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A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robots multi-rigid body system is educed.

建立了该机器人的运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人的运动学、逆运动学方程和雅可比矩阵，并导出了其简化结构多刚体系统的第二类Lagrange动力学方程组。

show that multi-wavelengths laser output can be achieved through increasing phase-shifts number and the laser wavelength varies with phase-shifts magnitude in multi-phaseshifts fiber grating with equidistance.

结论表明：等分相移光栅可以通过增加相移个数来实现多波长的激光输出，相移量不同激光波长的输出也不同。

In recent years, people adopt multi- kind measures to counteract eclipse and multi pathway, such as kinds of coding technique, mistake control technique, modulate and demodulate technique, equipoise and expand frequency technique, and these measures effectively boost up the communications ability of the HF communicate system, and lowered the mistake code rate effectively.

近年来，人们更是采用了各种有效的抗衰落和抗多径的措施，如各种编码技术，差错控制技术，调制解调技术，均衡以及扩频技术，这些措施有效的增强了短波信道的通信能力，降低了误码率。

For a class of bilevel multi-objective decision,this paper converts it into the problem of equivalent single-level multi-objective decision,then makes use of the inversion property of the genetic algorithm with the ergodic property of the chaos optimization method.

针对求解一类二层多目标决策问题，首先将其转化为等价的单目标决策问题，然后利用遗传算法优化的反演性和混沌优化方法的遍历性，并结合精确不可微罚函数求解非线性约束优化问题，提出了求解此类问题的混沌遗传算法。

For a class of bilevel multi-objective decision,this paper converts it into the problem of equivalent single-level multi-objective decision,then makes use of the inversion property of the genetic algorithm with the ergodic property of the chaos optimization method.Combined with exact non-differentiable penalty function,a new chaos genetic optimization algorithm is presented.

针对求解一类二层多目标决策问题，首先将其转化为等价的单目标决策问题，然后利用遗传算法优化的反演性和混沌优化方法的遍历性，并结合精确不可微罚函数求解非线性约束优化问题，提出了求解此类问题的混沌遗传算法。

A class of bilevel multi-objective programming was converted into the problem of equivalent single-level multi-objective programming. Then a new chaos genetic optimization algorithm was presented by using the inversion property of genetic algorithm and the ergodic property of chaos optimization method and combining with the exact l_1 penalty function.

针对求解一类二层多目标规划问题，首先将其转化为等价的单目标规划问题，然后利用遗传算法优化的反演性和混沌优化方法的遍历性，并结合精确罚函数求解非线性约束优化问题，提出了求解此类问题的混沌遗传算法。

We show a multi-symplectic scheme for the equations by the multi-symplectic Euler method. The truncation error of its local discrete energy conservation law is also exhibited.

用多辛Euler方法离散此方程组得到了它的多辛格式，并且推导了它的局部能量守恒律的离散误差。

The multi-routes k-opt exchange algorithm is firstly proposed, which is the extension in multi-routes of the traditional k-opt exchange algorithm, where the points exchanged are not only the ones in a single route but also in several routes.

本文首先提出了多路径 k-opt交换方法，该方法是传统k-opt交换方法用于多路径间的扩展，其进行交换的点不再局限于单一路径内部，而是多个路径的点都可以参入交换。

With a view to necessities of component temperature retrieval and exiguity of valid spaceborne multi-angular data set, it is undeniable that it is of great practical significance to study component temperature retrieval algorithm based on multi-channel data set.

鉴于地表组分温度反演的必要性以及符合要求的星载多角度遥感数据的不易获得性，研究基于多波段遥感数据的地表组分温度反演方法，无疑具有非常重要的现实意义。

Second, and constantly improve the capital market structure, and actively and steadily promoting the construction of multi-level capital market, improve the structure of listed companies, optimize the incremental adjustment of the stock, and further enhance the returns of investors of listed companies, improve the structure of investors, has continued to grow multi - team of investors actively promoting various types of funds into the market, and promote the coordinated development of various types of investors, such as fixed-income products, the company gradually expand the size of them in the market to satisfy market demand for a wide range of financing to promote stable operation of the futures market, further play to the functions of futures markets.

二，不断完善资本市场结构，积极稳妥地推进建设多层次资本市场，提高上市公司的结构，优化增量的股票调整，进一步提高上市公司的投资者的回报，改善投资者结构，继续拓展多-投资者团队积极推动进入市场的各种资金，促进各类投资者，例如固定收益产品，协调发展，公司逐步扩大规模他们在市场上满足了广泛的融资市场的需求，促进期货市场的稳定运作，进一步发挥期货市场的功能。

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。