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Dual-manipulator coordination motion planning based satellite attitude control and path optimization strategy and algorithms are proposed. According to the function of two manipulators, four kinds of coordination modes of stabilizing function, counterbalancing function, adjusting function and cooperative operation are defined. Common motion planning algorithm for the four kinds of coordination modes is proposed.

在讨论卫星姿态控制的重要性和实现方法的基础上，指出了通过机械臂运动进行卫星姿态控制的可行性及优越性，提出了基于双臂协调运动规划的机器人卫星姿态控制及路径优化的策略和算法，定义了稳定作用、平衡作用、调节作用和协同作业等四种双臂协调方式，并给出了四种协调方式下统一的运动规划算法。

There's a row of four crates, and then a second row of four crates.

第一排有四个板条箱然后第二排也有四个板条箱

Methods: thirty-four Japanese white rabbits are used as experimental animals. Under no destroying the posterior ligaments, expose the fifth and sixth transverse processes and intertransverse membrane. The transverse processes are decorticated. On each side bone graft bed the following four kinds of grafts are put, they are: autologous iliac crest、allograft+rhBMP-2、xeograft+rhBMP-2、and xeograft+HA.

34只成年日本大耳白兔，在不破坏脊柱后侧稳定结构的前提下，显露双侧的L5、L6横突，用磨钻去皮质，然后每侧分别随机地植入2.5ml左右的下列四种植入物：自体髂骨、同种冷冻干燥异体骨+rhBMP-2、异种冷冻干燥骨+rhBMP-2、异种冷冻干燥骨+HA。

Researchers from the University of York and Hull University in Yorkshire had 45 osteoarthritis sufferers over age 50 wear four types of bracelets (copper, a weak magnet, a stronger magnet and a demagnetized strip) for four weeks each.

来自英国约克郡约克大学与赫尔大学的研究人员，让45位年龄在50岁以上的骨关节炎患者佩戴了四种类型的手镯（分别用铜、弱磁材料、磁力较强材料和去磁材料制成），每一种佩戴四个星期。

The following is the research frame of this dissertation:Chapter one: Introduce background, research significance, research object, research contents and methods of this dissertation; review the history of clusters theoretical research in detail; dissertate main research dynamic status of domestic and international;Chapter two: Through explain theoretical foundation of cluster research, it defines and demarcates clusters, introduces the concept of private enterprises" cluster on this basis, and summarizes current situation of Quanzhou private enterprises" cluster;Chapter three: Propose the concept of cluster competitiveness, collect and analysis those factors which influence cluster competitiveness, and set up an appraisal system of private enterprises" cluster competitiveness;Chapter four: Define developing stages of private enterprises" cluster with clusters" dominance competitiveness, analysis characteristic and law of private enterprises" cluster in different life cycle, give out strategic countermeasures separately which promote cluster competitiveness in different stage;Chapter five: On the basis chapter three and chapter four, propose what we can use cluster strategic planning to promote Quanzhou cluster competitiveness; and recommend thought of cluster strategic planning;Chapter six: Introduce the case of Quanzhou sports shoes cluster, use competitiveness appraise system and life cycle theory for empirical analysis, and put forward detailed countermeasure that can promote cluster competitiveness;Conclusion: Summarize the research of full dissertation, and point out some weaknesses of this dissertation.

本文的研究框架如下：第一章：介绍本文选题的背景、研究意义、研究对象、内容与方法，并详细论述集群理论研究的历史回顾及当前国内外主要研究动态；第二章：通过阐述产业集群研究的理论基础，定义及界定产业集群，在此基础上引入民营企业产业集群的概念，并归纳总结了泉州市民营企业产业集群的现状；第三章：提出产业集群竞争力的概念，对影响集群竞争力的因素进行分析，初步建立一套民营企业产业集群竞争力的评价体系；第四章：应用集群显性竞争力来界定民营企业产业集群发展的生命周期阶段，并分析民营企业产业集群在各个不同生命周期阶段呈现的特征及规律，分别给出在不同阶段提升集群竞争力的战略对策；第五章：在第三、四章的基础上提出应用产业集群战略规划来提升泉州民营企业产业集群的竞争力，并介绍了集群战略规划的思路；第六章：引入泉州运动鞋产业集群的案例，应用本文构建的集群竞争力评价体系及生命周期理论进行实证分析，并提出提升该集群竞争力的详细对策；结论：总结全文的研究，并指出本论文研究的一些不足之处。

