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The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

Daddy sits on a' front porch swinging Looking out on a vacant field Used to be filled with burley tobacca Now he knows it never will My Brothers found work in Indiana My Sisters a nurse at the old folks home Mama still cooking too much for supper And me I've been a long time gone Been a long time gone No, I ain't hoed a row since I don't know when Long time gone And it ain't coming back again Deliah plays that old church piano Sitting out on her daddy's farm She always thought that we'd be together Lord I never meant to do her harm Said she could hear me singin' in the choir Me, I heard another song I caught wind and hit the road runnin' And Lord, I've been a long time gone Been a long time gone Lord, I ain't had a prayer since I don't know when Long time gone And it ain't comin' back again Now me, I went to Nashville, Tryin' to beat the big deal Playin' down on Broadway Gettin' there the hard way Living from a tip jar Sleeping in my car Hocking my guitar Yeah I'm gonna be a star Now, me and Deliah singing every Sunday Watching the children and the garden grow We listen to the radio to hear what's cookin' But the music ain't got no soul Now they sound tired but they don't sound Haggard They've got money but they don't have Cash They got Junior but they don't have Hank I think, I think, I think The rest is a long time gone No, I ain't hit the roof since I don't know when Long time gone And it ain't coming back I said a long time gone No, I ain't honked the horn since I don't know when Long time gone And it ain't coming back again I said a long time, long time, long time gone Well it's been a long time Long time, long time, long time gone Oh, it's been a long time gone Long time, long time, long time gone Yeah yeah

爸爸坐在一个'前沿阳台摆动寻找出一个空置场用来填补与白肋烟tobacca 现在他知道这种情况永远不会改变我的兄弟们找到了工作，在印第安纳州我的姐妹的一名护士，老人们在家中妈妈还是烹调太多晚饭我和我已经很长时间了已经很久了不，我不是牺牲品一排，因为我不知道什么时候很长时间了这是不会回来再 deliah发挥老教堂钢琴坐月子，她爸爸的农场她一直以为我们会被一起主我从来没有意思做她的伤害说，她能听到我的声乐发声'，在合唱团我，我听到另一首歌 i被风撞上路跑'和主，我已经很长时间了已经很久了上帝，我是不是有一个祈祷，因为我不知道什么时候很长时间了这不是comin '一拖现在我，我去纳什维尔 tryin '拍打大不了？ playin '了百老汇发财'有硬办法生活，从群众举报瓦罐睡在我的车 hocking我的吉他嗯，我在哪里也成为明星现在，我和deliah歌唱每星期日看着孩子们和花园成长我们听收音机听到什么的乱打'但音乐是没有，没有灵魂现在，他们健全累，但他们并没有健全的憔悴他们已经获得的金钱，但他们并没有现金他们获得初级，但他们并没有汉克我觉得，我觉得，我觉得其余的是一个长的时间去不，我是打不到屋顶，因为我不知道什么时候很长时间了这是不会回来我说很长时间了不，我不是兄弟非洲之角以来，我不知道什么时候很长时间了这是不会回来再我说了很久，很久，很久了以及它的已经很久了长的时间很长的时间，很长的时间，经历了哦，这是一个漫长的时间去长的时间很长的时间，很长的时间，经历了嗯嗯

You of the IP has already been target, disallowing to register to contain in the user's name systematic disallow of character list the user's name disallows all to find back for the numeral the password hints a problem and can't can't disallow to register to contain in the pet name for empty(can't be big in 50) this pet name system for getting empty(can't be big in 50) to find back the password problem answer systematic disallow of character list the pet name can't be big in 50 the character lists have already had this pet name in the system, please change pet name implies illegal character list to carry on in the user's name the IP controls you of IP because the malice registers a quilt to forbid completion to register to register success at the time, but current system the constitution passes to examine for the demand, you turn to the system home page to congratulate automatically after temporarily doing not manage legal power 5ly!

