ul-01-02.ps

CMAC神经网络机械臂控制的设计matlab源码

%!PS-Adobe-2.0
%%Creator: dvips(k) 5.86 Copyright 1999 Radical Eye Software
%%Title: CsisConf01.dvi
%%Pages: 19
%%PageOrder: Ascend
%%BoundingBox: 0 0 596 842
%%EndComments
%DVIPSWebPage: (www.radicaleye.com)
%DVIPSCommandLine: dvips -o CsisConf01.ps CsisConf01.dvi
%DVIPSParameters: dpi=600, compressed
%DVIPSSource:  TeX output 2001.09.06:1739
%%BeginProcSet: texc.pro
%!
/TeXDict 300 dict def TeXDict begin/N{def}def/B{bind def}N/S{exch}N/X{S
N}B/A{dup}B/TR{translate}N/isls false N/vsize 11 72 mul N/hsize 8.5 72
mul N/landplus90{false}def/@rigin{isls{[0 landplus90{1 -1}{-1 1}ifelse 0
0 0]concat}if 72 Resolution div 72 VResolution div neg scale isls{
landplus90{VResolution 72 div vsize mul 0 exch}{Resolution -72 div hsize
mul 0}ifelse TR}if Resolution VResolution vsize -72 div 1 add mul TR[
matrix currentmatrix{A A round sub abs 0.00001 lt{round}if}forall round
exch round exch]setmatrix}N/@landscape{/isls true N}B/@manualfeed{
statusdict/manualfeed true put}B/@copies{/#copies X}B/FMat[1 0 0 -1 0 0]
N/FBB[0 0 0 0]N/nn 0 N/IEn 0 N/ctr 0 N/df-tail{/nn 8 dict N nn begin
/FontType 3 N/FontMatrix fntrx N/FontBBox FBB N string/base X array
/BitMaps X/BuildChar{CharBuilder}N/Encoding IEn N end A{/foo setfont}2
array copy cvx N load 0 nn put/ctr 0 N[}B/sf 0 N/df{/sf 1 N/fntrx FMat N
df-tail}B/dfs{div/sf X/fntrx[sf 0 0 sf neg 0 0]N df-tail}B/E{pop nn A
definefont setfont}B/Cw{Cd A length 5 sub get}B/Ch{Cd A length 4 sub get
}B/Cx{128 Cd A length 3 sub get sub}B/Cy{Cd A length 2 sub get 127 sub}
B/Cdx{Cd A length 1 sub get}B/Ci{Cd A type/stringtype ne{ctr get/ctr ctr
1 add N}if}B/id 0 N/rw 0 N/rc 0 N/gp 0 N/cp 0 N/G 0 N/CharBuilder{save 3
1 roll S A/base get 2 index get S/BitMaps get S get/Cd X pop/ctr 0 N Cdx
0 Cx Cy Ch sub Cx Cw add Cy setcachedevice Cw Ch true[1 0 0 -1 -.1 Cx
sub Cy .1 sub]/id Ci N/rw Cw 7 add 8 idiv string N/rc 0 N/gp 0 N/cp 0 N{
rc 0 ne{rc 1 sub/rc X rw}{G}ifelse}imagemask restore}B/G{{id gp get/gp
gp 1 add N A 18 mod S 18 idiv pl S get exec}loop}B/adv{cp add/cp X}B
/chg{rw cp id gp 4 index getinterval putinterval A gp add/gp X adv}B/nd{
/cp 0 N rw exit}B/lsh{rw cp 2 copy get A 0 eq{pop 1}{A 255 eq{pop 254}{
A A add 255 and S 1 and or}ifelse}ifelse put 1 adv}B/rsh{rw cp 2 copy
get A 0 eq{pop 128}{A 255 eq{pop 127}{A 2 idiv S 128 and or}ifelse}
ifelse put 1 adv}B/clr{rw cp 2 index string putinterval adv}B/set{rw cp
fillstr 0 4 index getinterval putinterval adv}B/fillstr 18 string 0 1 17
