借助于四元数理论证明了任意顺序下刚体有限转动合成的可交换性定理。
With the help of the theory of quaternions the theorems of commutativity of composition for the finite rotation of rigid body are proved in the any order.
本文运用整体反函数理论证明了一类半线性方程边值问题周期解的存在唯一性，推广和改进了已有的一些结果。
The global inverse function theorem is applied for the existence and uniqueness of periodical solutions to the semilinear boundary value problems. Some results are improved.
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