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Three kinds of arm's robust control theorys are designed: the torque control based on FNN controller, the computed torque control with sliding mode compensation and the computed torque control with WNN compensation. FNN syncretizes the reasoning ability of fuzzy control and parameters' self-learning ability of neural networks. It does not depend on the precision of the mathematical model, and can overcome the impact of the uncertainty effectively. So FNN is regarded as the manipulator controller and used to the trajectory tracking of arm control. The computed torque control with sliding mode compensation is designed.

在此基础上，研究了机械手臂的鲁棒控制法，分别设计了基于模糊神经网络的机械手臂力矩控制方法、基于滑模变结构控制补偿的机械手臂力矩控制方法以及基于小波神经网络补偿的机械手臂力矩控制方法，具体内容如下：模糊神经网络融合了模糊控制的推理能力和神经网络的参数自学习能力，它不依赖于对象精确的数学模型，能有效地克服被控对象存在的不确定部分的影响，本文把模糊神经网络作为机械手臂的关节伺服控制器，通过对网络参数的学习训练来调整机械手臂关节的控制力矩，实现对机械手臂的轨迹跟踪控制。

Firstly, it makes a brief introduction of famous vocational education modes home and abroad, systemizes the features of cultivating mode by cooperation of school and factory and reveals that such mode is a necessary choice for the development of vocational education.

首先，对国内外著名的职业教育人才培养模式做了简单的介绍，并对校企人才培养模式的特征进行了梳理，揭示出学校与企业合作培养人才是职业教育发展的必然选择。

The article still focuses the introduction on the plane layout mode and the vertical layout mode of the drainage pipeline network. Based on the different topographies and the different ...

该文还着重介绍了排水管网的平面布局方式和竖向布局方式：根据不同地势、不同的场地规划用地功能等特点，选用不同的平面布局方式，在满足服务区域的排水要求、管道埋深及管道交叉方式均合理的条件下选用不同的竖向布局方式。

Avoid sulfation for ordinary batteries, if they are in an overcharging mode or undercharging mode for a longtime, it will make the battery lose its internal water and lead to sulfation, thus greatly shortening charger's operating lifetime. But can solve batteries' problem of imbalance derived from longtime overcharging and undercharging, thus avoiding internal sulfation of the battery, restoring batteries' capacity and extending their operating lifetime.

避免硫酸盐化--普通电池如果长期处在一种过充电或欠充电状态中，会使电池内部不断失水和硫酸盐化，这样就会大大缩短充电器使用寿命，可是，它能解决电池长期过充电和欠充电引起的失衡，避免电池内部硫酸盐化，能够恢复电池容量，从而延长它的使用寿命。

On my machine I see 25 frames / second in windowed mode, and 60 frames / second in full screen mode.

在我的机器我看到25帧/秒，在窗口模式和60帧/全屏模式秒。

Factory produced products sold are: Automatic computer CD-line machine, computer CD-line twisting ray machine, ultra-high-speed computer CD-line automatic machines, machine terminals, gas-electric peeling machine, vertical peeling machine, peeling machine-twisting line , automatic CD beat peeling line client machine, semi-twisting line stripping machine, a small golden, foot-operated electric peeling machine, pneumatic electric peeling machine, pipe cutting machine, pneumatic tensile tester, plug tester, Air Pressure bed, 2T straight transverse-mode dual-use card, OTP straight transverse-mode dual-use card and so on.

工厂自产自销的产品有：全自动电脑裁线机、电脑裁线扭线机、超高速全自动电脑裁线机、端子机、气电式脱皮机、直立式脱皮机、脱皮扭线机、全自动裁线剥皮打端机、半剥扭线机、小金刚、脚踏式电热剥皮机、气动式电热剥皮机、切管机、气动拉力测试仪、插头测试仪、空压压床、2T横直两用卡式模、OTP横直两用卡式模等等。

The anchor anchoring depths could be regard as critical value for concrete edge failure and anchor failure. When the anchor edge distance was shorter than anchor anchoring depth, the failure mode was concrete edge failure and anchor space length had some influence on cracking load. When anchor space length was longer than anchor anchoring depth, the failure mode was anchor failure.

锚栓的锚固深度可以认为是混凝土边缘破坏以及锚栓破坏的临界边距，对于锚栓边距较小的情况，以混凝土边缘破坏时的承载力为标准，锚栓间距对于试验的开裂荷载有影响；对于锚栓边距较大的情况，以锚栓的破坏为标准。

Hence, the sender receives a response that the device is in the do-not-disturb mode, and has the option to generate the attention signal in spite of the do-not-disturb mode.

因此，发送器接收所述设备处于所述勿扰模式下的响应，并且具有与勿扰模式无关的产生注意信号的选项。

When you sail to the signal too much interference source areas, the auto-detect mode instantly converted to urban model, and will automatically reduce the sensitivity of X BAND, when the driver left the area too much interference source signals when the automatic mode will be automatically to increase the sensitivity of X BAND.

当您行驶到讯号干扰源过多的地区时，自动侦测模式会瞬间转换到市区模式，并且会自动降低X BAND的感度，当驾驶者离开讯号干扰源过多的地区时自动模式会自动增加X BAND的感度。

In this thesis, Based on the advantages of diode-pumped solid-state laser in Chapter 1, the development of diode-pumped solid-state laser is introduced. The trends of DPSSL are pointed out, the wide application fields ,as well as the bright market future of high power DPSSL are also summarized. In the Chapter 2 , all kinds of solid-state laser gain materials are introduced in detail. In the Chapter 3 , the theory on the mode-matching of the pump beam and the cavity mode is analyzed in detail based on the basic theory and work principle of LD-pumped all-solid-state laser.

本论文第一章从二极管泵浦固体激光器的优势出发，介绍了二极管泵浦固体激光器的发展，指出了DPSSL的发展方向，概括介绍了大功率DPSSL的诸多应用领域和广阔的市场前景；第二章对固体激光增益材料作了详细的介绍；第三章基于LD泵浦固体激光器的基本理论和工作原理，从理论上详细分析了LD端面泵浦激光器中泵浦光与腔模的匹配问题。

Chinese traditional virtue is humility and wariness,the compliment and praise to the others should be declination

中国人的传统美德是谦虚谨慎，对别人的恭维和夸奖应是推辞。如

We bought this house on the never-never.

我们以分期付款的方式买下这座房子。