Methods:All the 40 Winstar rats were divided into four groups:group A:the rats were fed with normal diet,group B:the rats were fed with only high|cholesterol diet(no vitamin D3),group C:the rats were treated with one intramuscularly injection of vitamin D3(300 000 U/kg) and were denudated of endothelium,followed by high|cholesterol diet,group D:the rats were treated with 5% chitosan added into the diet besides treatment as group C.Ninety days later,the formation of atherosclerosis plaques and the activities of nitric oxide synthase in aortas in the four group rats were investigated.

40只Wistar大鼠均分为：A组；B组：饲以高脂饲料（不含维生素D3）；C组：一次性给予大鼠维生素D3（30万U/kg体重）肌肉注射，以球囊损伤主动脉内皮和饲以含维生素D3（1.25×106U/kg）的高脂饲料；D组在C组的基础上饲料中加入5%壳聚糖。90 d后检测主动脉动脉粥样硬化斑块形成及NOS的活性。

This plan would have succeeded if the four companies of the English guards and the brave Belgians of Perponcher's division had not held the position solidly, and Wellington, instead of massing his troops there, could confine himself to despatching thither, as reinforcements, only four more companies of guards and one battalion from Brunswick.

假使那四连英国近卫军和佩尔蓬谢部下的那一师忠勇的比利时兵不曾固守防地，那计划也许成了功，但是威灵顿并没有向乌古蒙集中，只加派了四连近卫军和不伦瑞克的营部赴援。

This plan would have succeeded if the four companies of the English guards the brave Belgians of Perponcher's division had not held the position solidly, Wellington, instead of massing his troops there, could confine himself to despatching thither, as reinforcements, ssbbww.com four more companies of guards one battalion from Brunswick.

假使那四连英国近卫军和佩尔蓬谢部下的那一师忠勇的比利时兵不曾固守防地，那计划也许 ssbbww.Com 成了功，但是 dddTt 威灵顿并没有向乌古蒙集中，只加派了四连近卫军和不伦瑞克的营部赴援。

Four aspects are studied in this paper: the study of non-linear syllable theory of the analysis ofdengyunxue of the syllabic structure of Chinese character, the study of the distinctive feature theory of the four types of the articulation of initials, the study of the markedness theory of the devoicing of the fully voiced initials and the study of the feature geometry theory of the correlates between the devoicing of the fully voiced initials and tonal change. Through our studies, conclusions can be drawn as follows:(1) Contemporary phonological theories can be used to elucidate the principle of Chinese dengyunxue;(2) Contemporary phonological theories can be used to explain the historical phonetic change of Chinese;(3) Different theories and methods of contemporary phonology should be applied to deal with different problems of Chinese phonology;(4) The application of contemporary phonological theories to the study of the historical phonetic change of Chinese is helpful to test and verify the universalizability of these theoretical hypotheses

通过对等韵字音结构分析的非线性音节理论研究、声纽四等的区别特征理论研究、全浊声母清化的标记理论研究和浊音清化与声调演变相互关系的特征架构理论研究等四项初探，揭示了：（1）当代音系理论可以阐明汉语等韵学学理；（2）当代音系理论可以解释汉语历史音变现象；（3）不同的汉语音韵问题，应该用不同的当代音系理论方法来研究；（4）当代音系理论在汉语历史音变研究中的运用，有助于验证其理论假设的普适性

It usually appears at around two to four weeks of age and disappears by about four months of age.

它通常出现在大约两至四个星期的年龄和消失，约4个月的年龄。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。