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recently,with the development of economic ,the people's life becomes better and better,life condition also is improving more and more.proper recreation is indispensable in the people's pasttime life.mentioned to the game,people may associate many fascinated online games,such as legend,mu,cs and so on.certainly,these games enrich people's life with more and more joys.using the wing game for reference ,i developed and designed the realization arithmetic of 24 points game.next i designed a human-computer alternant game system.

摘 要：近年来，随着经济的日益发展，人们的生活水平不断提高，生活质量也在渐渐的改善。适当的娱乐游戏对人们的业余生活是不可必缺的。说到娱乐游戏，人们可能会想到网络上许许多多让人迷恋的网络游戏，比如说，传奇，奇迹，cs等等。是的，的确这些游戏给人们的业余生活添加了很多乐趣。借鉴网上的边锋游戏，我用vc++开发设计了24点游戏的实现算法，并在windows图形环境下设计出一个人机交互的游戏系统。

First the dual-body satellite model is established and the control laws of reaction wheel are designed. Based on this the extended Kalman filter estimators with attitude sensor updated by star tracker are designed to provide error corrections for the pseudo-gyro and inertial gyro.

首先建立了双体卫星模型，并设计了动量轮控制律，在此基础上根据星敏感器的测量信息，应用广义卡尔曼滤波器来估计姿态和角速率漂移误差，进而对伪陀螺和惯性陀螺进行校正。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

The procedure is applied in two projects:(1) Shanghai Huanqiu finance center tower foundation pit dewatering, the complicated flow state of groundwater is simulated under these conditions which the aquifers deposite layer by layer, the bottom of the aquifers goes deep to 149m, the horizontal flow barrier goes deep to 34m, the extraction wells are penetrated to 55m, the filters of the extraction wells are located between 34m to 55m, and the water level in the deep foundation pit is decreased to 26m under land surface, the result of 8 pumping wells optimization project is designed.(2) The forth subway of Dong Jia-du tunnel repair foundation pit dewatering in Shanghai, the complicated flow state of groundwater is simulated under these conditions which the aquifers deposite layer by layer, the bottom of the aquifers goes deep to 144.45m, the horizontal flow barrier goes deep to 65m, the extraction wells are penetrated to 60m, the filters of the extraction wells are located between 45m to 60m, and the water level in the deep foundation pit is decreased to 42.45m under land surface, then an optimization project is designed.

最后将成果分别应用于两个工程实例中：(1)上海环球金融中心塔楼基坑降水，模拟了在多层含水层复合存在、含水层最深底板埋深达149m、基坑周围挡水连续墙埋深达34m、抽水井埋深达55m、抽水井过滤器埋深为34至55m，基坑内地下水位降至埋深达26m的情况下的地下水复杂流动状态，得出了8口抽水井优化降水方案；(2)上海地铁4号线董家渡隧道修复基坑降水，模拟了在多层含水层复合存在、含水层最深底板埋深达144.45m、基坑周围挡水连续墙埋深达65m、抽水井埋深达60m、抽水井过滤器埋深为45至60m，基坑内地下水位降至埋深达42.45m的情况下的地下水复杂流动状态，确定出了最优降水方案。

Designed in classic Calphalon style 专业的家富乐风格设计 Tri-ply copper is designed in the same spirit of simple, functional elegance that distinguishes all Calphalon cookware.

三铜本着简洁，优雅，多功能的设计理念，不同于其他的家富乐烹饪器皿。

A detailed analysis is made of the effect of tank vertical location on the ship rolling reponse. The scale design for tank is introduced in the paper and the scale of the two tanks located on a roro ship is designed with the software of MATLAB. Then test the result of the anti-rolling system with two tanks which is designed.

分析了U型减摇水舱在船舶中的垂向布置对船舶横摇响应的影响，介绍了U型减摇水舱尺度设计，并通过MATLAB仿真设计一个安装于RORO船上的双水舱系统，验证双水舱系统的减摇效果。

The butterfly valve is designed to meet the semiconductor, chemical, petrochemical, paper pulp, mining, food, sugar refining, sewage, air pollution control, oil and gas and marine industries and a series of applications designed.

该蝶阀是为满足半导体、化工、石化、纸浆、矿业、食品、炼糖、污水、空气污染控制、油气和船舶等行业等一系列应用而设计的。

In order to make the right evaluation of the state which is the consumption consume of the steam line system, we make an test of the heat loss of the steam line network. And we also probe into the heat loss of the steam line system and the factors. In order to solve the heat inefficency of the steam line system, we look into the present situation of the steam line network and the state of heat preservation. Then we found the open questions and the weak points of heat preservation. We make the evaluation and affirm the reason of the heat inefficency of the system. We adopted the combination of bench test and engineering optimization, then we screened out high-quality adiabator, and designed the best heating composition. We designed and developed the software"The analysis and optimization of energy of the steam line system in thermal production" It can offer convenience to the computational analysis of heat loss of the steam line system. It can also be used for design calculation and experimental verification of steam pipeline feasible radial-radius, so it can offer technical support for the reduce of heat loss of the system, the raise of well head steam quality and the raise of heat efficicency of the steam injection system.

为了对输汽系统的用能状况作出正确的分析评价，对输汽管线热损失进行了测试计算，对输汽系统热量损失及影响因素进行了探讨；为了解决输汽系统热效率低的问题，从输汽管网现状及管道保温状况调查入手，掌握存在的问题和保温薄弱环节，做出分析评价，确认导致系统热效率低的原因，采用室内试验与工程优化相结合的办法，筛选出优质保温材料，设计最优保温结构，同时设计开发了&热采输汽系统能量分析及优化软件&，为输汽系统热量损失计算分析和保温结构优化提供了方便，还对输汽管线合理辐射半径进行了设计计算及实验验证，从而为降低系统的热能损失，提高井口蒸汽干度，提高注汽系统的热效率提供了技术支持。

The thesis researches the robot navigation problem based on the laser sensor. First of all, a laser fused visual emendation method is designed to raise the precision of the monocular vision. After that, the laser based robot smooth obstacle avoidance, navigation, and movement plan algorithm are designed based on the laser sensor and are simulated on the Player/Stage platform.

本文基于激光传感器研究了几类特殊环境下的导航问题，首先特设计一种融合激光检测的视觉校正算法提高了单目视觉的测量精度，然后分别利用激光传感器设计了机器人平滑避障、导航，以及特殊环境下的运动规划控制算法，并通过Player/Stage仿真平台进行仿真实验。

Taking two wells of Caiyou Wuchang in Zhongyuan oil field , as examples ,H12-150 and H7-79, the paper applied the program to calculate rod load s and analyze buckling, what's more, it designed sinker bar with different diameter and corresponding sucker rod combination, finally couplings have being designed.

以中原油田采油五厂H12-150和H7-79两口井为实例，利用编制的程序进行杆柱载荷校核、屈曲分析，并设计不同尺寸的加重杆和相应的杆柱组合，以及设计扶正器和防脱器。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了