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By the analysis of dive and horizontal plane nonlinear model, the catastrophe model on de dive plane is deduced, and catastrophe stability is analysized. In the horizontal plane, simplified equation is gained by center manifold theory, then draws the conclusion that the stability of limit circle arises from critical point is relate to small difference of move point and critical point.

通过对潜艇垂直面和水平面非线性运动模型进行分析，导出垂直面运动的突变控制模型，并进行了突变稳定性分析；在水平面运动的非线性分析中，通过中心流形定理简化方程，得出临界点处极限环的稳定性与微差占的符号有关的结论，这样在无法或很难得到李亚普诺夫函数的情况下，可以通过这种方法判别临界点的稳定性。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

The pattern of camber die-drawing are optimized. The physical innate character of drawing with camber die is analyzed thoroughly. For the first time, the periodical relation between the limit drawing coefficient and the large longitudinal stress in dangerous section is established. Furthermore, the rationale to judge limit deforming degree is developed. Then, the limit drawing coefficient of drawing with camber die is proposed. Based on the criterion that the large stress in flange is smaller than that of limit value, the formula of drawing with camber die without wrinkles is deduced.

对拉深凹模的型式进行了优化；深入地分析了曲面凹模拉深成形的物理本质，首次定量地确定了极限拉深系数与危险断面最大径向应力的关系，提出了判断极限变形程度的依据，分析了极限承载能力，建立了曲面凹模拉深的极限拉深系数的表达式；以凸缘切向最大压应力小于凸缘切向压应力临界值为准则，推导出了曲面凹模拉深不起皱的理论表达式。

According to the projection space, line and plane can be divided into upward-traveling and downward-traveling. The concepts of near axial-terminal and far axial-terminal to the straight line projection is introduced. The rule of the visibility of line and plane intersection is deduced.

将直线和平面按其在投影空间的位置，分为上行和下行两类，对直线的投影引入近轴端和远轴端的概念，有助于对线面相交空间位置的理解，而且使直线与平面相交可见性的规律更加清晰和直观。

Relationship between the linear acceleration and the resonant frequency of the sensing unit was deduced and the finite element method was used to simulate the correctness of the theory.

通过理论计算，得出了线加速度与敏感元件谐振频率之间的关系，并通过有限元软件对其进行了仿真计算。

Then the connection of left and right eigenvector and state matrix is deduced by using left and right eigenvector of free vibration differential equation in linear damped discrete system.

首先介绍了复模态理论，然后利用线性阻尼离散系统的自由振动微分方程的左右特征向量，推导出状态矩阵与振动系统的左右特征向量之间的关系。

Marine δ13C may have varied in the Neoproterozoic, but this could only be deduced following careful consideration of large isotopic changes that occur during lithification and later alteration.

大量的进行光合作用的生物曾经广泛出现并且制造了足够的光合作用碳，这些碳同位素后来进入了海岸地下水并且沉积形成了具有独特碳同位素特征的海相碳酸盐。

Third, by the analogy of multi-point supported continuous beam, the equation for live load deflection was deduced.

不必在吊杆处断开；推导了基于虚拟梁法的新形式相容方程，以建立主缆任意2个连续状态之间的联系；利用多点支承连续梁的求解方法，给出了加劲梁的活载挠度方程。

Based on the analysis of the infinite diffusion theory, the local condition of the reference point is deduced theoretically.

在分析无限介质传输理论的基础上，推导了基准点的存在条件。

The basic solutions were defined based on local coordinate system, and then the coordinate transform relation between the static and dynamic characteristics of magnetic bearing with arbitrary structure and the basic solutions were deduced.

研究了电磁轴承静动特性的计算方法，定义了基于局部坐标系的电磁轴承静动特性基础解，推导了任意磁极结构的电磁轴承动力学特性与基础解之间的坐标转换关系；在此基础上提出了利用基础解计算任意磁极结构的电磁轴承静动特性的方法，该方法简捷、快速，是电磁轴承静动特性计算的一套规范化、标准化的方法。

Continuously improve the production mechanism, to provide customers with better quality products and services.

不断的完善生产机制，给客户提供更优质的产品及服务。

B:Yes, he was the very prize-winner in the court tennis ten years ago?

是的，他是十年前的世界网球冠军。