{2 copy 255 put pop}for N/pl[{adv 1 chg}{adv 1 chg nd}{1 add chg}{1 add
chg nd}{adv lsh}{adv lsh nd}{adv rsh}{adv rsh nd}{1 add adv}{/rc X nd}{
1 add set}{1 add clr}{adv 2 chg}{adv 2 chg nd}{pop nd}]A{bind pop}
forall N/D{/cc X A type/stringtype ne{]}if nn/base get cc ctr put nn
/BitMaps get S ctr S sf 1 ne{A A length 1 sub A 2 index S get sf div put
}if put/ctr ctr 1 add N}B/I{cc 1 add D}B/bop{userdict/bop-hook known{
bop-hook}if/SI save N @rigin 0 0 moveto/V matrix currentmatrix A 1 get A
mul exch 0 get A mul add .99 lt{/QV}{/RV}ifelse load def pop pop}N/eop{
SI restore userdict/eop-hook known{eop-hook}if showpage}N/@start{
userdict/start-hook known{start-hook}if pop/VResolution X/Resolution X
1000 div/DVImag X/IEn 256 array N 2 string 0 1 255{IEn S A 360 add 36 4
index cvrs cvn put}for pop 65781.76 div/vsize X 65781.76 div/hsize X}N
/p{show}N/RMat[1 0 0 -1 0 0]N/BDot 260 string N/Rx 0 N/Ry 0 N/V{}B/RV/v{
/Ry X/Rx X V}B statusdict begin/product where{pop false[(Display)(NeXT)
(LaserWriter 16/600)]{A length product length le{A length product exch 0
exch getinterval eq{pop true exit}if}{pop}ifelse}forall}{false}ifelse
end{{gsave TR -.1 .1 TR 1 1 scale Rx Ry false RMat{BDot}imagemask
grestore}}{{gsave TR -.1 .1 TR Rx Ry scale 1 1 false RMat{BDot}
imagemask grestore}}ifelse B/QV{gsave newpath transform round exch round
exch itransform moveto Rx 0 rlineto 0 Ry neg rlineto Rx neg 0 rlineto
fill grestore}B/a{moveto}B/delta 0 N/tail{A/delta X 0 rmoveto}B/M{S p
delta add tail}B/b{S p tail}B/c{-4 M}B/d{-3 M}B/e{-2 M}B/f{-1 M}B/g{0 M}
B/h{1 M}B/i{2 M}B/j{3 M}B/k{4 M}B/w{0 rmoveto}B/l{p -4 w}B/m{p -3 w}B/n{
p -2 w}B/o{p -1 w}B/q{p 1 w}B/r{p 2 w}B/s{p 3 w}B/t{p 4 w}B/x{0 S
rmoveto}B/y{3 2 roll p a}B/bos{/SS save N}B/eos{SS restore}B end

%%EndProcSet
TeXDict begin 39158280 55380996 1000 600 600 (CsisConf01.dvi)
@start
%DVIPSBitmapFont: Fa cmbx12 17.28 7
/Fa 7 116 df<BA12F8F1FFE01AFEF2FFC01BF01BFED800010280C76C7F070714C00700
14F0747F081F7F747F747F7480A2748089A37480A389A865A3505CA265A2505C9AC9FC50
5B505B505B087F5B4FB55A0707148096B548CAFC93B812F81BC050CBFC621AFF93268000
0314C0DE007F7F071F13F8737F737F737F73808885888688A2747FA688A688A676140FF7
1F80A374801F3F86771400745E746E5BB96E6E5B746E485A75EBFE07091F90B55A090715
E009015DCF003F91C7FC0A0013FC71647AE178>82 D<92380FFFF04AB67E020F15F0023F
15FC91B77E01039039FE001FFF4901F8010113804901E0010713C04901804913E0017F90
C7FC49484A13F0A2485B485B5A5C5A7113E0485B7113C048701380943800FE0095C7FC48
5BA4B5FCAE7EA280A27EA2806C18FCA26C6D150119F87E6C6D15036EED07F06C18E06C6D