你的IP已被锁定，不允许注册用户名中含有系统不允许的字符用户名不允许全部为数字找回密码提示问题不能为空(不能大于50)找回密码问题答案不能为空(不能大于50)此昵称系统不允许注册昵称中含有系统不允许的字符昵称不能大于50字符系统中已经有这个昵称存在，请更改昵称用户名中含有非法字符进行IP控制您的IP因为恶意注册被临时禁止完成注册注册成功，但当前系统设置为需要通过审核，您暂时没有管理权限 5秒后自动转到系统首页恭喜！

When a person stands erect in front of big ancient Egyptian pyramid's time, person innermost feelings critical can ascend surely one kind of awe, but in the cerebrum can reappear immediately big group of hundred and thousand of countless people, namely this great construction inventors, because he meets the instinct awareness, this earthshaking is known as the human great miracle work, a person all was unable in at that time and even the present to complete, this end will be the human collective wisdom and the cooperation, only then might become at present reality, the human end is unable to get rid of its inherent social communitive.

当一个人矗立在高大的古埃及金字塔面前的时候，一个人内心中肯定会升腾起一种敬畏，而大脑中会立即浮现出一大群成百上千不计其数的人，即这个伟大建筑的创造者们，因为他会本能的知道，这件惊天动地的号称人类伟大奇迹的作品，一个人在当时乃至现在都是无法建成的，这终将是人类集体的智慧与协作，才可以成为眼前的现实，人类终将无法摆脱其固有的社会群体性。

The price pricking beer is 3 5 times higher than familiar equal amounts beer , investigates whose cause to have several aspect down: One, has been fresh beer because of it , has kept fine taste of beer and nutrition; That sterile condition demands is strict among it's two , procedure of production, equipment investment is big, be going to want the strict sterility course film fliteration or hole fliteration, besides all microorganism , beer barrel and production environment before irrigating dress; It's three , marketing way have been unique , had been going carrying out the carbon dioxide cooling down and supplementing by the fact that fresh beer sells machine, have made use of carbon dioxide pressure to give beer and , have avoided beer contacting air but have produced oxide taste; It's four, has been that scheduled time is not long because of barrelled fresh beer guarantee quality , the dealer has born certain risk, if being able to not sell out in time, meeting bring about very big economic losses.

扎啤的价格比同等量的熟啤酒高3—5倍，究其原因以有下几个方面：其一，因为它是鲜啤酒，保持了啤酒良好的口味和营养；其二，生产过程中，无菌条件要求严格，设备投资大，在灌装前要经过膜过滤或孔过滤，除去所有的微生物，啤酒桶和生产环境也要严格无菌；其三，销售方式独特，要过通过鲜啤酒销售机进行降温和补充二氧化碳，并利用二氧化碳压送啤酒，避免了啤酒接触空气而产生氧化味；其四，是因为桶装鲜啤酒的保质期不长，经销商承担了一定的风险，如果不能及时售出，会造成很大的经济损失。

Whether had you encountered this kind of situation, be opposite at the same time big covet 3 feet, satisfy oneself one week to enough again at the same time the fare of food and feel distressed, tell you a shortcut now, let you see bright is big be saved again below " Life, Money "!

你是否碰到过这种情况，一边对***垂涎三尺，一边又对足以满足自己一星期伙食的票价而心疼，现在告诉你一个捷径，让你看爽***又省下&life—money&！

Sometimes I just feel like, quitting I still might Why do I put upthis fight, why do I still write Sometimes it's hard enough just dealin wit real life Sometimes I wanna jump on stage and just kill mics And show these people what my level of skills like But I'm still white, sometimes I just hate life Something ain't right, hit the brake lights Case of the stage fright, drawin a blank light Da-duh-duh-da-da, it ain't my fault Great big eyeballs, my insides crawl And I clam up, I just slam shut I just can't do it, my whole manhoods Just been stripped, I have just been vicked So i must then get, off this bus then split Man fuck this shit yo, I'm going the fuck home World on my shoulders as I run back to this 8 mile road I'm a man, I'ma make a new plan Time for me to just stand up, and travel new land Time for me to just take matters into my own hands Once I'm over these tracks man I'ma never look back (8 mile road) And I'm gone, I know right where I'm going Sorry mama I'm grown, I must travel alone Ain't gunna follow these footsteps, I'm making my own Only way I know how to escape from this 8 mile road I'm walking these train tracks, tryin to regain back the spirit I had fore I go back to the same crap To the same plant, in the same pants Tryin to chase rap, gotta move ASAP And get a new plan, mommas got a new mam Poor little baby sister, she don't understand Sits in front of the T.V, buries her nose in the pad And just colors until the crayon gets dull in her hand While she colors her big brother, her mother and dad Ain't no tellin what really goes on in her little head Wish I could be the daddy that neither one of us had But I keep runnin from something I never wanted so bad!

