问题分析法

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。

The results show that the infinite method is valid in solving problems in infinite domain and thus high precision can be obtained by eliminating the border effect in finite element analysis.

采用具有精确解的无限厚壁圆筒作有限单元法分析和无限单元法分析，通过对这两种分析方法的分析结果的比较得知：无限单元法是解决无限域问题的一种有效的方法，采用这种分析方法进行隧道及地下工程结构分析，可以消除有限单元法所带来的边界效应，从而使计算精度大为提高。

Based on investigating the short and intermittent structural plane, surrounding rockmass of the huge underground powerhouse in Three Gorge has been divided into five statistical similar areas according to its characteristic of rockmass structure by applying structure plane network simulation. Distributed characteristic of structural plane has been studied and based on it mechanics macrocharacteristic has been studied:(1) It is the first time that based on the result of structural plane network simulation rockmass quality of every structure area has been studied with applying blurred information optimum seeking technique and be compared with and RQD method. The result indicated that it has better effect to evaluate rock quality with blurred information optimum seeking technique.(2) It is the first time that the interrelated relationship of the result of in-suit rockmass deformation test and fractal characteristic of structure on test point has been applied to determine rockmass deformation parameter. The question of evaluating deformation parameters of engineering rockmass has been solved.(3) Anisotropy strength parameters have been determined by applying shear zones simulating method. The result indicated that there are different strength parameters in every structural area, after comparing the result of Fast Lagranian Analysis in continua number simulation method with that of method of weighted mean according to continuity. The result indicated that when a suitable reduction coefficient is been considered rockmass strength parameters can be simply and fast determined with method of weighted mean according to continuity where there is not enough test result.(4) Damage characteristic has been studied based on analysis fractal characteristic of structural plane network by applying fractal-damage coupling method. It is the first time that the concept of damage degree has been set up to evaluate rockmass quality according to the biggest principal damage.

通过对短小、断续性结构面统计特征的研究，将地下厂房区划分为五个岩体结构统计均质区，应用结构面网络模拟技术研究了各个岩体结构均质区结构面的发育分布特征，并以此为基础对岩体宏观力学特性进行了深入研究：(1)首次通过在结构面网络模拟计算结果的基础上，应用模糊信息优化技术研究了厂房区各个岩体结构分区的岩体质量并与岩体基本质量指标研究法、岩体质量指标RQD值研究法作了对比，结果表明以结构面网络模拟结果为基础，应用模糊信息优化技术进行岩体质量评价能够取得很好的效果，解决了工程岩体质量的定量评价问题；(2)首次通过对已有的现场大型岩体变形试验结果的分析及相应试验点岩体结构分形特征的研究，建立了结构面分布的分形维数和岩体变形指标间的相关关系，并首次应用这种相关关系根据结构面网络模拟及分形维数计算结果确定了缺少试验结果的地下厂房各工程部位的岩体变形指标而且应用于围岩稳定性计算，解决了工程岩体宏观变形参数的评价问题；(3)应用在结构面模拟网络图上模拟岩体剪切破坏带的方法，得出了岩体在不同方向上的强度参数，结果表明岩体的强度特性与结构面的发育方向和程度有着明显的关系，各个岩体结构均质区具有不同的强度参数；同时还通过应用拉格朗日差分法对岩体强度指标的数值分析并与按连通率加权平均计算法对比表明，按连通率加权平均计算法在考虑合理的折减系数情况下，可以简单快速地对缺少现场大型试验结果的具体工程部位实现岩体强度指标的估计，通过以上研究解决了工程岩体抗剪强度参数的评价问题；(4)通过结构面网络分形维数的研究，应用分形损伤耦合分析方法，研究了厂房区岩体的损伤特征，并首次引入"损伤度"的概念，建立了应用最大主损伤评价岩体质量的指标体系。

The contents of this course include: the mathematical basis of FEM, the generic solution principles and expressions of elastic mechanics issue, the construction of element and its interpolation function, iso-parametric element and numerical integral, solution of linear equations, some practical issues of FEM modeling, brief introduction to typical commercial FEM packages, FEM for truss, plate blending and shell, and FEM for heat exchange and dynamics.

课程内容主要包括：有限单元法的数学基础、弹性力学问题有限单元法的一般原理和表达格式、单元和插值函数的构造、等参单元和数值积分、线性方程组解法、有限元建模的若干实际问题、典型商用有限元分析软件简介、杆件结构力学问题的有限单元法、平板弯曲问题的有限单元法、一般壳体问题的有限单元法、热传导问题的有限单元法、动力学问题的有限单元法等。

The primary studying works and characteristics:1 To summarize reinforcing theory of cement mixing pile composite foundation2 To analyze the primary mechanics characters and changing rules of cement mixing pile, based on analysis of test data both indoor and outdoor.3 To discuss siding frictional resistance, ending resistance, ultimate bearing capacity of simple mixing pile and effectiveness factor of grouped piles, loading ratio of soil between piles under cushion cap of grouped piles and stress ratio of pile and soil and so on, and use many computation method and experimentation method to ensure bearing capacity of mixing piles composite foundation.4 To point out and analyze eight sides flaws and problems of the bearing capacity calculation method of mixing pile compositefoundation which ensured by national and normative method/ formula.5 To apply test results of loading tests and a few settlement observation data, use gray theory to predicate ultimate bearing capacity of deep mixing piles, actual example demonstrate engaging between theoretical predicted value and actual value.6 To apply groovy layerwise summation method to discuss entity piles method, double foundation method, equivalent layerwise summation method and consolidation theoretical method and so on, especially by combination of engineering example, use FEM to calculate or discuss the settlement and changing rules of composite foundation.7 To discuss problems of critical length of composite foundation by combination of engineering example and numerical analysis method, and analyze the contrast of critical length between simple pile load and most area load of composite foundation, not only critical length of composite foundation is relative to modulus ratio between piles and soil, but also upside load distribution area of composite foundation.