150F6D6DEC1FC06D01E0EC7F806D6DECFF00010701FCEB03FE6D9039FFC03FFC010091B5
12F0023F5D020F1580020102FCC7FCDA000F13C03E437BC148>99
D<92380FFFC04AB512FC020FECFF80023F15E091B712F80103D9FE037F499039F0007FFF
011F01C0011F7F49496D7F4990C76C7F49486E7F48498048844A804884485B727E5A5C48
717EA35A5C721380A2B5FCA391B9FCA41A0002C0CBFCA67EA380A27EA27E6E160FF11F80
6C183F6C7FF17F006C7F6C6D16FE6C17016D6C4B5A6D6D4A5A6D01E04A5A6D6DEC3FE001
0301FC49B45A6D9026FFC01F90C7FC6D6C90B55A021F15F8020715E0020092C8FC030713
F041437CC14A>101 D<EE3FFC0307B51280033F14C04AB612F0020715F84A9038F03FFC
4AEB807F913A7FFE00FFFE4A5A4B4813FF4913F05B4913E0A24913C0A27013FE4949EB7F
FCEF3FF8EF1FF0EF07C094C7FCB0B812C0A6D8001F01C0C8FCB3B3B0007FB612FCA63865
7CE431>I<902607FF80EB1FFFB691B512F0040714FC041F14FF4C8193267FE07F7F9227
81FE001F7FC6DA83F86D7F6DD987F07F6DD98FC0814C7F039FC78015BE03BC8003FC825D
A25DA25DA45DB3B2B7D8F007B71280A651417BC05A>110 D<D90FFFEB0FFCB690383FFF
8093B512E04B14F04B14F8923907FC7FFC92390FE0FFFEC6EC1F806DD93F0113FF6D133E
157E157C15F8A215F07013FEA24BEB7FFCEF3FF8EF0FE04B90C7FCA55DB3B0B712F8A638
417BC042>114 D<913A3FFF8007800107B5EAF81F011FECFE7F017F91B5FC48B8FC48EB
E0014890C7121FD80FFC1407D81FF0801600485A007F167F49153FA212FF171FA27F7F7F
6D92C7FC13FF14E014FF6C14F8EDFFC06C15FC16FF6C16C06C16F06C826C826C826C8201
3F1680010F16C01303D9007F15E0020315F0EC001F1500041F13F81607007C150100FC81
177F6C163FA2171F7EA26D16F0A27F173F6D16E06D157F6D16C001FEEDFF806D02031300
02C0EB0FFE02FCEB7FFC01DFB65A010F5DD8FE0315C026F8007F49C7FC48010F13E03543
7BC140>I E
%EndDVIPSBitmapFont
%DVIPSBitmapFont: Fb cmti12 12 27
/Fb 27 122 df<13F0EA03FC1207A2EA0FFEA4EA07FCEA03CCEA000C131C1318A2133813
301370136013E0EA01C013801203EA0700120E5A5A5A5A5A0F1D7A891E>44
D<007FB5FCB6FCA214FEA21805789723>I<DC0FF8130393B513070307ECC00F923A1FF8
03E01F923A7FC000F81E4BC7EA7C3EDA03FCEC3C7EDA0FF0EC1EFE4A48EC0FFC4A481407
4AC8FC02FE1503494816F8130349481501495A494816F0495A137F5C01FF17E04890C9FC
A2485A19C0485AA2485A95C7FC121F5BA2123F5BA3127F5BA4485AA41838A218781870A2
18F0007F5F1701601703003F5F17076D4BC7FC001F160E171E6C6C5D6D5D00075E6C6C4A
5A6DEC07C06C6C4A5AD8007F023EC8FCD93FC013FC90391FF807F00107B512C0010191C9
FC9038001FF0404872C546>67 D<91B912C0A30201902680000313806E90C8127F4A163F
191F4B150FA30203EE07005DA314074B5D190EA2140F4B1307A25F021F020E90C7FC5DA2
171E023F141C4B133C177C17FC027FEB03F892B5FCA39139FF8003F0ED00011600A2495D
5CA2160101034B13705C19F061010791C8FC4A1501611803010F5F4A150796C7FC60131F
4A151E183E183C013F167C4A15FC4D5A017F1503EF0FF04A143F01FF913803FFE0B9FCA2
