非主要的

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。

Demonstrated by adsorptive capacity and adsorptive energy, polyacrylamides have strong interaction on mineral surface with similar action mode to that of starches, for example, hydrolyzed polyacrylamide and hydroxamic acid polyacrylamide mainly by chemical force, cationic polyacrylamide by electrostatic force and hydrogen bond, nonionic polyacrylamide by hydrogen bond, while amphoteric polyacrylamide embodying both the characters of anionic and cationic one.

聚丙烯酰胺类化合物在矿物表面的吸附能以及吸附量均显示出药剂与矿物间存在的强作用，作用方式与淀粉类药剂相似：阴离子聚丙烯酰胺、羟肟酸聚丙烯酰胺主要靠化学作用，阳离子聚丙烯酰胺借助静电力和氢键，非离子型的聚丙烯酰胺则主要是氢键作用，两性聚丙烯酰胺同时具有阴离子和阳离子聚丙烯酰胺药剂的作用特点。

Hypoplastic constitutive theory, which was originated from the middle and late stage of the 20th century, is a new type of soil constitutive theory based on rational mechanics. Hypoplastic theory can reflect inelasticity, nonlinearity, dilatancy and other main mechanical properties of granular material.

亚塑性本构理论是20世纪中晚期发展起来的一类基于有理力学的新型的连续介质本构建模理论，主要用于刻画无黏性散粒型上体的非弹性、非线性及剪胀性等主要应力应变特性。

Further, the industry led to the decline in corporate profits is the main power petrochemical industry in non-industrial enterprises in production and shipping of the service sector is the main reason for the decline in profit.

另外，业界导致公司利润下降的主要力量非石化行业的生产和服务部门的船舶工业企业是在利润下降的主要原因。

The main results and novelties of the paper are as follows:Firstly, we study the existence of nontrivial solution for the following nonlinear equations with singular pontential By using variational methods and critical point theory, we construct linking type critical value of this kind of singular elliptic equations, with the properties of the eigenvalue, we estimate the critical value and prove the local condition holds to show the existence of the nontrivial solution.

论文的创新点及主要结果如下：首先研究有界区域上具有奇异位势的非线性方程的非平凡解的存在性，运用变分方法与临界点理论，构造这一类奇异椭圆方程的环绕型临界值，并由特征值的性质给出临界值的估计，同时证明局部条件成立，最终证明方程非平凡解的存在性。

objective cardiopulmonary bypass is known to introduce inflammatory response and reperfusion injury in association with lung injury,to study this,32 cases of rat cpb model were made. methods isolated rat lungs were used as the oxygenator.

体外循环后肺部并发症依然是困扰心外科的一大难题，是小儿心脏手术后主要死亡原因之一。cpb中的肺损伤主要由体外循环中血液与非生理性管道界面接触引发的全身炎症反应以及肺的缺血再灌注损伤造成［1］。

Catherine and Xi Sike cliff of love is based on their personality and interests entirely satisfied that the same basis, the love between them is mainly the same spirit rather than the appearance of the mutual attraction, is the soul rather than the desire to fit the needs of the , on the last time they met in that storm-like unquenchable passion, nor have the slightest passions mixed composition, which also in the hands of the writers of the ideal, pure love for himself.

凯瑟琳与希思克利夫的爱情是以他们的性格和兴趣完全认为同为基础的，他们之间的爱情主要是精神上一致而非外貌上的相互吸引，是心灵的契合而非欲望上的需要，就在他们最后一次见面中那狂风暴雨般不可遏制的激情，也不夹杂有丝毫的情欲成份，这也寄托了作家对理想的、纯洁的爱情的向往。

For the first patern, elastic dynamics is adopted to study the steady state rolling contact, elastic dynamics incorporating with rigid dynamics is adopted to study the non-steady state. For the steady state, the analytical solution is obtained, and for the non-steady state, the variational formulation to solve the problem numerically is derived For the later patern, the function type friction coefficient is introduced. On the basis of the quasi-stastic theories of constant friction coefficients, both the exact theory and the simplified theory of the function type friction coefficient are established, the computer programms for both the theories are also made out. Using the function type friction coefficient, Shen-Hedrick-Elkins theory's application range is extended to large creepage .

对于速度对接触体力学特性的影响，本文采用弹性动力学方法和弹性动力学与刚体动力学相结合的方法分别对稳态和非稳态两种情况进行了研究，得到了稳态情况的解析解，给出了对非稳态情况进行数值求解的变分公式；对于速度对相关物理量的影响，本文主要讨论了速度对摩擦系数的影响，在滚动接触准静态理论的基础上引进了函数型摩擦系数，建立了函数型摩擦系数的滚动接触准静态精确理论和简化理论，并分别编制了相关的计算程序，还用函数型摩擦系数将简便的Shen-Hedrick-Elkins理论的适用范围扩展到大蠕滑区。

The photocycloaddition of 1-naphthonitrile (1-NpCN) and 2,3-dimethyl-2-butene in cyclohexane or benzene gave cyclobutane 3 primarily,but that of 2-NpCN gave azetine 6 asthe major and cyclobutane 5 as the minor product in low conversion photolysis.

在低转化光解情况下，1-萘甲腈(1-NpCN)和2，3-二甲基丁烯-2在环已烷或苯中的光环加成反应主要得到环丁烷3，但2-NpCN主要得到氮杂环丁烯6和少量的环丁烷5，三氟醋酸量增加抑制1-NpCN和DMB的光环加成反应，表明TFA与基态及单激发态1-NpCN生成非光反应的复合物，它也淬灭(1-NpCN-DMB)激基复合物。

Based on this observation,this dissertation focuses on the study of the rate of convergence of nonlinear rescaling methods for nonconvex second order cone programming.

本论文主要研究非凸二阶锥规划的非线性重新尺度化方法的收敛速度，所阐述的主要研究结果可概括如下：1。

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