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Firstly, based on the characteristics of Vision-Based Remote Brainless SoccerRobot System, a kind of centralized-distributed soccer robot decision-making controlstructure is put forward by a high level decision module processing centralizeddecision-making and robot agent can respond to the environment under high-leveldecision module coaching, while acting autonomously. Secondly, the differential drive mobile robot kinematics model is set up and amotion control algorithm is developed, which allows a general differential-drivenmobile robot to accurately reach a target point with a desired orientation in anenvironment with multiple moving obstacles.

本文首先针对基于全局视觉的足球机器人系统的特点，综合人工智能自上而下和自下而上两种研究方法，提出了一种混合式足球机器人决策结构，即通过一个全局性高层决策模块来决定机器人团队当前队形、战术以及智能体与角色间的映射关系，然后将高层决策结果通知各个队员智能体；队员智能体根据高层决策模块的指示及自己的知识进行反应式的思考和行动。

Based on the experience of VES application, the amphoteric surfactants-based visco-elastic acid with better performance has been made at abroad recently.

根据VES使用的经验，近两年来，国外已研究出了性能优越的基于两性表面活性剂的粘弹性酸。

Reservoir space of volcanic rocks:(1) three kinds of porosity based on geneses—— primary porosity, secondary porosity and fissure.(2) Six kinds of porosity based on textures——primary vesicle, amygdule, porosity from phynocryst solution, solution porosity within matrix, structural fissure and solution fissure.

火山岩储集空间：(1)按成因可划分为原生孔隙、次生孔隙和裂缝三种类型；(2)按结构可划分为原生气孔、杏仁体内孔、斑晶溶蚀孔、基质内溶孔、构造裂缝和溶蚀裂缝六种类型。

A new GIS software company in China as well as its industry backgroud,also the GIS industry competition structure and development status. Furthermore, a study was done on both of its competitive structure and other factors against the external environment and of its strengths, weakness, opportunities, threats and other factors facing the internal environment in this field. Based on this study and the mission and the developing target of the company, established the general developing strategy of the company --- based upon Geospatial information industry, continuing to keep the monopoly status and anabasis GIS industry at the same time.Rely on the photogrammetry technique to build the brand in 3D GIS market to gradually form competition advantage.Take technique development tactic, such as intergrate with other kind of techniques, combine with 3D core techniques and purchase 3rd-technique;take tactic to make products cater to market, such as promote the products service definition, enhance the added-value development ability, improve products management and design, adopt 3rd products,etc;And particuliar marketing tactic,such as service marketing, relationship marketing, difference marketing and brand marketing,etc. At last, point out that should import professional managers to promote company quality and industry competition ability.

本文描述了一个新进入 GIS 领域的软件企业——适普软件有限公司的发展历史及所处行业背景，客观分析了它所处 GIS 行业的竞争结构、发展现状等外部环境，通过深入分析公司所面临的机遇、威胁、优势、劣势等因素后，结合公司的宗旨及整体发展目标确立了公司的总体发展战略——立足空间地理信息领域，维护公司在摄影测量市场的垄断地位，同时进军 GIS 市场，以摄影测量核心技术为依托，在三维 GIS 细分市场创立品牌，并逐步形成竞争优势，同时提出采用多种渠道发展技术、产品全方位适应市场、强化市场营销及市场开发多元化的竞争策略，并其进一步细化为技术开发策略，如与其他信息技术的结合、与真三维核心技术的结合、技术收购策略等；产品策略，如提高产品的服务理念、提高产品二次开发能力、提高产品管理和设计、采用第三方产品开发等；以及市场营销策略，如采用服务营销、关系营销、差异化营销、品牌营销等方式；最后提出公司应该引入职业经理人制度从管理角度全面提升公司质量，提高行业竞争力。

Development, in the traditional access control based on the added attendance and surveillance technology, access control, attendance, and the whole monitoring system together, to reach more than one machine with the effect of real intelligence and security··in one system, even in the traditional analog monitor based on the combination of computer digital video and network communication technologies, has introduced an international leader in the digital real-time monitoring of products and through their own efforts with partners to create the cause of our nation's security.