6042447AC342>69 D<027FB512E091B6FCA20200EBE000ED7F8015FFA293C7FCA35C5DA3
14035DA314075DA3140F5DA3141F5DA3143F5DA3147F5DA314FF92C8FCA35B5CA313035C
A313075CA3130F5CA3131F5CA2133FA25CEBFFE0B612E0A25D2B447BC326>73
D<031FB512F05DA29239000FFC005FA35FA2161FA25FA2163FA25FA2167FA25FA216FFA2
94C7FCA25DA25EA21503A25EA21507A25EA2150FA25EA2151FA25EA2153FA25EA2157FA2
5EEA0F80D83FE013FF93C8FC127FA24A5AEAFFC04A5A1300007C495A0070495A4A5A6C5C
003C495A6C01FEC9FC380F81F83803FFE0C690CAFC344679C333>I<91B56C93387FFFC0
8298B5FC02014DEBC0006E614A5FA203DF4C6CC7FC1A0E63912603CFE05D038F5F1A381A
711407030FEEE1FCA2F101C3020FEE0383020E60F107036F6C1507021E160E021C60191C
F1380F143C023804705BA2F1E01F0278ED01C091267003F85EF003801A3F02F0ED070002
E0030E5CA24E137F130102C04B91C8FC606201036D6C5B02805F4D5A9438038001130702
00DA07005BA2050E1303495D010E606F6C5A1907011E5D011C4B5CA27048130F133C0138
4B5C017892C7FC191F01F85C486C027E5DD807FE027C4A7EB500F00178013FB512C0A216
705A447AC357>77 D<91B712F018FEF0FF800201903980007FE06E90C7EA1FF04AED07F8
18034B15FCF001FE1403A24B15FFA21407A25DA2140FF003FE5DA2021F16FC18074B15F8
180F023F16F0F01FE04B15C0F03F80027FED7F0018FE4BEB03FCEF0FF002FFEC7FC092B6
C7FC17F892CAFC5BA25CA21303A25CA21307A25CA2130FA25CA2131FA25CA2133FA25CA2
137FA25C497EB67EA340447AC342>80 D<DB03FE130C92390FFF801C037FEBE03C9238FE
03F8913A03F0007C7C4A48EB3EF84A48131F4A48130F4AC7FC027EEC07F05C1703495A18
E0495AA213074A15C0A3130F1880A28094C7FCA280806D7EECFFE015FC6DEBFF806D14F0
16FC6D14FF023F80020F801403DA003F7F150703007F163F161F160FA21607A312071603
1607A2485EA2120E160F001E5EA2001F4B5AA2484BC7FC6D143E167E6D5C007F4A5A6D49
5AD87CF0495AD8787CEB1F8027F03F807FC8FC90381FFFFCD8E00713F039C0007F803648
79C537>83 D<48B912F85AA2913B0007FC001FF0D807F84A130701E0010F140349160148
485C90C71500A2001E021F15E05E121C123C0038143F4C1301007818C0127000F0147F48
5DA3C800FF91C7FC93C9FCA35C5DA314035DA314075DA3140F5DA3141F5DA3143F5DA314
7F5DA314FF92CAFCA35B5CA21303A21307497E007FB612C0A25E3D446FC346>I<EC1F80
EC7FE0903901F07070903907C039F890380F801D90381F001F013E6D5A137E5B48481307
5E485A120749130F000F5DA2485A151F003F5D5BA2153F007F92C7FC90C7FCA25D157E12
FEA29238FE0380EDFC071700A2007E13015E913803F80E1407003E010F131E161C6C131C
02385B3A0F80F078783A07C3E07C703A01FF801FE03A007E000780292D76AB32>97
D<EB0FE0EA07FFA338001FC0130F131FA25CA3133F91C8FCA35B137EA313FE5BA312015B
EC1F80EC7FE03903F9E0F89038F3C07C9038F7003E13FE48487F5BA2491480485AA25BA2
121F5BA2153F123F90C7FCA2157F481500127EA25D5D5AA24A5AA24A5AA2007C5C4A5A14
0F5D4A5A003C49C7FC003E137E001E5B6C485A380783E03803FF80C648C8FC214676C42D
