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The math model of the movement,flux and control system of position pump was established by analyzing its working principle,and its hydraulic system simulation model was established based on AMESim.The pressure and flux pulsation of the position pump was analyzed,and the pressure and flux was calculated by simulation when there are sign of wear for the position pump and system flux change.

分析了恒压力轴向柱塞泵的工作原理，推导并建立了液压泵压力流量和压力调节机构的数学模型，并在此基础上以AMESim工程软件为平台建立了轴向柱塞泵的仿真模型，分析了压力流量脉动状况并对液压泵在内部磨损和系统流量变化两种情况下的压力流量进行了仿真计算，对两种情况下泵的工作情况进行分析比较，为液压脉动抑制和故障分析提供了参考。

Engineering College, Air Force Engineering University, Xi'an Shaanxi 710038, ChinaAbstract: The math model of the movement, flux and control system of position pump was established by analyzing its working principle, and its hydraulic system simulation model was established based on AMESim. The pressure and flux pulsation of the position pump was analyzed, and the pressure and flux was calculated by simulation when there are sign of wear for the position pump and system flux change.

分析了恒压力轴向柱塞泵的工作原理，推导并建立了液压泵压力流量和压力调节机构的数学模型，并在此基础上以AMESim工程软件为平台建立了轴向柱塞泵的仿真模型，分析了压力流量脉动状况并对液压泵在内部磨损和系统流量变化两种情况下的压力流量进行了仿真计算，对两种情况下泵的工作情况进行分析比较，为液压脉动抑制和故障分析提供了参考。

Lifang Company had been established in Hong Kong,the factories have already established in Shenzhen and Kaiping for 15 years. We specialized in producing vehicle the watch case kerosene engine, the wind kerosene engine, the air blower, the lapel machine etc. For fifteen years, our company continues to improve and innovation unceasingly, so our product is your best choice.

利方公司成立于香港，在内地设厂已15年（在深圳和开平设有营销点），是一家专业生产车表壳油机、风油机、风机、襟机等的独资企业。15年来，利方公司持续不断地改进、创新，一直为表壳行业的顾客朋友提供最好的帮手，其所自行开发研制的多款机械设备也已经成为了钟表表壳行业内众多生产经营者最为理想的选择。

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 author established the axisymmetrical bubble with the vortex sheet and the vortex ring and established the three-dimension bubble with vortex ring respectively based on the achievements of the former researchers.

本文在总结前人研究成果的基础上，分别建立了轴对称涡面模型、涡环模型以及三维涡环模型。

Firstly,a reform should start from the updating of ideas.New ideas such as " respection of self-decision of the disabled","maintaining a normal life of the disabled",and "the adult guardianship systems must concetrate on the human rights of disbled" should be established.The system should pay attention to the existing source of ability of the disabled,and there should be flexible regulations concerning the particular needs of the disabled.Secondly,on the procedures of legislation, the adult guardianship systems should be added in the "Family"part of sub-regulations.Thirdly,the content of adult guardianship should include :（1）The broadening of its application ,（2）The establishment of voluntary guardianship and the improvement in nominating a guardian.(3)Different levels of guardians should be nominated in accordance with the capacity of the subjects,（4）Supervision system over the guardians should be established for restriction.（5）There should be concrete regulations on the content of a guardianship to stipulate the rights and obligations of a guardian.

提出首先要在法律观念上进行改革，树立起&尊重障碍者自我决定权&、&维持障碍者生活的正常化&、&监护制度的核心是充分保护障碍者的人权&等新的理念，充分尊重障碍者犹存的能力资源，对行为能力的个别状况予以弹性补正；其次，在立法体例上，应和其他大陆法系国家一样，将成年人监护制度置于分则的家庭篇中；第三，在具体内容上，应该做到（1）扩大我国成年人监护制度适用的范围；（2）引入任意监护制度，完善监护的设立方式；(3)根据行为能力的不同设置不同层次的监护；（4）完善监护监督制度，建立起对监护人的制约机制；（5）具体规定成年人监护事务的内容，明确监护人的权利、义务。

With the established model and the data of power needed in cycle cooling water system, the best vacuum value of condenser can be determined, and energy loss result by deviation of some main operation parameter can also be determined, compared with conventional models , the model established by us has the advantage of pertinence to the actual equipment since the sample data were collected from the operating equipment.

利用该模型和循环水系统功耗模型可确定不同工况下的真空运行最优值，为凝汽器真空运行最优值的确定提供了一个全新的方法，同时利用该模型计算几个主参数偏离基准值的能损偏差，同传统的运行参数基准值模型和能损偏差分析方法相比，该模型具有明确的设备针对性。

Let's take Dalian Chemistry Company for example. It was famous throughout the country in old days, and established in 1958, from Dalian Chemical Plant built in 1933 merged with Dalian Soda Plant built in 1936. It not only made great contributions to the city's construction, but also became a cradle of chemical equipments, techniques and talents in China. In particular, even in every middle and large chemical plants established before the reform and opening-up, there are people from it. Tang Changhui, an old man of over 70 from the company, said proudly.

以曾经闻名全国的&大化&为例，70多岁的老&大化&人汤常惠自豪地说，1958年由大连化学厂（1933年）和大连碱厂（1936年）合并而成的大连化学公司，不仅为大连自身建设做出了巨大贡献，而且成为了中国化工业设备、技术、人才输送的摇篮，尤其开放前全国布局建设的大中型化工厂，哪里都有&大化&人的身影。

The Prophet said,"The Hour will not be established till you fight with people wearing shoes made of hair. And the Hour will not be established till you fight with people whose faces look like shields coated with leather."(Abu Huraira added, They will be) small-eyed, flat nosed, and their faces will look like shields coated with leather.

&该先知说：&一小时，将不能成立，直至你打的人穿着鞋的头发，并一小时，将不能成立至今，你打的人脸像盾牌涂层皮革&（阿布胡莱赖说，&他们将被）小眼睛，扁平鼻子，他们的脸看上去很像盾涂层皮革）。

Along with farming, the hills and creek were prized areas for the sawyers and splitters,[8] and a number of mines were established in the region from the mid-to-late 1800s. In 1844 the first silver-lead, manganese and iron mines were established in the area, while the 1890s saw a minor gold rush—although "only small quantities were extracted".

17农业发展的同时，山岭与小溪是锯木和分木的宝贵地区，[8]十九世纪中后期，大量矿藏业在该地区兴建。1844年首家银，铅，锰，铁矿在该地区设立，而19世纪90年代出现了小范围淘金热，虽然&只有少量开采&。

For a big chunk of credit-card losses; the number of filings (and thus charge-off rates) would be rising again, whether

年美国个人破产法的一个改动使得破产登记急速下降，而后引起了信用卡大规模的亏损。

Eph. 4:23 And that you be renewed in the spirit of your mind

弗四23 而在你们心思的灵里得以更新