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This paper research some problem of the tracked mobile robot' s path planning and tracking. There are some points as follows: 1 Introduce the airmanship technology and presently research situation in path planning and path tracking of the mobile robot, introduce the robot' s sensor system, analyze kinematics character of the tracked mobile robot.

本文就履带式移动机器人路径规划和路径跟踪的一些问题开展了如下工作： 1、介绍了移动机器人的导航技术和目前路径规划和路径跟踪的研究状况，介绍了机器人的传感器系统，并分析了履带式移动机器人的运动学特征。

Introduce Explaining Variable is particularly valuable with conditional logic in which it is useful to take each clause of a condition and explain what the condition means with a well-named temp.

Introduce Explaining Variable用来处理那种带有分支条件的逻辑特别有效，用一个取了个好名字的临时变量来代替每一个分支条件子句，变量的名字解释分支条件。

The first part of this article introduce the characteristics of the tourism plan research, extension theory outline, as well as this research's significance and the technical route.The second part first introduce the basic concept of the extension tourism plan, then introduce the basic thought, the elementary theory and the essential method of the extension tourism plan.

第一部分介绍旅游规划研究特点，可拓学理论概述，以及本研究的意义和技术路线第二部分首先介绍可拓旅游规划的基本概念，再介绍可拓旅游规划的基本思想、基本理论和基本方法。

Chapter 1 is a preface to introduce the motives of this paper research methods scope restriction and frame Chapter 2 will fist introduce the concept of database and then discuss the necessity of database protection in the creating methods and with or without originality This chapter will put emphasis on the importance of originality to database Chapter 3 will observe the British America and Germany's viewpoint of originality to discuss their legislative mode of database legal protection Chapter will introduce EU Directive/96/9/EC of database protection and four judges of EU Court after the Directive takes effect in 2004 to find how the ECJ use the Directive Then according to the DG Internal Market and Service Working Pater and BEUC's evaluation of the Directive this paper will find whether there is positive reaction and influence in database market after EU member countries take the same legislations with the Directive Section 5 will introduce the legislation of British and Germany following the Directive and analyze the development and questions of the two countries' current legislation Chapter 5 will start with Americas case Feist v Jane Doe to understand the case's influence to American legal protection of databases and introduce the Parliament's proposal after the EU Directive Chapter 6 will introduce Japan legislation regarding legal protection of database works and discuss the goodness and badness through Japan academy and judicial viewpoint Chapter 7 will introduce Taiwan's legislation to find whether current law provides enough and adequate protection to databases and discuss whether there is a necessity of amendment At last this paper will try to provide some suggestions about our legislation Chapter 8 is the conclusion of this paper

第二章首先介绍资料库之概念，并以建置方式与是否具原创性区分方式探讨资料库法律保护之必要性，而因著眼原创性对於资料库法律保护之重要性，便於第三章以比较法独立观察英、美、德国对原创性之观点，以接续探讨三国对资料库所采取之立法途径。第四章部份介绍欧盟资料库保护指令之相关规定，并就指令公布后，欧盟法院於2004年接续作出四个关於资料库保护之判决加以介绍，以期寻求欧盟法院如何运用指令规范中之构成要件，而后并参考欧盟委员会工作小组及消费者组织报告对欧体资料库指令之评估文献，探究欧盟各国采取与指令相同立法后，在资料库市场上是否有正面的回应及影响，并於第五节针对英、德两国跟进欧盟资料库保护指令立法之介绍，并归纳、检讨英、德两国之现行法制之发展与所面临之问题。第五章延续第三章、第四章论述后，进入美国1991年Feist案后，美国法院对国内资料库保护之后续见解，探究1991年Feist案对美国资料库保护之影响程度，同时并述美国於欧体公布资料库指令后国会提出之资料库立法草案。第六章则针对日本新增资料库著作之立法模式加以介绍，并藉由日本学界、实务之见解探讨该立法模式之优缺点，再於第七章进入我国法制之介绍，以观察我国目前之法制是否提供资料库充分的保护，探讨资料库立法之必要性，最后尝试提出我国立法模式之建议。第八章则为总结之论述。

Using a single mixer for the entire conference would result in a o algorithm, but would also also re-introduce local echo. i think the best solution for this is to use a number of partial sums which would make the code more complicated, but would probably give an algorithmic complexity somewhere between these two.

为整个会议使用一个简单的混音器将导致一个o的算法，但是也将重新引入本地回音（but would also also re-introduce local echo），我想最好的办法是使用许多的部分总和，它可能会使代码更加复杂，但也许可能是一个在复杂度在二者之间的算法。

I will introduce a method to solve this problem when data come from some common life distribution, such as Weibull distribution and Lognormal distribution. In chapter 1, we introduce background of grouped data and how to analyze them with classical methods. In chapter 2, we introduce EM algorithm and show that the estimation of the parameters get through this algorithm is convergent under certain conditions. In chapter 3, we use EM algorithm to estimate parameters in Weibull distribution and Lognormal distribution by grouped data and the simulation shows this method is available.