>I<EC0FE0EC7FF8903801F81E903807E00F90390F80078090381F0003017E14C049131F
0001143F5B4848EB7F801207485AED3E00484890C7FCA2485AA2127F90C9FCA35A5AA45A
A5ED0180ED03C0ED0780A2007CEC0F00007E141E003E147C15F06CEB03E0390F800F8026
07C07EC7FC3801FFF838007FC0222D75AB2D>I<EE07F0ED03FFA39238000FE01607160F
A217C0A2161FA21780A2163FA21700A25EA2167EA216FEA25EEC1F80EC7FE1903801F071
903907C039F890380F801D90381F001F013E130F017E5C5B48481307A248485C12074913
0F120F5E485A151F123F495CA2153F127F90C790C7FCA25DA200FE147EA29238FE038016
0703FC1300A2007E13015E913803F80E1407003E010F131E161C6C131C02385B3A0F80F0
78783A07C3E07C703A01FF801FE03A007E0007802C4676C432>I<EC0FE0EC7FF8903801
F83E903807C00F90391F800780EB3F00017E14C0491303485A48481307000715805B000F
140F484814005D4848133E15FCEC07F0007FEBFFC0D9FFFEC7FC14C090C9FC5A5AA55AA4
ED0180ED03C0007CEC0780A2007EEC0F00003E141E157C6C14F06CEB03E03907800F8026
03C07EC7FC3801FFF838003FC0222D75AB2D>I<EE0F80EE3FE0EEF870923801F0389238
03E0F8923807E1FC16C3ED0FC7A2EE87F892381F83F0EE81E0EE8000153F93C7FCA45D15
7EA415FE5DA349B512FEA390260001F8C7FCA314035DA414075DA4140F5DA4141F5DA414
3F92C8FCA55C147EA314FE5CA413015CA4495AA35C1307121C007F5B12FF495AA291C9FC
485AEAF81E485AEA7878EA1FF0EA07C02E5A83C51E>I<15FCEC03FF91390F8383809139
3E01CFC091387C00EF4A13FF4948137F010315804948133F495A131F4A1400133F91C75A
5B167E13FE16FE1201495CA215011203495CA21503A2495CA21507A25EA2150F151F5E00
01143F157F6C6C13FF913801DF8090387C039F90383E0F3FEB0FFCD903F090C7FC90C7FC
5DA2157EA215FEA25DA2001C495A127F48495A14074A5A485C023FC8FC00F8137E387C01
F8381FFFE0000390C9FC2A407BAB2D>I<143C147E14FE1301A3EB00FC14701400AE137C
48B4FC3803C780380703C0000F13E0120E121C13071238A21278EA700F14C0131F00F013
8012E0EA003F1400A25B137EA213FE5B12015BA212035B141E0007131C13E0A2000F133C
EBC038A21478EB807014F014E0EB81C0EA0783EBC7803803FE00EA00F8174378C11E>
105 D<EB03F8EA01FFA3380007F013031307A214E0A2130FA214C0A2131FA21480A2133F
A21400A25BA2137EA213FEA25BA21201A25BA21203A25BA21207A25BA2120FA25BA2121F
A25BA2123FA290C7FCA2387F01C01303007E1380A2130700FE130012FCA25B130EEA7C1E
131CEA3C3CEA3E786C5AEA07C0154678C419>108 D<D801F0D90FE0EB07F0D803FCD97F
F8EB3FFC28071E01F03EEBF81F3E0E1F03C01F01E00F80271E0F8700D983807F001C018E
90390F870007003C019C148E003801B802DC8002F814FC26781FF05C0070495CA24A5C00
F0494948130FD8E03F6091C75B1200043F141F4960017E92C7FCA24C143F01FE95C7FC49
147E6104FE147E1201494A14FE610301EE0780000305011400494A14F8A2030302035B00
07F0F00E495C1A1E0307EDE01C000F193C494A153862030F020113F0001FF0F1E0494A90