发展，在传统门禁基础上增添考勤和监控技术，将门禁、考勤、监控系统整和到一起，使其达到一机多用的效果，真正实现智能与安全方范于一体的系统，更在传统模拟监控基础上、结合计算机数字视频及网络通讯技术，不断推出具有国际领先的数字化实时监控产品，并通过自身努力与合作伙伴共同缔造我们中华民族的安防事业。

Your home phone is based on an analogue network, whereas VoIP is based on a digital one.

您家中的电话网是基于类似物，而网络电话是基于一个数字。

The analytic studies of the MITA procedure based on dynamics and the function of thermo-diffuse and thermo-conduction combine these three physic field systematically. Compared with situation function with thermo-balance method, the analytic studies based on dynamics have less parameters approximation, and more precision. Meanwhile, the discipline of the microwave energy absorbed by tissue is should studied also.

基于动力学和热扩散、传导方程的微波热致超声波机制解析解的分析，将上述三类物理场有机地结合在了一起，与基于热平衡的状态解析分析相比，这一方法更少地对三物理场所涉及的参数进行近似，能更准确地反映微波热致超声波机制。

The basic approach of protecting people from being hurt or killed in an accident is to improve crashworthiness of vehicles. This paper starts with discussing theories and methods for vehicle passive safety design, which included experiential methods, analytic methods, multi-body dynamics methods, crash test methods and the finite element method. Emphasis will be paid to the basic FEM theories and algorithms of impact problems. Topics discussed include the governing equation, element discretization, hourglass control, time integration, material model, shell element algorithms and contact-impact algorithms. For more reliable simulation results, this paper then conducts study on how to accurately get material model parameters by combining the FEM method with experimental method, and develops relevant material test machine and parameter calculating software. Based on that, basic typical impact simulation and test validation study are conducted. On the basis of the above work, the paper studies the thin-shell structures'crashworthiness, which was affected by the following factors: spot-weld features, shell thickness, cross-section and pre-deformation. As to vehicle parts'crashworthiness, the paper conducts simulation study of designing energy-absorbing steering system and adaptive airbag system. A practical energy-absorbing steering wheel is designed as an example. In further depth research, the paper suggests several inverse quantificational methods for vehicle crashworthiness design based on the ideal crash characteristics. The above theories and methods are applied with good results through several practical vehicles' crashworthiness design and improvement.

文中对汽车碰撞安全性的设计理论和方法进行了归类和总结，其中包括经验法、解析法、多刚体动力学法、试验法以及有限元方法等；重点介绍了碰撞有限元法的基本理论和有关算法，涉及到有限元求解控制方程、单元离散、沙漏模态控制、时间积分、材料模型和应力修正、薄壳单元算法以及接触碰撞界面算法等，探讨了有限元计算中的材料模型参数获取技术，开发了相应的材料试验装置及材料模型参数反求软件，在此基础上进行了基本的碰撞仿真算例和试验对比研究；文中通过应用有限元方法研究了薄壁构件的碰撞吸能特性，指出了设计薄壁吸能构件时需要考虑的几个主要影响因素，即焊点、壁厚、横截面和预变形等；在关于车辆部件的碰撞安全性能设计中进行了吸能转向机构和自适应安全气囊的仿真研究，提出了吸能转向机构和自适应安全气囊的仿真研究方法；文中最后探讨了整车碰撞性能的设计与改进方法，提出了以理想碰撞特性为目标，采用分段加速度或者根据碰撞时间进行设计的反推设计法、部件吸能仿真优化设计法等量化设计方法，并通过综合应用文中所讨论的相关技术进行了整车碰撞性能的设计与改进实例研究，所选定的车型是大众化的普通轿车和碰撞安全性基础较差的微型面包车，研究结果表明，本文所提出的设计与改进方法是适用而有效的，具有重要的工程实用意义和价值。

These include pumice and tufa. 2. Lava-based soil are the product of lava flows from the volcano. 90 percent of lava-based soil is composed of basalt with the other ten percent including andesite, pitchstone, rhyolite, and trachyte.

