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Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

In this study,we conducted a set of experiments to acquire systematic knowledge about the properties of AFSCs;meanwhile,to evaluate whether AFSCs could be used for cell-based therapy,we induced them to differentiate into hepatic linage in vitro and in vivo.Our study mainly included three parts of work.1.Isolation,expansion,and biological analysis of human second-trimester AFSCs.

在其诱导分化方向和应用领域方面，我们针对我国肝病的发病形式和目前肝脏再生修复治疗的限制性因素，以分离、培养和鉴定羊水来源干细胞、并将其在体内外诱导分化为肝细胞为目标，建立相应的技术方法，为人类羊水来源干细胞的基础研究和临床应用奠定基础。

In addition, load responses and their matrix forms are presented, and the numerical results show the validity of transmission line model of high frequency conducted interference.

提出了高频传导干扰负载响应的传输线模型及其矩阵表示，并通过数值计算验证了传输线模型的正确性。

Regression analysis of image intensity of 6 genus were was conducted against temperature, depth and genus with general linear model.

以影像强度代表珊瑚健康状况，与现场水温、种类、水深等生态因子，利用通用线性模型进行变方分析。

The hybridization was conducted with brown cotton line Zong 128 as female parent, white cotton varieties FB20, Kuzhe T94-4 and Liao 96-23-30 as male parents. The genetic separations of the color of long fiber and linter in parents, F1 and F2 were analyzed.

方法］以棕色棉品系棕128为母本，白色棉品种FB20、库车T94-4、辽96-23-30为父本进行杂交，对亲本、F1、F2长纤维和短绒色泽的遗传分离进行了分析。

Created by three straight men — the composer and writer Sean Millar, and the Brokentalkers directors Feidlim Cannon and Gary Keegan — the show incorporates audio from interviews conducted by Mr. Millar as well as music, video and performances by a largely amateur cast of gay men who sing, dance and occasionally lip-sync to the interviews.

创造连续3男人-作家，作曲家和肖恩米勒和Brokentalkers董事Feidlim基冈Cannon和加里-节目包括从先生主持米勒以及音乐，视频和由男同性恋主要是业余演员表演的采访音频谁唱歌，跳舞，偶尔嘴唇同步的采访。

Pot experiment with twenty-three open-pollinated Liriodendron chinense families from Liping of Guizhou at two nitrogen levels was conducted to study family differences of growth response to nitrogen supply.

选用来自贵州黎平马褂木优良种源的23个优树自由授粉家系，设置低氮素和高氮素2种水平的盆栽试验，以研究马褂木家系苗生长对氮素营养的遗传反应差异及所受遗传控制。

A pot experiment with twenty-three open-pollinated Liriodendron chinense families from Liping of Guizhou at two nitrogen levels was conducted to investigate family variation and inheritance of nitrogen absorption and utilization efficiency related to nitrogen supply.

选用来自贵州黎平马褂木优良种源的23个优树自由授粉家系，设置低N和高N2种N素水平的盆栽试验，以研究马褂木N素吸收和利用效率的家系遗传变异及N素水平的影响。

In fact, various studies on LIS have been conducted and have come up with useful findings.

事实上，各种研究已进行了土地信息系统和提出了有益的结论。

Problem in the fact that IBM will not have time to inject EUV- lithograph to 2009, although some developments in this sphere will be by this time actively conducted.

问题的事实， IBM公司将没有时间去注入远，光刻至2009年，尽管一些事态发展在这一领域将是这个时候积极开展。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。