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.

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The following information is typically needed for each SKU: Item length, width, height, and weight Active picking location for the item Case quantity and dimensions (length, width, height, and weight) for items stored by the case Pallet quantity (or cases/tier and tiers/pallet) for items stored by the pallet Vendor if items are to be stored in vendor groupings Family group if items are to be stored by product groupings Special storage conditions, if applicable (flammable, refrigeration, etc.) Maximum stacking height or crushability factor, if applicable Items that are often sold together, if applicable.

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On the basis of the Okumura model, the empiric formulas suitable for computers are fit out through the regression method. Such empiric formulas include the Hata model formula applicable to the GSM900 macrocell and the COST 231-Hata model formula applicable to the GSM1800 macrocell.

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The thesis gives a macro explanation and grasp which is based on theoretical foundation, social surroundings and developing trend, explains the possibility and necessity of its appearance and discusses the developed process of its object which covers not only real property but also all asset. The author analyzes beneficial weight, systematic ideal and legal values, then clarifies that the legal system needs profound juristic basis. By using the method of comparative analysis, the author expounds the requirement of applicable conditions in other countries and analyzes its deficiencies in the Contract Law of Peoples Republic China. From the angle of legal effect after its application, the author analyzes the differences in rights and duties between legal nexus among them (the owner, the leasee, the leaser) and pure bargain relation, lease relation. The author thinks applicable range of the legal system may be enlarged and be analogized to financial lease and over the property of another. In the end, it puts forward the perfection suggestions of the legislation of the system of no break of lease with bargain.

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2 Are applicable to vehicle lessee, 2 to 5 are applicable to vehicle

第1 及2 項(xiàng)適用於租司機(jī)，第2 至5 項(xiàng)適用於主

Basically speaking, reconciliatory dismissed case system consists of four aspects, which are the applicable scope, applicable condition, applicable procedure and supervisory mechanism of criminal reconciliation.

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In terms ofdiversification,this dissertation believes that for the assuming ways of the criminal responsibilitieson the securities crimes,such penalties as death penalty,life imprisonment,deprivation of politicalrights,confiscation of property,and public surveillance shouldn't be applicable,such penalties asfixed-term imprisonment,criminal detention and fine should be applicable,and such penalties asprohibition of special professions and disincorporate should be added,and such assuming ways ofnon-penalties should be applicable as being reprimanded,being ordered to make a statement ofrepentance,to offer an apology or to pay compensation for the losses,being subjected toadministrative penalty or administrative sanctions by the competent department,and simpledeclaration of being guilty.

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