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This allows the user to control a Sigma-5 amplifier with an EtherCAT master in a variety of different modes (cyclic synchronous position, cyclic synchronous velocity, cyclic synchronous torque, interpolated position, profile position, profile velocity, or profile torque) and system architectures (line, star, tree, or daisy chain).

用户可以利用EtherCAT设备以多种不同的模式（同步循环位置，同步循环速率，同步循环转矩，替换位置，剖面位置，速度分布剖面图，扭矩剖面图）和系统结构（直线状，星状，网状以及链状）控制Sigma-5伺服放大器。

The introductive robot arm of this text can output two lines pulses by the PLC, driving the horizontal stalk, and the perpendicular stalk to drive the electrical engineering actuator respectively, to control the robot arm precision of the horizontal stalk and perpendicular stalk at the fixed position, tiny move switch input the position signal to the PLC.The direct current motor drags along to begin the claw and bedrocks to revolve, the position signal from revolve the code dish and near to the switch feedback to host of PLC;The electromagnetism valve control the machine hand open and close, thus carry out the function of the machine hand precision work.

本文介绍的机械手是由PLC输出两路脉冲，分别驱动横轴、竖轴步进电机驱动器，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；直流电机拖动手爪和底盘旋转，位置信号由旋转码盘和接近开关反馈给PLC主机；电磁阀控制气开阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。

The grain size of the material prepared by dopping Sr in the position "A" or dopping Co or Ni in the position "B" of the La_4BaCu_5O_13＋δ is small but it becomes bigger by dopping Ce in the position "A" of the La_4BaCu_5O_13＋δ.

SEM测试表明材料的粒径随着温度的升高而迅速增大，但颗粒的分布比较均匀。A位掺Sr和B位掺Co和Ni时合成的材料的粒径较细小，而A位掺Ce时合成材料的颗粒较大，这与BET测试和孔径分布测试相一致。

Setting an observation hole in navel position, puncturing the needle in the projection shadow position of the hernia inner loop, high position ligature of hernia sac, injecting 1ml biological albumin glue into the hernia sac before tightening the catgut, tightening the catgut, interring the knot under the skin.

于脐孔处置观察孔，在患侧疝内环口体表投影处穿刺进针，行高位结扎疝囊，收紧缝线前疝囊内注入生物蛋白胶1ml，收紧缝线、线结埋于皮下。

Setting an observation hole in navel position, puncturing the needle in the projection shadow position of the hernia inner loop, high position ligature of hernia sac, injecting I ml biological albumin glue into the hernia sac before tightening the catgut, tightening the catgut, interring the knot under the skin.

于脐孔处置观察孔，在患侧疝内环口体表投影处穿刺进针，行高位结扎疝囊，收紧缝线前病囊内注入生物蛋白胶1ml，收紧缝线、线结埋于皮下。

The mechanism that the newly woven-in weft drives the receded weft to be beaten tight again during beating-up is analyzed. The process calculating back-side warp angles of receded wefts at tightened position is presented, and then a formula of displacement that receded weft slips from receded position to tightened position is given.

分析在被钢筘打入织口的过程中新织纬驱使回退纬纱重新打紧的机制，说明回退纬纱被重新打紧时其后侧经纱角的计算流程，进而给出了回退纬纱从回退终了位置运动到打紧位置的位移算式。

These problems are determining recharge area position, water source, uranium source of the groudwater in sandstone; the relation between partial discharge source of the groundwater in sandstone and uranium ore-forming; the relation between mineralizing hydrogeochemistry condition and fixed position uranium deposit or uranium ore-body or uranium mineralizing range; and relation between hydrogeochemistry trackways (such as, uranium, thorium concentrations; Th/U,〓U/〓U,〓Th/〓U, and 〓Th/〓U ratios etc) in the rock and uranium ore-body fixed position and so on.

详细研究的问题有：含铀砂岩地下水补给区及水源、铀源问题；局部排泄源与铀成矿关系问题；成矿水文地球化学条件及其与铀矿床及铀矿体或铀矿化地段定位关系问题；以及岩石中水文地球化学形迹(铀、钍含量、Th/U、〓U/〓U、〓Th/〓U和〓Th/〓U比值等)与铀矿体定位的关系问题等。

The approach comprises following steps: grouping available measurements in various possible subsets, solving target position in Cartesian co-ordinate corresponding to each measurement subset, selecting several subsets with higher accuracy of position location, fusing the data of target-position corresponding to subsets selected by step .

本文围绕双／多基地系统的配置，利用各站可能获得的观测量怎样实现对目标的精确定位与跟踪这个问题来展开研究的，并以探索双／多基地系统的定位与跟踪性能为目的，对双／多基地系统的定位方法和定位精度、定位跟踪算法及其性能等方面进行了深入的分析和研究。

This method could continuously renew the state of position in accordance with the course of motion of mobile robot, and could conduct pre-estimation on the state of position for the next step. And then to carry out modification on the estimated value according to the really measured information of sensor so as to obtain the actual state of position and provide a foundation for path planning of the mobile robot.

该算法可根据移动机器人的运动过程，不断更新其位置状态，并能对下一步位置状态进行预估计，然后根据实测传感器信息对预估值进行修正，获得实际位置状态。

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。

The work of this paper is as follows: 1. Looking back the progressing history of the linear motor, introducing the features of the elevator driven by linear induction motor, radicating the topic of this paper "the digital frequency variable control of the elevator bi-side direct driven by linear induction motor". The research of this paper covers the conventional VVVF control, space vector based VVVF control, vector control and DTC.

本文主要开展了以下几个方面的工作： 1 回顾了直线电机发展历史，电机的驱动技术演变，特别是针对直线电机的驱动，简要介绍了直线感应电机驱动电梯的优点和不同结构类型，对传统的v／f控制，基于空间矢量法的v／f控制，矢量控制，和基于电压空间矢量的直接转矩控制进行了比较，确立了本课题的研究主题：直线感应电机双边直推式驱动电梯的全数字变频控制。

The article combines with the treatment of a superficial civil air defense work to introduce how the grouting method to improve the performance of the backfill soil.

文章从治理漂浮人防工事的角度提出了注浆技术在改善回填土性质方面的应用，并详细阐述了注浆技术的施工流程。