问题求解

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

The present method has not only solved the field distribution computation of irregular domain, but also overcomed limitations of mesh dividing of the multigrid method when"coarsen"meshes.

本文将一种高效、快速求解Laplacc边值问题的数值计算方法——多重网格法引入到求解电子光学旋转对称场分布问题。

Parametric evaluation function can condense the complicated multi-objective and multi-constrait problem into a single-objective unconstrained problem, then solved with conjugate gradient method.The parametric evaluation function method decreases the optimization difficulty,and makes the solution away from the boundary of feasible region during the optimization process,which makes all the objectives optimized simultaneously.

参数评价函数把复杂的多目标多约束优化问题转化为单目标无约束问题，然后用共轭梯度法进行求解，不但降低了求解难度，而且使得在优化过程中其解远离可行域的边界，保证了对多目标中所有目标同时进行优化。

Conjugate gradient method is a method for solving nonlinear optimization problems, especially large-scale problems.

共轭梯度法是求解无约束优化问题的一种重要的方法，尤其适用于大规模优化问题的求解。

Computer simulation results show that a continuous surface obtained from a group of discrete data of a reference defect can be used to determine the approximate shape of an unknown defect.

求解正问题的各种方法不仅可用于研究影响红外探测精度的各种因素，而且它们在求解反问题及处理噪声的过程中也是必不可少的。

In this paper we introduce the hyperbolic cosine function and construct the new hyperbolic cosine penalty function and algorithms, further more, we construct the new hyperbolic cosine multipier penalty function .

本文在传统形式的罚函数基础上引入双曲余弦函数做罚项，构造了新的对于一般约束优化问题的双曲余弦罚函数和求解迭代公式；进一步地，又提出了求解具有等式约束优化问题的双曲罚函数乘子法。

State variables at left end of time interval and costate at right end of time interval were taken as independent mixed variables, and the state and costate variables inside the time interval were approximated by Lagrange interpolation. Nonlinear optimal control problems were replaced by nonlinear equations through dual variable principle, and the symplectic algorithm for solving nonlinear optimal control problems can be obtained at the same time.

以时间区段一端状态和另一端协态作为混合独立变量，在时间区段内采用拉格朗日插值近似状态变量与协态变量，然后利用对偶变量变分原理并将非线性最优控制问题转化为非线性方程组的求解，最终得到求解非线性动力学系统最优控制问题的保辛数值方法。

State variables at left end of time interval and costate at right end of time interval were taken as independent mixed variables,and the state and costate variables inside the time interval were approximated by Lagrange interpolation.

以时间区段一端状态和另一端协态作为混合独立变量，在时间区段内采用拉格朗日插值近似状态变量与协态变量，然后利用对偶变量变分原理并将非线性最优控制问题转化为非线性方程组的求解，最终得到求解非线性动力学系统最优控制问题的保辛数值方法。

These experimental results demonstrate that CUA adapts to both constrained and unconstrained problems, and has the virtues of occupying little memory, computing quickly and accurately, supplies the designers with sufficient convenience during the design stage.

这些例子验证了CUA既可以求解约束问题，也可以求解无约束问题，并且具有占用内存小、计算速度较快和精度较高的优点，可以为设计者在产品设计阶段提供便利。

A finite element incremental weighted iteration method, which can avoid divergency and speed up the convergence process,was proposed to solve the problems of tubing buckling in deviated wells.

建立了直井中有重钻柱非线性屈曲平衡方程及相应的泛函表达式，构造了一种能避免发散并加速收敛的有限元增量加权迭代法求解斜直井中钻柱屈曲问题，首次采用直接求解非线性特征值的方法来分析钻柱屈曲问题。

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。