运动方程

By using Pontryagin minimal principle to minimize the action, a partial differential equation for the Lagrangian is obtained and solved. For this action, it can be verified directly that the inverse square law is the corresponding optimal controller. Finally, the generalization of this mechanization is presented for more complicated dynamical systems.

此一方程的解虽有无限多组，然其中一组的解为该系统的行动能量是总能量，所显示的物理意义为大自然若采取平方反比定律为最佳控制器，其目的在维持物体沿特定轨道运动的总能量为固定。

The main contents include studying purpose, researching object, the introduction about this course; governing equations, boundary conditions for an inviscid irrotational flow, linearized approximation for small-amplitude waves; illuminations of wave factors and relevant physical variables; the propagating waves in deep and shallow water; discussion of physical meanings of group velocity.

包括学习目的、研究对象、主要内容简介；控制方程，描述无粘、无旋运动的边界条件，对边界条件的线性化近似；波要素和有关物理量的介绍；深水和浅水条件下的行波问题；讨论群速度的物理意义。

Through interlaminar shear model, the equation of motion and the distinguishing rule between slide and joggle were established about pure frictional base-isolated masonry structure, considering the earthquake action in horizontal and vertical directions.

本文采用层间剪切型模型，推导出了纯摩擦基础隔震砌体房屋在同时考虑水平与竖向地震耦合作用下的运动微分方程及滑动与啮合状态判别准则，采用Fortran语言编制了该类结构的计算程序。

The rigid-flexible coupling dynamics of flexible multibody systems with free largeoverall motions is studied for the first time in chapter 6.The equations of the motion forthe flexible multibody system are obtained utilizing Jourdain's velocity variationalprinciple and forward recursive formulation.

第六章首次对大范围运动为自由的柔性多体系统的刚-柔耦合动力学问题进行研究，用Jourdain速度变分原理和单向递推组集建模方法建立了柔性多体系统的刚-柔耦合动力学方程。

In addition, according to the given position and attitude parameters, the backward kinematics equation is resolved.

另外，在给定相关的位置和姿态参数的情况下，对各关节运动参数的逆运动学方程进行求解。

By virtue of the assumption, in the framework of the classical scattering theory of the interaction between incident particles and a surface, a self-consistent local model for the interaction of atomic oxygen with surface materials on the spacecraft was developed based on the kinetic theory of molecular reaction.

该模型根据入射粒子轰击材料表面的响应强度，将相互作用区域分解为强干扰、边缘及弱干扰等三个区域，分别建立了相应区域的动力学模型方程。为了量化边缘区域粒子的耗散效应，本论文引入估算材料的Debye温度的Lindemann定律，并结合热容理论的Debye模型给出边缘区域分子间阻尼运动的摩擦系数。

Chapter 3 analyzes the parameters of the dynamic equations, such as the motion mass, the deflection curve length of the belt, the main resistances coefficient and the belt's modulus of elasticity.

在第三章中对输送机系统动力学方程中的各影响参数：参与运动的质量、输送带挠曲线的长度、主要阻力系数和输送带的弹性模量进行了分析。

In Chapter 2 is concerned the Lie point symmetry group of two type WKI equations based on the motions of plane and space curves by using the Lie classical method.

通过研究平面和空间曲线的运动，得出两类WKI方程，并利用李的经典方法，得到相应的李点对称群。

With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received.

为此，以空间机器人系统的动量、动量矩守恒关系为基础，转化建立了控制系统设计所需的状态方程，并利用Lyapunov 直接方法，来获得满足任务要求的机械臂关节运动及控制输入规律。

The mentioned control scheme can effectively control two joint of space manipulator to stably track the desired trajectory in joint space. It has obvious advantages that with needless feedback and measured the position, velocity, acceleration, attitude angle velocity and attitude angle acceleration of the floating base. At the same time, no requirements for the dynamic equations of the system are linearly dependent on inertial parameters.

文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节，可以协调地完成期望的轨迹运动，并具有不需要反馈和测量空间机械臂载体的位置、移动速度、移动加速度，同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。