By analyzing the running characteristics of two subtasks that have resource dependency on each other, this paper finds the impact of the relation between subtask progresses on the whole task progress, and then puts forward a principle of self-organizing, called balance principle, which keeps equality between robot individual profits.

In order to make some contribution to the improvement of our investigation proceeding,the author put forward the principle of balance that always employed in.

The thesis is divided into five parts in the analysis of the application of the principle of balance in Austen s novels.

The kinematical and force- balance principles of the device are analyzed.

With the aid of Sub-ODE as well as its exact solutions and according to the homogeneous balance principle,the envelope solitary wave solutions and envelop.

In the paper,according to homogeneous balance principle and F-expantion method,some double-periodic exact solutions of a fifth-order KdV-like equation with variable coefficients are obtained in form of Jacobi elliptic function.

By using the homogeneous balance principle (HBP) and Hermite transform, various kinds of exact solutions to a stochastic nonlinear evolution equations can be algebraically obtained in terms of the exact solutions of heat conduction equation with variable coefficients.