有时候，我不安，因为我不是尚未引爆这就像我长大的，但我是不会长大我两个坚果尚未不要有代表我的一步，没有获得足够的肽的压力很大的人，我只是设法做最新最好的和我尝试，单独坐在我哭泣哟我不会告诉任何谎言，而不是目前的推移我不祈求天空，请我开始你的上帝请不要让我bitchin holdin没有固定工作哟我希望你能听到我家无论身处何地哟我tellin您dawg我白琳这拖车明天告诉我的妈妈我爱她，亲吻婴儿的妹妹再见说你需要我whenevr婴儿我永远远但是，你我有爱摆脱的唯一途径，我知道和我回到你的第二个，我的打击我拥有的一切，我会成为我自己去工作，我去，回到这个八英里道我一个人，我作出了一项新的计划时间对我来说，只是站起来，新的土地和旅行时间对我来说，只是考虑到我的问题自己手中一旦我对这些歌曲的人我从来没有回头看（ 8英里路）和我走了，我知道在那里我会对不起妈妈我长大，我必须单独旅行不是贡纳按照下列脚步，我让我自己唯一的办法，我知道如何摆脱这个8英里道你得活到觉得，你没有你不会得到它或看到什么大问题是，为什么这不是skillest 这是walkin寄宿线底特律城市的界限这是不同的，这在一定意义，证书的真实性，您甚至从来没有见过但everthing对我来说，这是我的信誉你从来没有见过或听说闻见了一个真正的三菱商事谁是难以置信的相同pedastal为我可是我仍然未签名的，有一个粗略的时间坐在门廊智慧我的所有朋友和踢哑巴儿歌去工作和服务三菱商事的在lunchline 但是在关键时刻，我punchlines哪里去谁，我必须表明，我国流动到胸部如果要我去，我必须知道谁还是我刚才在另一个蟹斗因为我不是没有运气havin与这个小兔子，以便他妈的它也许我需要一个新的出路，我startin怀疑狗屎我有点怀疑feelin谁余空闲时我看起来像一个流浪汉，你我的衣服是不是狗屎在救世军设法挽救一个装备和它的冷设法前往这道另外我觉得对滞留在该battlin模式我的防守是如此，并有一件事我不想遗憾的是没有人，这个城市是没有乐趣没有太阳，真是太黑暗有时候，我只是觉得我被分开从每一个我的四肢，每一个我的一个朋友这足以使我只是想跳出我的皮肤有时我觉得自己像一个机器人，有时我只是不知道是我的乐队我的打击，我的头是一个炉灶顶部我只是爆炸，水壶会这么热有时候，我的嘴刚刚超载的屁股，我没有但是，我学到了，现在是时候让我掉头你只需要一个时间，我引火烧身不是不属于任何下一次我遇到一个新的女孩我可以不再扮演笨或未成熟我每一个组成部分，我需要的是勇气就像我已经有了节拍，所有我需要的话得到的冲动，突然它的进口激增突然爆发的一个新的能源已经发生时间显示这些自由世界领导人在三个第三我不再害怕现在，我作为一个自由鸟然后我又和越过中间遏制击中动词和所有你看到的是一个模糊的8英里道我一个人，我作出了一项新的计划时间对我来说，只是站起来，新的土地和旅行时间对我来说，只是考虑到我的问题自己手中一旦我对这些歌曲的人我从来没有回头看（ 8英里路）和我走了，我知道在那里我会对不起妈妈我长大，我必须单独旅行不是贡纳按照下列脚步，我让我自己唯一的办法，我知道如何摆脱这个八英里道

