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The contribution of this thesis is the development of intelligent control techniques on multi-mobile robotics system including nonholonomic constraint control, robust machine vision, image-based visual servo and evolutionary learning of robot trajectory, which are realized by a prototype system for multi-robots cooperation and competition.

本文针对轮式移动机器人系统的智能控制问题，对其运动控制、机器人视觉、视觉伺服、路径规划、进化学习等理论和方法进行了研究，并开发出多机器人智能控制系统的软件与硬件平台。

In order to study the factors related to Enterobius infection among per-schoolchildren, a structural questionnaire with multi-stages and a random sampling was designed to interview parents of 702 pre-schoolchildren. The questionnaire included personal information of the children: their educational background and parents' occupation; the status of their housing; their handwashing habits, and their frequency and habits of bathing, etc. In addition, the children's pinworm infections were examined using two-consecutive-day adhesive cellophance paper perianal swabs. Variables causing the pinworm infection among infected and noninfected children were analyzed by x2-test and multi-variable tests including discriminant analysis and stepwise multiple regression.

为了解学龄前儿童蛲虫感染之因素，以结构型问卷多步骤随机抽样访视702名学龄前儿童的家长，问卷的内容包括：儿童个人资料、儿童父母亲教育程度、职业、住屋情形、卧室分配情形、手部卫生习惯、洗澡习惯等，并以连续两天玻璃胶纸肛围擦拭法〈two-consecutive-day adhesive cellophane paper perianal swabs〉检查儿童的蛲虫感染情形，儿童蛲虫感染与各单变项的相关，以卡方检定〈x2-test〉分析，而多变项的分析则以判定分析〈discriminant analysis〉及逐步复回归〈stepwise multiple regression〉进行分析。

In this model, nonlinear operator was introduced to reflect significant effect of some evaluation indices to quality. The multi-stage model structure was established to reflect multi-stage attribute of quality influence factor.

该模型通过引入非线性算子来反映某些评价指标对质量的突出影响，并通过建立多级模型结构来体现质量影响因素的多层次性。

In order to satisfy combined simulation and optimization for the engine, the multi-objective and multi parameter nonlinear restriction programming was performed using the Matlab code that transfered the import parameters such as the structural, injection, valve timing, combustion timing and other parameters to the simulation model.

用Matlab编制了多目标、多参数非线性约束优化算法程序，通过调用仿真计算模型，改变输入参数如压缩比、空燃比、点火提前角和气门正时等的输入数值，实现了联合仿真优化。

The new type of multi-functional anticormsive coatings has been developed by using nonpoisonous raw materials and self-made multi-functional antibacterial agent.

采用无毒原材料和自制的抗菌、防霉、抗藻多功能纳米无机抗菌剂，研制了一种适用于高速公路服务区污水池内壁的多功能防腐涂料。

An unconstrained cost function is provided for the Orthogonal Space-Time Block Coded Multi-input-Multi-Output Antenna System. The global minima of the cost function are analyzed: in fact the global minima of the cost function is the normalized channel vector.

该方法主要利用了正交特性，给出了一个针对正交空时分组码MIMO系统模型的无约束代价函数，并分析了该函数的全局最小值：该无约束代价函数的最小值实际上就是实际信道的归一化矢量。

The algorithm combines the simulated annealing algorithm with the ratio-cut idea to ascertain the level of the multi-level multi-way partitioning and considers the number of cut lines while partitions CLB into cluster, then performs a k-way optimization without changing the level, so as to achieve a better partition result and improve the usage in HFPGA, then optimize the FPGA performance.

该算法将模拟退火算法与ratio-cut思想结合，确定多层多划分的规模后，在不影响规模的情况下进行多分优化，实现更好的划分结果，从而提高FPGA芯片的利用率，进而优化整个芯片的性能。

The algorithm combines the simulated annealing algorithm with ratio-cut method to ascertain the level of the multi-level multi-way partitioning. Considering the number of cut lines while partitions CLB into cluster, it achieves a better partition result and improve the usage in HFPGA, then optimize the FPGA performance.

该算法将模拟退火算法与ratio-cut思想结合，确定多层多划分的规模后，采用数据结构进行多分优化，在将可配置逻辑块(configurable logic block， CLB)划分到各个簇的时候考虑割线数的目标函数，实现了更好的划分结果，提高了FPGA芯片的利用率，优化了整个芯片的性能。

The problem of PI controller design for the multi-input and multi-output system is transformed to that of static output feedback controller design via the new state variable. As to the problem of the static output feedback, a new LMI-based sufficient condition of the controller is presented in this thesis. We can gain the multivariable PI controllers just solving one LMI inequality. The numerical example is provided to illustrate the proposed design approach. 3.The H_∞ robust control is able to solve the multivariable problem, also the control problem characteristic of the modeling error, parameters uncertainties and unknown perturbation, Its application research in the power electronics is beginning now. Considering the characteristics of the PWM DC-DC converters, a multivariable PI controllers which is based on H_∞ Performance Index is designed.

通过构造新的状态变量，可以将多输入多输出系统的PI控制器设计问题转化为静态输出反馈控制问题，利用后者的成熟理论来设计控制器；本文在问题转化后采用更为简便的算法，只需通过求解一个LMI不等式，就能求取基于H_∞性能指标的多变量PI控制器参数，实例验证了算法的有效性。3.H_∞鲁棒控制具有处理多变量问题的能力，可解决具有建模误差、参数不确定和干扰未知系统的控制问题；它在电力电子学中的应用研究刚刚开始。

Branded the AlphaBet multi-player poker network, powered by NYX Interactive and operated by Trimark Gaming, the venture offers online gaming operators the opportunity to take part in a multi-faceted marketing strategy.

Alphabet扑克网络，由NYX开发游戏平台，由Trimark网络博彩公司管理经营，给在线游戏运营商提供一个多层面的营销策略。

As of Tuesday, Google's results were still censored in China.

截至周二，谷歌的搜索结果仍受中国审查。

In order to make the positive action increase and negative one decrease, the sub-forces of the social factors must be adjusted to form a centripetal force.

在这一过程中，人的主体性发挥是社会有机体健康发展的灵魂。