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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。

Date, there has been no report of death from avian flu in China. In contrast, hepatitis B

的疾病。在非典发大的时候，受感染的5327人但中，有349 死於非典感

The paper also studied the antioxidation capacity of soybean peptides in the food system and non-food system. The results showed that the soybean peptides can prolong the inducing period of the axunge oxygenation and cooperate with hydroxybenzene antioxidant which was more obvious in the food system. In the non-food system, the soybean peptides can control the autooxidation speeds of octadecadienoic acid and diphenolic compound and the effect on the latter was more obvious.

论文对大豆多肽在食物体系与非食物体系中的抗氧化性能做了研究，结果表明：大豆多肽在食物体系中能够延长油脂氧化酸败的诱导期，而且与酚类抗氧化剂协同作用，效果更为明显；在非食物体系中，大豆多肽能够抑制亚油酸的自氧化及邻苯三酚的自氧化速率，其中对后者的抑制作用较前者显著。

The studies presented here provided the antifungal lead compounds. Because the affinity of the lead molecules for CYP51 was mainly attributed to their nonbonding interaction with the apoprotein, which was different from the azole antifungal agents.

先导分子通过与靶酶活性腔氨基酸残基的非共价键结合产生抗真菌作用，避免与血红素辅基Fe原子发生配位结合，为一类具有新作用机理的非氮唑类抗真菌先导化合物。

The Schur subspace iteration method is applied for the dynamic characteristic analysis of damped structure vibration system and coupled fluid－structure system. This method avoids complex computation and has good numerical stability. A accelerated technique and a pre－process method for the system matrix are suggested to improve the computational efficiency. The generalized uncoupled equation is obtained from the Schur matrix and a back substitution scheme of response computaton is developed.

第三部分将非对称特征值问题的Schur子空间迭代法应用于非经典阻尼结构振动系统和流固耦合系统的特征值分析，建立了相应的具体算法，并给出了用以提高迭代收敛速度的迭代加速和矩阵预处理等实用技术；利用Schur矩阵的结构特点，推导了系统方程的动力解耦形式，给出了响应计算的回代求解格式。

The method takes make water sedimentary in patient of be in hospital of leucocyte grow in quantity 30, according to clean middle make water bacterioscopy result, distinguish the patient to affect group and blame infection group, pathology of puncture of farther travel kidney analyses blame infection form.

方法取尿沉渣中白细胞增多住院患者30例，根据清洁中段尿细菌检查结果，将患者区分为感染组和非感染组，非感染组进一步行肾穿刺病理分析。

The purpose of this part is to study the delay differential systems in Banach space using the method of fixed point theorem.

一方面在非时滞的情况下通过构造比较函数，利用Brouwer不动点定理得到非时滞微分方程正周期解的存在唯一性，及周期解全局吸引的充分条件。

When machinery and equipment (including the machinery and equipment used in contracted engineering projects), means of transport, office equipment and daily-use articles originally transported into the Zone from non-Zone areas are to be transported back to the non-Zones areas, the consignor shall file an application with the Customs with the certificates of the department in charge and the relevant documents originally used when transporting the goods into the Zone.

第二十四条由非保税区运入保税区使用的机器、设备（包括在保税区内承包工程施工使用的机器、设备）、交通工具、办公用品和日常生活用品，运回非保税区时，由发货人或其代理人持保税区主管部门的证明和原进入保税区时的有关单证向海关申请

Taking the effect of non-radial bearings in the beam-ends into consideration, the rigid-crossbeam method was used to calculate the load lateral distribution of curved beam bridge with non-radial bearings as to get more accurate results.

用刚性横梁法计算非径向支承弯梁桥的荷载横向分布，在计算单梁挠度时考虑了主梁梁端非径向支承的影响，得到了更为精确的结果，根据影响参数，编制了相应的表格，方便工程设计人员查用。

Actually the bearcat isn't really a bear or a cat. It's a type of civet. It lives in forests in Vietnam, Borneo, Burma and Palawan.

事实上，熊狸既非熊也非猫，它是一种果子狸，生活在越南、婆罗洲、缅甸及巴拉望的森林里。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。