体计算过程中，我们发现在经典Lagrange量中的全微分项与波函数的相位有一定关联，但我们知道Lagrange量中的全微分项对其所对应的经典运动方程并没有影响，它可以在经典力学中被任意地舍去。

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。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