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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.

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He explored the social function of China's Historical Geography;brought forward the research method of combining literature record with field survey;developed the evolution of geography;set up a monument in the research of environmental changes in the Huanghe Valley;opened up a new field in the research of historical agricultural geogra-phy;unveiled the internal structure of form and evolvement densely-populated areas;settled a base in the research of histo-rical military geography;heightened the research level on the historical cultural geogranhy;made original study on the historical national geography;made systematic study on the issues of transportation in history;made fruitful achievement in the Shaanxi Historical Geography;set up the subject engaged in China's ancient capitals;illustrated the value of chorography;enriched the historical cartology;originated magazines on Chin's Historical Geography;trained a team of research staff in Historical Geography.

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The thesis studies the difference between GWSs composition and traditional workflow applications, proposes the implement mechanism and technical architecture of GWSs composition and defines the reference model of GWSs composition platform, which provide holistic framework and top-level guidance for studying dynamic GWSs composition technology, designing GWSs composition platform, and implementing representative composite service applications.2网友自拍第1页、Theories and methods of composite process modeling and process analysis. This thesis proposes a meta-model of Geo-spatial Web services composition process defining from two aspects, i.e. process and resource. According to the process definition meta-model, we propose a new Geo-spatial Web services composition Process/Resource model based on extended WF-net, which effectively resolves the problems on uncertain activity option and dynamic variation of service in composite process model. A notion with regard to soundness of process model is proposed from three aspects, i.e. the structural correctness of process model, validity of data link and validity of resource. The notion of soundness definitely gives a dividing line on correctness of composite GWS process. This thesis analyzes sufficient and essential terms of soundness, and studies compositional property of WSCP/R-net models which provides an effective method to construct a soundness WSCP/R-net model. According to WSCP/R-net, the thesis proposes composition algebra and studies the properties of it. Based on the composition algebra, 6 kinds of composite process reduction rules are induced to optimize the process.3、Geo-spatial Web service QoS model and its application architecture. This thesis proposes an extendable GWS QoS model from three aspects, i.e. Geo-spatial Web Service itself, networking conditions and service consumer which can be used to distinguish GWSs with overlapping or identical functionality. We work over the QoS evaluation methods of composite GWS process which can be used to guide the execution, monitor and service selection of composition process. Aming at some disadvantages in traditional Web service discovery model for its lacking of QoS supporting, this thesis proposes a new service discovery model SDMQ supporting QoS constraints.4、Technologies of composite service executing. SSPL, a new composite service process language, is defined to overcome the disadvantages of existing composite services process languages which can not adapt to the dynamic variation of Geo-spatial Web Services. An algorithm is described to translate WSCP/R-net model into SSPL. The thesis studies the model of dynamic services selection with QoS global optimization, presenting an algorithm GODSS to resolve dynamic services selection with QoS global optimization in GWSs Composition.5欧美日韩三级片、Design and implement experimental system and representative applications. According to the research findings presented above, we design and implement an experimental system and construct two representative applications to show that our achievements are effective and practical.

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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.

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The first chapter introduces the background、significance国产人与动人物a级毛片、framework and methods. In the second chapter, it analyzes basic theories. The third chapter presents the imbalanced strategy of Tianjin Unicom in all-business operation. The fourth chapter introduces organizational structure reform. In the fifth chapter, it studies the lever which promotes structure reform. In The last chapter, the shortage and discussible questions are given.

本文共六章節(jié)欧美曰韩亚洲视品,第一章介紹了論文的選題背景和意義、研究思路和研究框架欧美xxxxwwww、研究方法和研究內(nèi)容又粗又长又色又爽视频;第二章闡述了本研究所用到的相關(guān)背景知識及理論;第三章以看不見的資產(chǎn)動力論為框架三级电影网址,論述了天津聯(lián)通在全業(yè)務(wù)運營條件下的&不均衡&經(jīng)營戰(zhàn)略男女猛烈无遮挡免费视频滚床;第四章分析了與經(jīng)營戰(zhàn)略相適應(yīng)的組織架構(gòu)及組織形態(tài),第五章深入研究了撬動天津聯(lián)通組織變革的杠桿自拍偷拍网页,第六章在總結(jié)前文基礎(chǔ)上欧美国产综合操逼视频,提出了不足和有待討論的問題。

In order to provide some references for the further research,the author tidies up some results of self-control studies at home and abroad,especially in definition,structure,theories,empirical research and correlation study,etc.

特別在21世紀的今天三级黄毛,增強自我控制的能力先锋影音最新资源网站,更是成了高素質(zhì)人才的必備素質(zhì)。自從蒲萊爾等學(xué)者開創(chuàng)兒童自我控制研究的先河后视频91自拍,自我控制的研究迅速成為國內(nèi)外學(xué)者的研究熱點av网站在线管看,并取得了豐碩的理論和實證研究成果。本文擬對國內(nèi)外關(guān)于自我控制理論的研究成果進行粗略的梳理xx性爱视屏,以期為自我控制的深入研究提供借鑒少妇高潮太爽了在线观看。

Based on a thorough analysis of the character and mechanism of city-retaining-wall structures, the design theories, construction technology, new wall types and development tendency are deeply discussed. Besides, the characteristics of various types of city retaining wall are discussed, and the usual methods for earth pressure calculation are summarized. For the anchored bar retaining wall, the anti-pulling bearing mechanism of anchored bar is first probed into, from which anti-pullforce computation method are obtained. Combined with quite a few engineering examples and spot tests, the advised design and calculation methods of anchored bar are verified. From the abundant spot measured date, an adjusted hyperbolic model is put forward to determine the anti-pullforce bearing capacity. Furthermore, a new type of H-like block retaining structure is advised with its working mechanism deeply discussed as well.

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In order to realize the automated fingerprint identification system, the fingerprint identification has been researched deeply in recent years. But there are a lot of research contents which can be researched deeply in AFIS.

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Systemic works was carried out on the followed area, the surface modification of templates, the optimization of roll-press technique, the reason and simulation of crack formation in RPCs using FEM , the investigation of the two-step centrifuging technique.

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