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Particular designs for joint structure are presented. The integrative design method of joint structure and angle coders is adopted so that the mechanical structure is compact and the cost is lower. In order to lighten the swing of rotary axis of joint angle sensor, high-accuracy anglecontact ball bearing is selected.

对关节结构进行了特殊设计，采用了关节结构与角度编码器一体化设计原则，保证测量设备的结构紧凑，降低成本；选择了高精度角接触球轴承，以减小角度传感器轴系的晃动，提高测量系统的总体精度；确定了空心轴结构，使传感器信号线从中穿过，使得测量设备外观美观。

The kinematics speed was detected under different state of simulating the driving moment of hip joint and the damping moment of knee joint. The testing results indirectly built the dynamics relationship among the inertial force, damping force and the swing speed of the knee joint.

在模拟不同人体髋关节摆动驱动力和膝关节阻尼力的状态下，测量膝关节阻尼缸的运动速度，从而间接获得了假腿阻尼力、惯性力与膝关节摆动速度之间的动力学关系。

Then, based on the consideration of decreasing impact force by correcting the robot swing foot motion error, develop a fuzzy compensate control strategy for swing foot landing. The motion control commands of pitch DOFs of hip joint, knee joint, and ankle joint of swing leg are gradually compensated online.

并基于调整机器人摆动脚运动误差以减小步行碰撞力的减振思路，提出了摆动脚落地补偿控制策略，在线分级实时补偿摆动腿的髋前摆、膝前摆和踝前摆的运动角度。

The results indicate that weight factor had significantly effect on gait speed, steps per minute, gait cycle time, the ratio of stance time and swing time, maximal flexion angle of knee joint and the range of motion of elbow joint. Shelf height had significantly effects on hip flexion and elbow ROM. Box size factor had significantly effect on stride length, gait cycle time, the ratio of stance time and swing time, knee joint elbow ROM. For the muscle activity levels with EMG, load weight and shelf height both affected the %MVC significantly. When the subjects carrying a load of 14kg, the muscle activity and the subjective body part discomfort rating are both higher than that of 7kg. The box size had effect on the body part discomfort rating of upper extremity and back. For the kinetic and kinematics analysis, the shelf height around elbow height was better than the other two height levels.

研究结果显示，对步态时间与空间参数而言，重量因子显著影响步速、步频、步态周期时间与站立期摆荡期比值，箱型因子显著影响步长、步态周期时间与站立期摆荡期比值；关节活动度而言，重量显著影响膝关节最大弯曲角度、肘关节屈伸角度范围，高度因子显著影响髋关节前后倾角度、肘关节活动各变项，箱型因子影响膝关节弯曲最大最小值以及肘关节活动各变项，对肌肉活动度而言，重量与高度因子皆显著影响MVC%值，14公斤重者肌肉活动度与主观不舒适程度皆较7公斤者高，箱型因子虽无明显影响肌肉活动度，但是在主观不舒适程度上却明显影响上肢与背部，终点放置高度应设在肘高附近为佳。

On the basis of the former researches and taking into account the practice of our country, this paper take the low period repeat loading experiment for three rigid conjunction node of steel beam and concrete wall, researching their load-bearing capacity and earthquake resistance performance under the low period repeat loading action, the main content concentrate on the following aspects:(1) Analyzing the three joint's damage shape、hysteretic curve、change of rigidity、yielding load、limit load、damage load、durability、energy dissipation capacity、the strain of the key position and the moment transferring mechanism.(2) Comparing the joint's load-bearing capacity and earthquake resistance performance among the joints with different stud bolt diameter and different connection plate thickness, researching some factor's influence on the work performance of the joint such as the high and strong stud bolt specification、connection plate thickness .

本文在前人研究的基础上，结合我国的实际情况，对3个钢梁-混凝土墙刚接节点试件进行了低周反复荷载试验，对其在低周反复荷载作用下的承载力和抗震性能进行了研究，内容主要集中在以下几个方面：(1)对3个节点试件在低周反复荷载作用下的破坏形态、滞回曲线特性、刚度变化、屈服荷载、极限荷载、破坏荷载、延性性能、耗能能力、关键部位的应变分布情况及节点核心区的受力情况进行了试验研究和理论分析；(2)比较了不同螺栓规格和不同连接板厚度的节点试件的承载力和抗震性能，研究了高强螺栓规格和连接板厚度这2个因素对节点工作性能的影响；(3)介绍了光纤光栅传感技术在土木工程领域中的应用研究现状及其基本原理；并通过对比试验，探讨了光纤光栅传感器用于土木工程检测的可行性及实现途径。

The joint has great effect on the strength and stability of rock mass, the effect degree directly relates to joint's geometry and mechanics parameters, including the joint's strike, dip angle, location, thickness, stiffness, strength et al.

节理对岩体强度和稳定性有重要的影响，其影响程度直接与节理的几何参数和力学参数相关，包括节理的走向、倾角、位置、厚度、刚度、强度等。

Early as in April 2002, MHI signed a "Joint Venture Agreement" with Dong Fang Steam Turbine Works on the joint investment to set up the Mitsubishi Heavy Industries Dongfang Gas Turbine Co., Ltd., a Chinese-foreign joint venture manufacturing heat components on gas turbines and providing after-sale services and maintenance of gas turbines.

早在2002年4月，三菱重工签署了&合资协议&的董筏嗯汽轮机厂联合投资成立的三菱重工东方燃气轮机有限公司，一个中外合资制造业热部件气轮机，并提供售后服务和维修的燃气涡轮机。

It summarized the worn-out law of the non-right angle T shape square steel tubular joint on the base of comparing and analyzing the worn-out way of right angle joint and nonright angle joint,which has a certain guiding significance to project practice.

运用有限元对非直角T型方钢管节点的受弯及复合承载力进行了研究，对比分析了直角T型节点与非直角T型节点破坏形式，总结出了非直角T型方钢管节点的破坏规律，对工程实践有一定的指导意义。

This method is applied to calculate the dynamic responds of knee joint under the impact, based on the results of which, the limit values of shear stress and bend which can cause the rupture of shank bone joint and the shear displacement of knee joint bend angle which can cause the laminate of ligaments are given.

同时研究了带有泡沫塑料的自身吸能型保险杠结构，得到了符合欧盟法规对行人腿部保护的保险杠柔性层的合理厚度；验证了这种形式的保险杠在汽车碰撞中也具有保护自己的能力。

This topic is aims at some tall and slender pipeline welded joint to carry on the welded joint flaw examination, manages the Daoist priest 5 meters, the welded joint for the straight line seam.

本课题是针对某细长管道焊缝进行焊缝缺陷检测的，管道长5米，焊缝为直线缝。

They weren't aggressive, but I yelled and threw a rock in their direction to get them off the trail and away from me, just in case.

他们没有侵略性，但我大喊，并在他们的方向扔石头让他们过的线索，远离我，以防万一。

In slot 2 in your bag put wrapping paper, quantity does not matter in this case.

在你的书包里槽2把包装纸、数量无关紧要。