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A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm to design controller, the nonlinear damping is used to cancel the uncertainty. The integral item is introduced in the design to improve the performance of the controller. Now, general ships can only use the electric gyrocompass to measure the course angle, but they have no equipments to measure the angular velocity, so in this article another ship course controller of output feedback is designed for Norrbin nonlinear ship, firstly the angular velocity is estimated by the observer and then the ship course controller is designed.

本文基于含有匹配不确定项的Norrbin非线性船舶数学模型，将backstepping算法和非线性阻尼算法相结合设计船舶航向控制器，利用非线性阻尼来抵消系统的不确定项，同时为了更好地改善系统的性能，在设计过程中引入了积分项；由于目前一般船舶只有电罗经用于测量船舶的航向角，还没有测量船舶航向角速度的设备，因此，针对Norrbin非线性船舶模型设计了一种输出反馈控制器，首先利用观测器对船舶航向角速度进行估计，然后再设计船舶航向控制器。

In the light of cost index and pollution degree, the characteristics of kinds of pulp are analyzed in detail, and the GP pulp which is low cost, high-yield, no-pollution is chosen as the material of tableware. Based on material element analyzed, shaping technology is designed, the to and for single plane shaping equipment which is high shaping quality, high production efficiency and is easy to automatize is chosen. All kinds of measure are taken to solve the problems which are inequality in the shaping process of GP pulp, and dosage which matches with GP pulp is chosen. Some ways of fixing shape and heat up are analyzed, the technology of saving energy of heat pressing to fix shape being composed of oil heat and only one fixed shape in the mold is applied, with which it is high production efficiency, low cost to fix shape effectively, which saves energy 30 percent. In order to make the production line meet with material of GP pulp, measure are taken to solve the problem of pulp adhered to netlike molding which can lead to carry material difficult, the structure of fully automatic equipment is renovated, the loaded beam is optimizationally designed to make equipment structure compactand improve location precision and products quality. According to technologic flow and actual characteristic, Omron PLC is chosen as the core of the control system, proximity switch as detect unit take the place of touch switch, software is designed reasonably according to time order figure, hardware is simplified, the reliability of system is advanced, the stability of system is assured to make production order. Intelligence neuron PID system is studied theoretically which is made up of both neuron with self-organizing and self-learning function and ordinary PID with the characteristic of the simple structure and high stability, which can automatically tune the parameter with the change of system parameter, remain perfect performance.

按成本指标和污染程度分析各浆料的特点，选择低成本、高得率、无污染的磨石机械浆为原料，在原料组分分析的基础上，设计成型工艺，选择成型质量好、生产率高、易实现自动化的往复式单板成型机，采取各种措施解决GP浆成型不均匀的问题及选择与机械浆相匹配的助剂；分析几种定型方式和加热方式，采用定型效果好、生产率高、成本低的油加热与模内一次性定型相结合的热压定型节能技术，节能30％；为了使生产线适应磨石机械浆原料，采取相应措施解决由于粘网造成物料转移困难，对全自动设备结构进行改进设计，着重对物料传送系统的关键部件——承载梁的进行优化设计，使设备更加紧凑合理，提高设备的定位精度和产品质量；根据生产线工艺流程和现场特点，选用OMRON CPM1A型PLC为主核心，接近开关作为检测元件，替代有触点开关，选用可编程终端代替常规面板按扭，并按照时序图科学合理地设计软件，有效地简化系统硬件构成，提高系统的可靠性，保证系统的稳定性，从而使生产更加通畅有序；从理论上探索将神经元应具有的自组织、自学习要求与PID控制结构简单、稳定性好的全自动纸浆模塑餐具生产线的研究特点结合起来，构成神经元自适应PID控制器，当参数的变化时，系统能自行参数整定，保持优良的工作性能指标，满足实际需求。

On the basis of the above results of detecting methods, the instruction signal calculating circuit is designed according to i〓, i〓 calculating mode. Compensation current generating circuit is also designed and implemented. Its current following circuit is designed according to the instantaneous value comparing mode that used constant time control. The source current detection based control mode and composite control mode and their implementation are firstly introduced in our country. The method and the principle of dc side capacitor voltage control are explained clearly.

