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The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

After regular to faintness library matrix ω undertakes bizarre value is decomposed, the basis is given threshold value abandons bizarre value appropriately, express u σ what get matrix ω approximatelyv(kt, undertake to u and v the standard is mixed processing, use protruding to wrap a technology to undertake is not enjoying a sex and normal state sex processing, use the u after processing,σ and v generate new regular library before after subject function is mixed matrix, library of new and tectonic regulation, the function of new regular library and former regular library are approximate, but regular number decreases significantly.

本篇论文剩余部分，请联系九旭论文代写www.991lw.com网站客服qq：论文写作：1210196822 论文发表： 739878127 论文咨询：1210196822②qq.com，联系电话：013155803009。关键词：——模糊规则库；奇异值分解；凸包；约简；梗概：对模糊规则库后件矩阵ω进行奇异值分解，根据给定的阈值适当舍弃奇异值，得到矩阵ω的近似表示uσv(kt，对u和v进行标准和处理，并利用凸包技术进行非负性和正态性处理，利用处理后的u，σ和v生成新规则库的前件隶属函数和后件矩阵，重新构造规则库，新规则库的功能和原规则库近似，但规则总数显著减少。

The performance audit objectives of government were decomposed firstly and then the corresponding quantitative quota was built on the basis of the classification of rentability and non-rentability,and it was noted lastly that we must had a clear understanding to the inadequacies when the appraisal quota was used,make a concrete analysis of a concrete problem according to the situation of the audited entity or audited programs and can't copy mechanically and apply slavishly.

首先将政府绩效审计目标分解，然后按收益性和非收益性这一分类建立了相关的定量指标。最后指出在运用评价指标时，对其存在的不足也要有一个清醒的认识，根据被审单位或被审项目的情况具体问题具体分析，不能生搬硬套。

The high frequency signals and noise signals are first decomposed into three different directions by making use of the 2-dimensional Daubechies wavelet transform to process matrix data with row convolution and line convolution.

利用二维db小波变换对矩阵数据分别进行行卷积和列卷积，把检测数据的高频信号和噪声信号分解在3个不同的方向上，且信号的能量集中在很少的小波系数上。

By analyzing the framework of RRM based on BoD for broadband satellite systems, this article decomposed the framework into five main function parts.

在分析基于带宽按需分配的卫星无线资源管理体系结构的基础上，将其分解为5个主要功能部分，并将现有宽带卫星无线资源管理技术的研究成果分别对应到这5个功能，重点对每个功能近年来的实现算法进行了分类总结，并分析比较了各类算法的特点与存在的问题，最后就进一步的研究方向提出了建议。

In every quadrats, dead grass, living grass, litter layer, half-decomposed layer, 1 hr ruderal, 10 hr ruderal, 100 hr ruderal and brush were collected and their combustibles parameters were determined.

采集每个小样方内的死草、活草、凋落物层、半分解层以及1hr，10hr，100hr的杂乱物和灌木，做了可燃物参数的测定。

Spectralmeasurements at different positions on the colored crystals weresystematically carried out, the measured spectra were seasonably decomposed,and spectral parameters of the color centers were accurately determined.

光谱分析表明，在这两种条件下所产生色心的浓度不同：在高温低压条件下，生成的F心浓度低，聚集心的浓度高；而低温高压条件下的结果刚好相反。

A 3-D finite element system of lumbar L4-5 was sectionally constructed with Mimics software system by lumbar CT images. The system was turned into a finite element system of degenerative lumbar by modified it's material parameter. The lumbar rotatory manipulation was decomposed by principium of manipulation. The parameter of mechanics was analyzed with the finite element system.

使用腰椎CT片，以Mimics软件系统逐层重建L4-5三维有限元模型，通过设定结构的参数完成退变腰椎间盘模型将向右侧旋转的坐位腰椎旋转于法进行分解，把各项力学参数代人模型进行计算分析即时显示于法作用时退变腰椎间盘的内在应力和位移的变化。

In sexual reproduction season, the foliage gradually decomposed, leaving only the base; and from the base of the re-tender the breeding of new schools, a strong self-fertility.

在有性生殖季节之后，枝叶就慢慢腐烂，只剩下基部；并从基部再滋生新嫩校，自我繁殖力很强。

Through researching the extra singularities of decomposed Jacobian matrix, an approach resulted from adjusting velocity homogeneous item in real-time is proposed to effectively take account of the contradiction between stability and end state self-motion. Thus, some modified dynamic optimal schemes are deduced.

通过研究Jacobian矩阵分解的算法奇异性，提出实时调节速度齐次项的方案，可有效兼顾稳定性和终态自运动的双向矛盾要求，并推导了若干改进的动力学优化方案。

It inculcates justification before God on the ground of human merits.

它说明在上帝灌输在地上人类优点。

TH Leaguer has excellent Quality Control and Management System.

本公司具有完善的品管部门。