Celebrate Lyrics - stearing to this tunnel of life it ain't a far sight in the dark searching for god's light so cold I got frost bite lost kite from the prison this system got these young niggaz lost like mice in a maze rollin dice to the grave some say it's just the price of the fame reality strike, repeat the same tragedy twice all I'm thinkin man it had to be life when the casualties rise plan plotting 'til your strategy dies black cotton till i've gotten what's mine I don't travel the globe stood firm with an average of 4 I was almost cut down like a half of a stole but you know that ain't how we roll from a soldier to a general go leadin' still do what I'm told I got the soul of a old head in the young niggaz bodies we don't put this gun in nobody you don't wanna know no homie what is really goin on shit is real couldn't tell you everything in a song man the pain is so personal so deep I couldn't explain it in words for ya I don't sleep I can rest when I'm dead cause I'm blessed while I'm here through the rain, pain blood, sweat and tears dedicated to underdogs that wanna see us make it we make it, they make it this calls for celebration all around the world we about to celebrate the mamas ain't crying no mo my niggaz ain't dying no mo tell me do you wanna go I mean it's kinda like a holiday kinda like a white tray on silver day kinda like jamaica in may when all my people celebrate I wasn't born with a silver spoon my mama was poor in the delivery room but we gon make it look done made it cops still goin strong mom poppin the greatest life been good to a nigga I remember bout the hood and how I could do a nigga but not me I been good to a nigga I support not no more i'm a hood rich nigga now and I'm hangin like wet clothes the fresh white frisbee tee countin bank rows I ain't botherin with you stank hoes another problem bith I got enough for those me, myself I don't need nothin else but a good mind and some good health that's all I got on my wish list pop a bottle what's the celebration bithes we ain't sayin that it's all good now any hood USA man it still goes down but despite of all that we gon still have a good time toss a few back celebrate the fact that my kids still eatin man I'm glad I'm still breathin glad I got my ratchet cause the snakes still creapin man I got a lawyer cause the law still cheatin listen, big bottles of drank big weed in my pocket nigga I got stanks we gon drank, we gon smoke till we damn near faint and after all that we gon do it again this is for the good time so we get some mo if we don't we gon smile on the ones before if you got real ones man hug your folks cause you never know when it gon go so celebrate

庆祝歌曲-稳坐在这个隧道的生命是不是一个迷宫小鼠远视力在黑暗中寻找神的光明，我喜欢寒冷霜冻咬了风筝失去了这种从监狱系统niggaz失去了这些年轻罗兰骰子到坟墓有人说这只是执行价格的名声现实，重复同样的悲剧两次，将所有的人，我想着它必须生活在伤亡人数上升密谋计划'直到你的策略，直到去世黑色棉花我得到什么是我的，我不站在全球的旅游公司与4我几乎平均削减一半，像一个一个偷，但你知道不我们如何从一个士兵到轧辊一般去引入线'还是做什么我告诉我的灵魂得到了niggaz的年轻一岁的机构负责人在我们不把你这把枪没有人不希望不知道什么是真正亲密的狗屎布莱恩的，是真正的人不能告诉你一切在一首歌曲的痛苦是如此深刻，以致我个人无法解释它为ya话，我不睡觉，我可以休息时，我死因为我祝福的同时我在这里通过雨水，疼痛鲜血，汗水和泪水，致力于弱者想要看到我们使我们能去的，他们使这是值得庆祝所有世界各地的我们将要庆祝妈妈的孩子是我没有哭没有谟niggaz不是死无模告诉我你想不想去我的意思是在有点儿像牙买加这样的假期天有点儿有点儿像一盘银白色的可能时，我所有的人们庆祝我不是同一个房间银匙出生我的妈妈在分娩较差，但我们健使它看起来做了它强大的警察仍然布莱恩妈妈屁股最大的生活好了，我记得一个nigga回合的引擎盖，以及如何我可以做一个nigga但不是我好，我被一nigga我不支持没有更多的我是一个引擎盖丰富的nigga，现在我喜欢湿衣服犹豫不决清新的白色飞盘发球countin银行行我不惹你发臭锄头另一个有点问题我得到的够我自己，我不需要别的没什么好主意，但一些好健康这就是我得到了我的愿望清单弹出一个瓶子有什么庆祝位住户开支统计调查我们是不是sayin这一切都很好现在任何引擎盖美国男子仍出现故障，但尽管所有我们坤仍有一个良好的时间折腾几回庆祝的是，我的孩子仍然eatin人我很高兴我还是很高兴我得到了我的呼吸棘轮导致蛇人仍然creapin我得到了律师事业在法律上仍然不忠听，袖珍的nigga大杂草在我的大瓶喝我喝了斯坦克斯我们健，所以我们得到一些，我们坤烟，直到我们该死的近微弱，毕竟，我们坤时间再做这是为好钼如果我们不，我们的那些健微笑之前，如果你有真正的男人拥抱你的乡亲，因为你从来不知道什么时候健走那么庆祝