根据检测方法的研究成果，采用i〓、i〓运算方式构成并联型电力有源滤波器的指令电流运算电路；对补偿电流发生电路进行了电路设计和实施，其中电流跟踪控制电路采用电流跟随性能好、可靠性高的定时控制瞬时值比较方式；在国内首次研究并实施检测电源电流控制方式和复合控制方式；清楚地阐明了并联型电力有源滤波器直流侧电压控制的原理和方法，并在装置中实施。

2According to requirement of suppressing stray light in two-mirror system, vertex coordinate formulas of inner baffle are deduced based on geometrograph in the case of certain obscuration, viewing field and vignetting. In order to reduce the obscuration, conical baffle of secondary mirror is ameliorated into a shutter one. Outer baffle is designed when angle of stray light suppressing is foregone and the vanes are designed in C-language program. Finally, the same-height vanes in drawtube between primary and secondary mirrors are designed for further suppressing the stray light in two-mirror system.

给出双反射系统杂散光消除设计的具体要求，结合作图法，推导出考虑视场大小及初始中心遮光比确定时，主次镜内遮光罩顶点坐标公式；讨论考虑渐晕时主次镜内遮光罩的设计；为了减小初始中心遮光比，将次镜锥状遮光罩改进为百叶窗式结构；设计在杂散光源抑制角已知时的外遮光罩，并利用C语言实现程序化设计其挡光环的方法；设计主、次镜间镜筒内壁上等高挡光环，进一步抑制双反射系统的杂散光。

Burne-Jones designed wallpaper, Hector Guimard designed metro stations, and Mucha designed champagne advertising and stage sets.

如Burne-Jones设计壁纸、Hector Guimard设计地下铁的装饰，而慕夏设计了香檳广告和舞台设计。

Style...is more than the deliberate and designed creation- Havelock Ellis; games designed for all ages; well-designed houses.

文体……多于深思熟虑和精心创作的作品--海文劳克埃利斯；游戏为所有年龄的人设计；精心设计的住宅。

They are as following: to establish the selection method of the slaving designed quality functions according to the interrelationship among designed quality functions; to construct the measurement functions of the optimality robustness with the hypersurface characteristics around the current iterative point of designed quality functions.

具体地，根据设计性能函数之间相互关系给出了处于支配地位设计性能函数的选择方法；利用设计性能目标函数在当前迭代点附近的超曲面特征，构造设计性能目标函数的最优性健壮度量函数；按照系统有序化设计模型的最优解应同时具有可行性健壮与最优性健壮的要求，通过计算设计性能目标函数与约束函数对设计变量的波动与非设计参数的波动的一阶敏度来确定系统有序化设计模型中的健壮参数；并以此为基础建立了进一步考虑非设计参数波动对设计变量波动有影响的后健壮分析方法。

In order to realize the compatible communications system between digital TETRA and analogy MPT1327. Communications protocol between digital radio and control center is defined. Emergency call software flow for TETRA and MPT module is designed, and also state information sending and receiving for TETRA and MPT module is designed in this communication system. By comparing several solutions, switch methods between analogy TETRA communications and digital TETRA communications are designed including manual-switch and soft-switch. In the article, coding module of receiving and sending equipments in TATT analogy TETRA communications is described, so that it can be compatible with NOKIA network equipments and it also can improve the availability rate of the trunk system. In order to realize the integration of digital TETRA communication and analogy MPT1327 communications, double- frequency antenna system is researched.

