Closed form kinematic equations of main feed mechanism are established, one and two order effect coefficient matrixs are derived.
建立了主进给机构的封闭形式的运动学方程，导出了一、二阶运动影响系数矩阵。
The closed-form solutions of the equations are obtained and compared with the finite strip solutions.
最后通过高阶有限条法计算验证了本文方法的正确性。
We calculate the ML estimation via the EM algorithm, and derive its iteration equations, which gives a closed-form solution for parameters.
我们基于EM算法来计算参数的ML估计，推导了对应的参数迭代方程，给出了参数的一个闭式解。
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