第一章首先介绍分组数据问题的背景以及如何利用经典的统计方法对分组数据进行分析，并指出分析过程中所遇到的困难；第二章将介绍一种处理不完全数据时的常用算法，EM算法，并说明利用这种算法所得到的估计具有良好的收敛性；第三章将利用EM算法对基于分组数据的威布尔分布和对数正态分布进行参数估计，并进行模拟表明此方法的可行性与有效性。

Although some writers use "which" to introduce a restrictive clause, the traditional practice is to use "that" to introduce a restrictive clause "which" to introduce a nonrestrictive clause.

虽然有的作者习惯于用which来引入限制性从句，传统用法是用that来引入限制性从句，用which来引入非限制性从句。

On this basis, according to historical data, apply ANN and differential simulation method to get the quantitatively correlative relations between each production and its own influence factors, and introduce the new methods of prediction for dynamic indexes with gas-field development (The combinatorial prediction method based on fuzzy comprehensive evaluation, the method of ANN to select optimally combinatorial prediction models and the ANN prediction method based on genetic algorithm).(2) Base on mathematical programming, combine with quantitative economics and techno-economics, introduce economical indexes to establish production"s distribution optimal model, production"s constitution optimal model and measured production"s constitution optimal model, including multi-objective models and five-years models. Upon this, the optimal project for all gas field and each gas-collected factory can be got. Also, introduce the time value of capitals to improve on these models.(3) Base on the optimal solution theory and algorithm theory for the nonlinear programming problem, introduce the SUMT algorithm and genetic algorithm to study how to solve the models, and on the basis of normal genetic algorithm, make use of auto-adaptively modulating method to improve on normal genetic algorithm; Base on algorithm"s convergence theory and calculation"s complexity theory to analyze seriatim SUMT algorithm"s convergence and genetic algorithms convergence, and compare performance with each other.

在此基础上，利用神经网络方法和微分模拟方法根据历史数据得到各分项产量与其影响因素之间的定量关联关系，并引入气田开发动态指标新的预测方法(基于模糊综合评判的组合预测方法、神经网络优选组合预测模型预测方法以及基于遗传优化的神经网络预测方法)；(2)以数学规划为基础，结合数量经济学和技术经济学，引入经济指标建立产量分配优化模型、产量构成优化模型、措施产量构成优化模型、气田开发多目标规划模型以及五年规划模型，进而获得全气田及各采气厂的最优方案，并引入资金时间价值对五年规划模型进行改进；(3)以非线性规划问题的最优解及算法理论为基础，引入SUMT算法以及遗传算法对模型的求解进行研究，并在原有的遗传算法基础上，引入自适应调整方法对遗传算法进行改进；以算法的收敛性理论和计算复杂性理论为基础，逐一分析SUMT算法以及遗传算法的收敛性，并比较三种算法的优劣性。

Analyze the characteristic and virtues of the electric balancing valve,Analyze the difference between the electric balancing valve and the electric valve,Introduce that the electric balancing valve is a integrative product with the functiongs of dynamical balancing and electrical regulating ,Introduce the application and virtues of the valve in Variableness flowrate system,Introduce the concept of All Balancing in Variableness flowrate system and characteristic of high-effiiciency and energy saving and how to come it true

摘 要：本文分析了动态平衡电动阀的特点及与传统的电动阀相比较的优点；揭示了动态平衡电动阀是区别于传统电动阀的产品，是动态平衡与电动控制一体化的产品；介绍了这种阀的应用及在系统负荷波动较大的变流量系统中的优势，同时提出了变流量水力系统全面平衡的概念、高效节能的特点及实现途径。

Then, we will introduce a Procedure for the ANSI-based system conversion, many legacy systems did not use distributed technology,we will introduce a method to do minimal modification on the system and implement the distribution system,at last,we take mfc legacy sysyem as the example, and introduce a method we can using the unmanaged code in the manged system.

随着软件行业的发展，对系统性能的要求越来越高，遗留系统使用单一服务器，把所有功能集中在一起的模式越来越不适应形势的发展，同时也带来效率低下，升级困难的问题，本文也将提出一个能够让改动较小的实现软件分布式改造的方法，最后介绍一种尽可能利用原有非托管C++代码进行。net程序开发而不改变原有内核的方法。

So that more consumers can enjoy more delicious quality, technology is even better than wine.

让更多的消费者可以品尝到品质更为鲜美，工艺更为精湛的葡萄酒。

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在你最喜爱的文本编辑器中将它打开。