主要的研究工作与特色为：(1)总结了水泥搅拌桩复合地基的加固原理；(2)在对室内外试验资料进行统计分析的基础上，系统分析了搅拌桩水泥土的主要力学特性及其变化规律；(3)探讨了搅拌单桩的侧摩阻力、端阻力、极限承载力及群桩效率系数、群桩承台下桩间土荷载分担比及桩土应力比等，提出用多种计算方法并结合试验方法来综合确定搅拌桩复合地基的承载力；(4)明确指出和分析了按国家有关规范的方法确定搅拌桩复合地基承载力所存在的八个方面的缺陷与问题；(5)利用过去没有加载至破坏阶段的载荷试验成果和较少的沉降观测数据，尝试了用灰色理论预测深层搅拌桩的极限承载力，实例表明理论预测值与实测值吻合较好；(6)在常规分层总和法的基础上，探讨了复合地基沉降计算的实体墩基法、双层地基法、等效作用分层总和法、固结理论法等，特别是结合工程实例，用有限元数值计算等方法计算和讨论了搅拌桩复合地基的沉降及其变化规律；(7)结合工程实例，用数值分析方法探讨了复合地基临界桩长的问题，指出和分析了单桩荷载下的临界桩长与复合地基大面积荷载下的临界桩长存在很大的差别，复合地基的临界桩长不仅与桩土模量比有关，而且与复合地基上部荷载分布面积有关。

Three case representation methods, character vector, category-exemplar and dynamic storage are discussed, and CR4 process model is proposed for CBR-ANN integration. For construction of casebase, similarity relations on possible problem categories should defined and analyzed, mapping relations from possible problem categories to possible solution categories should be studied, and casebase should be repartitioned and refined.

分析了特征向量表示法、类别-案例表示法、动态存储表示法等案例表示法的特点，提出CBR-ANN过程模型为CR4模型，认为对于案例库构建，要分析和定义问题可能类型上的相似关系，探寻问题可能类型到方案可能类型的映射关系，分析相似类、进行案例库划分以及进行案例库优化。

Secondly, it summarizes development and gradual progress about operational risk measurement. Analyzes and compares two main categories at present: bottom-up and top-down, and Loss Distribution Approach of top-down and Income Model of bottom-up is studied deeply, then finds out the main challenges of operational risk measure methods. Thirdly, taking examples for Shanghai Pudong Development Bank and Shenzhen Development Bank, it demonstrates operational risk measurement of our banking using Basic Indicator Approach and Income Model of bottom-up. And by comparing its effects with analysis result of concrete loss incidents of operational risk, it is approved that to apply operational risk measurement to our banking is feasibility. Finally, the paper analyzes difficulties to measure operational risk, such as weak consciousness of measuring operational risk, short of effective modern measuring model, behindhand of loss data collection and lack of perfect inside management mechanism of measurement, and then gives some advices.

接着总结了操作风险度量方法的发展演进过程，对目前度量操作风险的两类主流方法&自下而上&法和&自上而下&法进行了详细的分析和比较，分别选取&自下而上&的损失分布法和&自上而下&的收入模型法展开深入研究，并剖析了操作风险度量方法面临的主要挑战；接着以&浦东发展银行&和&深圳发展银行&为例，选用&自上而下&的基本指标法和收入模型法进行了操作风险度量的实证分析，并将分析结果与使用具体损失事件的实际操作风险分析结果进行了比较，证实了操作风险度量方法应用于我国的可行性；最后文章对我国银行业度量操作风险中存在的现实困难进行了深入探讨，指出了我国存在操作风险度量认识障碍、缺乏适用的现代操作风险度量模型、损失数据收集工作滞后以及操作风险度量缺乏完善的内部管理机制保证四大方面的现实问题，并提出了对策建议。

This paper investigates the interlocking directorates and relative corporate networks by social network analysis.

文章对公司治理的连锁董事问题运用了社会网络分析法进行研究。

Its main part are the understanding of the concept of responsibility of the main body of implement of public policy, the reasons of generation and factors of responsibility of the main body of implement of publ...

立足我国国情，采用了文献分析法等进行了研究，研究重点就是我国现阶段政策执行中的责任问题以及改进，对此，提出了作者自身的看法。

Aiming at the existent problems in residence environmental design of ZhujiangDelta countryside, this essay, in accordance with the continual development and humanspirits, summarize s the theory research of residence environmental design home andabroad, having made research into zone, literae humaniores and personality in ZhujiangDelta countryside residence.

本文针对珠江三角洲地区村镇住区环境艺术设计中存在的问题，一方面总结国内外在住区环境设计方面的理论研究，在可持续发展观和人文艺术精神的指导下，对珠江三角洲地区村镇住区环境的地域、人文和性格特征研究；另一方面，通过结合层次分析法建立的评价指标模型，对住区环境进行定性、定量解析、评价。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。