Research on Friction Characteristic Analysis and Friction Compensation Algorithm of Ball and Plate System;

Ball and plate system is a typical multi-variable plant,which is the extension of the traditional ball and beam problems.

The ball and plate system and its mathematic model are introduced in this paper.

The ball-beam system is a nonlinear and unstable system.

Earth system,metallogenic system to exploration system;

Study Expectation of Gas Hydrate-Gas System in Earth System;

Influence of heat transfer of water phase transformation and atmosphere vertical heat transfer on negative entropy flow in the earth system;

Because the behaviour of mankind has been increasingly becoming the main geological strength which causes the changes of global system, the contemporary global changes evidently indicate the catastrophic characteristics and are paid more and more attention to by the international sciences and different countries.

The overall aim of the studies on the global system is to resolve the problems occurringon a global scale and to realize a coordinated and sustainable development between resources,environment and economy.