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2

, , , .

, - . , , - .

:

- Iq- q

q - - , q = 1...nq, ki, dtι, td2- , f - , cr - ;

- Ifq

- = {ki, td1, td2, fef} - ,

= Cal (Iq, ),

-

, ki- , td1, td2- , fef - ;

- = {Mtq1,q2, Mrq1,q2} ,

= Cal3d (Iq1, Iq2, ),

q1, q2- - , , Mtq1,q2, Mrq1,q2- , - ;

- Seg Grad

= Seg (Iq),

= Grad (Iq),

- q- - , - q- - ;

- Tseg Tgrad

= Tseg (, t1 .tn),

= Tgrad (, t1 .tn)),

- Ft Fm ,

jv|j= 1..Ptv Ftv Q-FconstvX

jv- ,

j∣J= 1..T= Fm (q1 ,q2, IFconstv), j∣j= 1..T=,

j - , ;

-

= C3d(q1,q2,q1,q2, Mtq1,q2, Mrq1,q2)

-

=W(Iq∣q= 1..Q,t ),

=W(∣q=1, .. ∣q=Q).

.

2.1

<< | >>
: . , - . . - 2019. 2019

2 :

  1. , - -
  2. -
  3. . , - . . - 2019, 2019
  4. 2.2
  5. 2.4
  6. -
  7. 2.6
  8. 2.7
  9. 2.2 OA.
  10. . C . . - 2019, 2019
  11. II C .
  12. - -
- - , - , - - -
- - , - - - - - - - - - - - -