Along with big three arrivalses, I also will continuously favour, on the other hand, Be college of study department minister, again just right meet with an undergraduate course valuation, in spite of to who is all kind of pressure, besides is the teaching of the Ministry of Education valuation, that still is not my head up, school begins two month estimate favour dead, attended Normal University television station in Fukien on the other hand, participate television station of work, do film, return have what than the consume more of, again remove have a class of time, I estimate I possibility also have no when, luckily big three since need not learn English also need not learn athletics, easy is easy not a few, but face profession of thorough mental state more or less also have some touch, particularly is more and more of person all seem to have oneself of direction, but I seem to seem big two just just started grope for similar, we the class believe to will haven't a few violent girl and boy devotion to test to grind battalion, everyone also more and more went by different roads, believe big three big four ～ss~～ the person be more and more fickleness, ha ha.

随著大三的到来，我也将陆续忙起来，一方面，作为学院的学习部部长，又刚好碰上本科评估，不论对谁都是一种压力，何况是教育部的教学评估，那还不就是我的头上，开学两个月估计得忙死，另一方面，参加了福建师范大学电视台，要参与电视台的工作，做片子，还有什麼比这个更耗时的呢，再除去上课的时间，我估计我可能也没有什麼时间了，幸好大三既不用学英语也不用学体育，轻松是轻松了不少，但面对专业的深入心理多多少少也是有一点触动的，尤其是越来越多的人都似乎有了自己的方向，而我似乎好像大二才刚刚开始摸索一样，我们班相信会有不少强悍的女生和男生投入考研大军，大家也就越来越分道扬镳了，相信大三大四～~～人是越来越浮躁的，呵呵。

Because defends external national the invasion, must need the quite firm fortification or the castle, therefore the ancient babylonian can not but use crops' as well as bushes and so on plant's the straw stalk makes the fuel, makes certain shape the soil to burn the quite solid brick bat to do for the main building material, uses for the building big city wall and the fortress, and displayed the acme, therefore only then north two river basin edge mountainous area, only then appeared certain scale stone system construction, but compared the ancient Egypt's stone system creation on "big Wu Jianxiao" Wu, because the soil burn brick or at that time burns the technical limit, basicIs unable to compare with the hard rock, although the brick uses, extremely nimble and may the rapid construction broad in scale building or the urban cluster, but radically is unable to achieve actually Shi Zhi constructs that kind of altitude as well as in time eternal degree, therefore is called by the historian the world ancient times one of seven wonders of the world "the airborne garden" has become on the ruins historical miracle, now only then also in continues in the decency the remnant brick to break the tile to relate once magnificently with glory, long-time, all vestiges could even more be not much left.

由于防御外来民族的侵扰，必须需要比较坚固的防御工事或者城堡，因此古巴比伦人不得不用农作物以及茅草等等植物的秸秆做燃料，把制成一定形状的泥土烧制成比较结实的砖块来做为主要的建筑材料，用来建筑高大的城墙和堡垒，并发挥到了极致，因此只有在两河流域北部的边缘山区，才出现了一定规模的石制建筑，但相比古埃及的石制创作就&大巫见小巫&了，由于泥土烧制的砖或受当时烧制技术的限制，根本无法与坚硬的岩石相比，虽然砖使用起来，非常灵活并可以迅速的建造规模宏大的建筑物或者城市群，但却根本无法达到石制建筑的那种高度以及在时光中的永恒程度，于是被史学家称为世界古代七大奇迹之一的&空中花园&就成了废墟上的历史奇迹了，如今只有还在继续风化中的残砖断瓦在诉说着曾经的辉煌与荣耀，更长久一点，一切遗迹就会更加的所剩无几了。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。