深入研究
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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.
本文在機械手的機械結(jié)構(gòu)分析基礎(chǔ)上,利用ADAMS建立了用于機械手軌線跟蹤控制研究的機械手模型;通過對機器人運動學(xué)和動力學(xué)問題的研究,建立了機械手研究的數(shù)學(xué)模型九草免费在线观看;分析了機器人系統(tǒng)中模型誤差的主要來源,根據(jù)加權(quán)函數(shù)法分析在线精品国产女,提出了模型集中誤差的概念在线无码91超碰;在存有模型誤差的情況下,采用逆動力學(xué)結(jié)構(gòu)并引入輔助控制量黄色永久免费在线网址,由機器人誤差模型推導(dǎo)了機器人非確定性模型av在线免费关看免费在线;提出了采用魯棒指數(shù)收斂法對上述機器人非確定性模型進行魯棒鎮(zhèn)定的控制策略,并給出了對機器人進行魯棒指數(shù)收斂控制時系統(tǒng)不確定因素應(yīng)滿足的匹配條件国产欧美日韩综合一区二区;針對機械手研究模型偷窥盗摄,深入研究了魯棒指數(shù)收斂控制器對機器人系統(tǒng)中常見的模型參數(shù)誤差、關(guān)節(jié)擾動国产精选桃阁阁在线视频、關(guān)節(jié)摩擦等不確定因素的鎮(zhèn)定控制效果;針對魯棒指數(shù)收斂控制器易產(chǎn)生控制量振蕩的問題以及在小范圍內(nèi)系統(tǒng)軌線跟蹤的穩(wěn)態(tài)誤差過大問題国内揄拍国内精品人妻不卡,本文分別提出了基于控制器結(jié)構(gòu)的控制參數(shù)調(diào)整法和基于軌線跟蹤范圍大小的控制參數(shù)分段切換法最新理论在线电影免费网站。
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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.
他對中國歷史地理學(xué)史進行了深入研究;發(fā)掘了中國歷史地理學(xué)的社會功能国产1级在线视频网站免费;提出了文獻記載與實地考察相結(jié)合的研究方法曰韩三级精品;促進了沿革地理學(xué)的發(fā)展;樹立了黃河流域環(huán)境變遷研究的豐碑国产欧美亚洲日韩片在线观看网站;開辟了歷史農(nóng)業(yè)地理研究的新領(lǐng)域欧美一级A片欧美性视频;揭示了人口稠密地區(qū)形成和演變的內(nèi)在機制;奠定了歷史軍事地理研究的基礎(chǔ)做a视频免费在线观看;提高了歷史文化地理研究的層次一级黄片美女的奶水;對歷史民族地理進行了獨到的研究;對歷史上的交通問題進行了系統(tǒng)探索无码一级午夜福利2021;對陜西歷史地理的研究取得了豐碩的成果国产综合精品久久亚洲;創(chuàng)立了中國古都學(xué);闡明了地方志的價值www的网址免费看;豐富了歷史地圖學(xué)的內(nèi)容黄色视频一级片黄色;創(chuàng)辦了中國歷史地理學(xué)的定期刊物;培養(yǎng)了歷史地理學(xué)的研究隊伍欧美一级做a影片爱橙影院。
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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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It indicates that emphasis should be put on the following subjects in the future: the determination of field infiltration coefficient and roughness coefficient;the optimal combination of field standard and irrigation technical index ,and the rational ground levelness degree and mode.
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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。
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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。
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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.
本文在綜合分析目前常用城市擋土結(jié)構(gòu)的特點及其受力特性等基礎(chǔ)上,針對一般擋土墻設(shè)計理論在线观看中文字幕在线、施工技術(shù)毛片基地久久伊人91x32.cc、新型結(jié)構(gòu)以及未來的發(fā)展趨勢進行了深入探討,論述了城市擋土結(jié)構(gòu)的特點97精品视频在线观看免费专区,并對常用土壓力理論進行了綜述自拍国语日韩欧美视频在线播放,介紹了城市擋土墻常見的類型,并介紹了常規(guī)的設(shè)計理論和方法人人操人操人人射;通過分析比較www.se视频,優(yōu)選出錨桿擋土結(jié)構(gòu)和砌塊式擋土結(jié)構(gòu)九一视频在线下载,并從錨桿錨固原理出發(fā),結(jié)合工程實踐和大量現(xiàn)場試驗十八以下禁止观看的网站、對錨桿的抗拔承載力進行了深入研究能看的黄色网站网址,提出了用調(diào)整雙曲線模型法計算錨桿抗拔承載力的方法,對土壓力計算方法進行了探討欧美黑人大尺度又粗又长最新章节,對其設(shè)計計算方法進行了研究国产女主播精品在线播放。
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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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And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.
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Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.
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Hey Big Raven, The individual lies dont matter anymore - its ALL a tissue of lies in support of...
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