这种土壤含有浮石和石灰华。2）熔岩为基础的土地，由火山爆发后产生的熔流产生。90%是由玄武石组成的熔岩，另外10%是中长石、松脂岩和粗面岩。

The main work and the originality points of this dissertation could be concluded as the following parts:(1) To analyze systematically the mathematical model of LES of air flow in great space, under the case of isothermal and non-isothermal, as well as the combined action of buoyancy and strain. Some basic problems are studied about the LES application into airflow simulation of great space, such as boundary conditions, spatial difference scheme and time advancing scheme, time step etc., which creates the basis for the LES application to indoor airflow simulation.(2) Both the instantaneous and time averaged flow field of great space with multiple jets under isothermal and non-isothermal cases are explored with large eddy simulation method, and also discussed the dynamic characteristics and the law of fluidflow in the great space.(3) Based on the results of LES of the great space and the Fanger thermal comfort indexes, it is brought forward the concept of the series of dynamic thermal comfort evaluating indexes, which could be divided into thermal comfort index with time averaged properties PD, PPD, PMV, thermal comfort index with instantaneous properties IPD, IPPD, IPMV, and time averaged thermal comfort indexes TAPD, TAPPD, TAPMV, and transient situations time averaged thermal comfort indexes TTAPD, TTAPPD, TTAPMV. The differences among them and the calculation methods are discussed, and the four kinds of indexes are calculated with the thermal comfort index PD as an example.(4) Based on the LES results it is discussed the hot air stratification phenomena in air-conditioned buildings in the case with air supply and return registers on the ceiling and the case on the sidewall. The fundamentals of the hot air stratification are studied and the relations of estimating hot air stratification are brought forward.(5) With the advanced apparatus such as hot wire film anemometer IFA300 and laser particle field anemoscope, corresponding model test and site measurements have been done, which are compared with the simulation results and LES is proved a very promising method in air flow simulation indoor.

本文主要工作既创新点体现在以下几个方面：(1)系统分析了等温、非等温和考虑剪切力与浮升力综合作用的高大空间大涡模拟数学模型，并研究了高大空间大涡模拟在室内气流仿真应用中的一些基本问题，如边界条件、空间离散格式和时间推进格式、时间步长选择等问题，为大涡模拟在室内气流计算中的广泛应用打下了基础；(2)首次用大涡模拟方法研究了高雷诺数下高大空间多射流在等温、非等温情况下的瞬时流场和时均流场分布，并探讨了多射流流场的动态特性和流动规律；(3)基于大涡模拟的动态仿真结果和Fanger的热舒适指标，首次系统地提出了动态热舒适评价指标体系的概念：即基于时间平均参数的热舒适指标PD、PPD、PMV；基于瞬时参数的瞬时热指标IPD、IPPD、IPMV；基于时间平均热舒适指标TAPD、TAPPD、TAPMV；以及沿行动迹线的时间平均热舒适指标TTAPD、TTAPPD、TTAPMV，并分析了四类热舒适指标的差异性和计算方法，还以PD值为例对四类指标分别进行了计算；(4)基于数十种工况下空调房间大涡模拟的结果，研究了空调建筑上送上回和侧送侧回两种情况下热分层现象，并探讨了热分层的基本规律，首次提出了避免热分层现象的判断公式；(5)在暖通空调领域，首次使用IFA300热线风速仪、激光粒子速度场仪等先进设备，完成了与大涡模拟相对应的模型试验，并把实测结果与仿真结果进行了对比，说明LES在室内气流仿真方面是一种很有前景的方法。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。