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To solve the problem encountered in finding a proper rotation matrix and translation vector, approximate and precise solutions are provided successively. The approximate one has the advantage of utilizing existing solution, with limited range of weight to choose from. The precise one has no limit to weight, and can also prevent the problem of obtaining a mirror matrix of the correct one. Besides, it permits the'hat'to be amplified to fit the size of'head'.

其中近似解可以直接套用现成的公式计算，但是权重的选择余地不大，而精确解则无此限制，而且从理论上解决了不同权重下求解旋转矩阵和平移向量时，可能出现错误的旋转矩阵的问题，并允许在配准时对"帽"进行缩放以适应"头"和"帽"的大小不匹配的问题。

You know there is no certificated Iyengar yoga teacher in China main land and it is also difficult for Chinese to learn Iyengar yoga in Puna for language problem and other reason so it is big problem for those who love Iyengar yoga.

你知道在中国大陆并没有合格的认证老师，对于中国人来说去普那学习IYengar瑜伽有着语言和其他方面的困难，所以对于那些热爱Iyengar瑜伽的人们来说这是一个问题。

So I will be in memory from the machine removed carefully with rubber cement擦试memory of the golden finger, and carefully examined the small memory components, found that there is no significant problem, re-inserted into the machine and after the fault has not been resolved , the problem remains.

于是笔者将内存条从机器中取出，用橡皮泥仔细的擦试内存条的金手指，并仔细检查了内存上的小元器件，发现没有太大的问题，重新插入机器后故障并没有得到解决，问题依旧。

Based on the discussion of contradict model's exist condition and learning method, a Internal Model Control strategy that may used in on-line self-adapting adjust and self-collected is presented. The strategy settles the problem in identification and control of the no self-balance object by using feedback compensatory sangfroid implement. And it also settled the unable on-line problem due to the slow training speed through separating control process and on-line study process.

在讨论了逆模型的存在条件和学习方法的基础上，本文提出了一种可以在线自适应调整的、镇定的内模控制方法，通过加入反馈补偿镇定器，解决了无自平衡对象的辨识问题与控制问题，同时通过将控制过程和在线学习过程分开的方法解决了由于训练速度慢而造成的不能在线问题。

Although the public was surprised the most was her sexual purposes and methods, as well as her own photos and video released sex act, I think this is not only no longer be a simple problem, but rather we have a problem with sex education !

虽然，最让公众感到惊异的是她性行为的目的和方式，以及她自己发布做爱照片以及视频的行为，我认为这个不仅仅再是简单的性问题了，而是我们的性教育出了问题！

It's a common problem happening to many new born baby - blocked tear duct, I'm no exception, but it's an easily treatable problem and I'm feeling good now.

首先，需要及时擦去排出的眼泪和分泌物，并且适当地按摩眼鼻交接处的泪腺部位，帮助导泪管疏通。

He is careful to warn off a reading that has him stopping short at the epistemological point: The problem is not, I should stress, one of verifying what objects or events a creature is responding to; the problem is that without a second creature responding to the first, there can be no answer to the question.

他细致警告过一种把他解读为停止了认识论要点：我应该强调，问题不是证实人所回应的是什么对象或事态，而是没有第二个人对第一个人的回应，就不能回答这个问题。

The demonstrate in can asking to develop a process of course (safeguard a map by development staff for example, a of the ID interfacial element and tiring-room or correspondence of a group of operations rises), what I need to solve now is how to let the system discovers automatically and maintain these relationships Read above oneself problem, discovery had a direct result to be told to the system,"Authority " the ID that is an interface element and the URL that a group of tiring-room serve (take no account of data to visit attributive temporarily), attributive ={id, comId, urls, desc} such, how can problem translate into realize the definition of attributive, let him user input ComId, Urls?

当然可以要求开发过程中指明（例如由开发人员维护一个映射，把界面元素的ID和后台的一个或者一组操作对应起来），我现在需要解决的是如何让系统自动发现和维护这些关系读了上面自己的问题，发现有了个直观的答案对于系统来讲，&权&就是一个界面元素的ID和一组后台服务的URL（暂时不考虑数据访问权限），权限={id，comId，urls，desc}这样，问题转化为如何能够实现权限的定义，让用户自己输入comId、urls吗？

Not be tweak Cucumber is written read above oneself problem, discovery had a direct result to be told to the system,"Authority " the ID that is an interface element and the URL that a group of tiring-room serve (take no account of data to visit attributive temporarily), attributive ={id, comId, urls, desc} such, how can problem translate into realize the definition of attributive, let him user input ComId, Urls?

不是好办法 cucumber 写道读了上面自己的问题，发现有了个直观的答案对于系统来讲，&权&就是一个界面元素的ID和一组后台服务的URL（暂时不考虑数据访问权限），权限={id，comId，urls，desc}这样，问题转化为如何能够实现权限的定义，让用户自己输入comId、urls吗？

Some methods aiming at the two problems have been researched. First, the optimal number of ATE site can be calculated based on a cost model of DAT-ATE. Second, the problem of test schedule which is equitant with two-dimensional Bin-Packing problem is presented. Then a TCG denotation satisfied with T-admissible rule is more convenient for combinational optimization. With Simulated annealing algorithm, better test scheduling results can be achieved; but there is no great optimization space because the efficiency of scheduling is greater than 90%. Third, A novel test compression method——Multi-capture testing is proposed to compress the stimuli. And the ATPG results show that MC achieves high compression ratio which is greater than 90% in some large-scale circuits. MISR, widely used in LBIST, is employed to compress the responses. The aliasing analysis demonstrates that the fault coverage reduction is little due to the existence of aliasing. Fourth, an improved TIC (called S-TIC) aiming at structured test is proposed based on ARM's TIC. A MC scheduling algorithm is proposed to compute the SoC test time and combine MC vectors to SoC test vectors. The scheduling results shows that test time is greatly reduced when using the proper scheduling priority.

首先，给出了低成本ATE的成本模型，根据此模型得到最低测试成本时系统级测试调度的基本参数——测试Site数；其次，本文将DAT-Scan方式的SoC测试调度等价为两维BP问题，为有效地求解该问题，将该BP问题表示为TCG图并通过模拟退火算法解决其求解过于复杂的问题，调度的结果表明该方法在测试时间上有一定改善，并指出DAT-Scan测试调度效率已经大于90％，进一步优化的空间较小；第三，本文尝试通过测试压缩来解决激励所需的测试带宽，提出了Multi-capture结构并解决了MC测试过程中的&矢量&退化问题，MC测试的ATPG结果表明其测试压缩率很高（大电路接近90％）；第四，在激励获得很高压缩比的情况下，测试响应也需压缩，本文采用LBIST中常用的MISR作为MC测试的响应压缩电路，理论分析和实验结果都证明了MC测试的别名对故障覆盖率影响较小（小于2％），并对两类别名的成因做了具体分析；第五，在MC测试及其响应压缩的基础上，本文改进了ARM公司的测试控制器TIC使之适合于MC测试，为了解决MC测试矢量合成问题，本文抽取了MC测试模型，通过固定优先级的MC测试调度模拟将MC矢量合成为ATE矢量，并模拟出了总的MC测试时间。

Singer Leona Lewis and former Led Zeppelin guitarist Jimmy Page emerged as the bus transformed into a grass-covered carnival float, and the pair combined for a rendition of "Whole Lotta Love".

歌手leona刘易斯和前率领的飞艇的吉他手吉米页出现巴士转化为基层所涵盖的嘉年华花车，和一双合并为一移交&整个lotta爱&。

This is Kate, and that's Erin.

这是凯特，那个是爱朗。