通过几种车载电台解决方案比较，设计了相应的模拟集群通信系统与数字集群通信系统的切换方法，其中包括人工切换和软切换，实现了模拟与数字集群兼容的一体化移动列车调度电台解决方案；为了实现数字集群通信系统与模拟集群通信系统以及NOKIA与TAIT模拟集群通信系统之间的相互兼容，设计了新的数字车载电台与控制中心之间的通信协议；系统设计了用于数字集群通信模块的紧急呼叫通讯流程，以及设计了用于模拟集群通信模块状态信息发送与接收流程，以满足列车无线调度的运营要求；论文还论述了对TAIT模拟集群收发设备编码模块的改造，使之能与NOKIA的集群设备相兼容，提高了集群设备的利用率，为在NOKIA模拟集群通讯模块停产后寻找了一种可替代的兼容解决方案；为了实现数字集群通信系统与模拟集群通信系统设备的综合，论文还探讨了本工作所需专用的双频段的天线系统。

On the base of studying application methods and relative information of the relative chips, the paper designed the system hardware ,including LCD interface designing、video gathering chip and its peripheral circuit designing、FPGA chip and other module interface designing; 3、The LCD controller module、video in controller module、configuration initialized module of the video image decode chip、FPGA and program of module interface were all compiled and debugged in the paper. 4、The whole system debugging was carried through, and the video image data storage and displaying on LCD screen was carried out in the paper. The paper first designed the system frame, then designed hardware platform according to the system frame and then analyzed it、debugged it, finally,compiled the module code and debugged the whole system to achieve system requirements.

本文具体研究工作主要体现在以下几个方面： 1分析了的嵌入式视频图像采集、处理与LCD显示系统的总体需求，设计了基于NIOSⅡ的嵌入式系统总体架构； 2在学习相关芯片的具体应用方法和相关知识的基础上，设计了系统的硬件，包括LCD接口设计、视频采集芯片及外围电路设计、FPGA芯片和其他模块接口主板设计； 3编写并调试了LCD控制器模块、视频输入控制器模块、视频解码芯片初始化配置模块、FPGA和各个模块接口程序； 4进行了整个系统的联调，完成了视频图像数据存储并通过LCD显示；本文首先建立了系统架构，然后根据系统架构进行硬件平台的设计并对硬件平台进行分析和调试，最后编写个模块代码并完成系统联合调试实现系统要求。

These antennas can cover GSM900/DCS/PCS/UMTS operation. In the chapter 2, the antenna is designed based on the concept of monopole antenna. Furthermore, the antenna structure have two radiant paths and coupled each other at tail end to do impedance matching. In addition, to raise distance between radiation plane and ground will avoid capacitative effect effectually. In the chapter 3, the antenna is designed based on the concept of planar inverted-F antenna. Furthermore, that the antenna structure have two radiant paths and coupled each other at tail end to do impedance matching is similar to chapter 2. But there is a difference in them. We can choose the short position to change input impedance at this structure. In the chapter 4, the antenna is designed based on the concept of planar inverted-F antenna which takes coupled-fed. It will produce the first mode and high-order mode near the frequency, 900MHz. The feature of this type is to reduce the volume effectually. This antenna can not only cover GSM900/DCS/PCS/UMTS operation but maintain good radiation efficiency. Finally, we will compare three antennas, and develop procedure with industrial view, and propose the prospect of the GSM/GPRS antenna in PND, as a conclusion.

在第二章中，我们使用单极天线设计概念，使用双路径架构并於末端耦合来对天线阻抗做匹配，产生涵盖GSM900/DCS/PCS/UMTS四频操作频带，并提高与接地面的辐射高度，以避免电容效应，使天线具有良好的辐射特性；在第三章中，使用倒F形天线设计概念，使用双路径架构於末端耦合，并於辐射臂上采取适当接地点电感效应作输入阻抗匹配，达成涵盖GSM900/DCS/PCS/UMTS系统的四个操作频带；在第四章中，采用倒F形架构并使用耦合馈入方式，使得长辐射金属臂在低频900 MHz附近产生共振，产生低频基频模态及高阶模态，以达成宽频及频宽涵盖GSM900/DCS/PCS/UMTS频带操作，并有效缩减使用体积；最后，分别比较此三种架构的优缺点，再加以业界角度来思考，研发产品天线的流程及思考方向，以及天线应用於可携式导航装置中未来的展望作为本论文的总结。

They have quite a lot of work to do.

他们有许多工作要做。

Let us give you a more elaborate example of this process.

让我们给你这个过程的更多的详细例子。