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In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

2 Single-row bridge product in paper, do not allow any serious corner (for no more than 10 mm long, the number of angular paper no more than one time about 10 percent of the number of paper) and paper phenomenon, off paper rate must not exceed 3 per cent.

5.2.2 单排桥式产品在倒纸过程中，不允许出现严重折角（折用线长不超过10mm，折角纸张数不超过一次倒纸数的10％）和撕纸现象，掉纸率不得超过3％。

It introduces China pharmaceutical industry's characters and problems and then analyzes influence factors from the macroscopically, interspaced and microscopically views. Chapter four is the empirical research part in this paper. It introduces the principal of appraisal index and the choosing of the indexes. Then it introduces the building of model and its disposal method in Spss. To get a clear view of principal components analysis the paper analyzes the differentiate and connection between PCA and factor analysis. In this basement, the paper introduces the disposal process and results of the model. The paper then improves the model with entropy right method to eliminate the portrait diversity of data. To validate the model's stability, the paper makes a significance test of the four results.

第四章是本文的实证研究部分，首先介绍了评价指标选取的原则和指标的确定；然后介绍了模型的构建及其在spss中的处理原理，由于主成分分析法不能在spss中直接实现，且其原理和操作都易与因子分析相混淆，所以本节首先分析了主成分分析法和因子分析法的区别和联系，在此基础上描述了怎样在spss的因子分析的基础上利用主成分分析法进行投资价值评价模型的数据处理；然后介绍了模型的数据处理过程和输出结果，随后利用熵权法对模型做了进一步改进，消除了数据间的纵向差异性，并对改进前后的输出结果进行显著性检验，以验证模型的稳定性。

Chinese paper-cut works of the earliest discovered in 1967 archaeologists in China Turpan Basin in Xinjiang Gaochang Astana near the ancient ruins north to screen groups, the two groups found in paper-cut flowers, they used the linen material paper must be folded paper-cut-type worship, they found that the formation of our country's paper-cuts provided in-kind support.

我国最早的剪纸作品发现，是在1967年我国考古学家在新疆吐鲁番盆地的高昌遗址附近的阿斯塔那古北朝幕群中，发现的两张团花剪纸，他们采用的是麻料纸，都是折叠型祭祀剪纸，他们的发现为我国的剪纸形成提供了实物佐证。

Magnetic paper-cut so that paper-cut art into the culture, education, educational toys, entertainment, gifts gifts, souvenirs, household ornaments, festive supplies, and many other industries, magnetic paper-cut than the traditional paper-cut of the market several times to 100 times on the market Extension Paper-cut exhibition will bring prosperity and development of the arts.

磁性剪纸使剪纸艺术进入了文化教育、益智玩具、休闲娱乐、礼品赠品、旅游纪念品、家居饰品、节庆用品等诸多行业，磁性剪纸比传统剪纸的市场大几十倍到上百倍，市场的拓展必将带来剪纸艺术的繁荣发展。

A matrix G whose rowspace equals C is called a generator matrix for C.

一个行空间等于C的k n阶矩阵G称为C的生成矩阵。

Thirdly,in virtue of Markov theory,we get the herd coefficient matrix from Markov change probability matrix and construct the CA-Markov composite Model and get some characteristics of the CA-Markov composite Model Finally,we do simulations and sort for Xinjian County by using the Markov Model and the CA-Markov composite Model, respectively and analyze and compare the simulation results abortively.

然后，借鉴马尔科夫理论，采用转移概率矩阵估计从众系数矩阵，构建出CA-Markov复合模型，并研究了相关的性质。

We systemically discuss how to uniquely decide an infinite plane homography matrix by using the structure information in scene and how to evaluate a homography matrix which convert affine reconstruction to Euclidean reconstruction by solving absolute conic images.

系统地讨论了如何利用场景中的结构信息，来唯一地确定无穷远平面的单应矩阵，进而由射影重构恢复仿射重构，以及如何通过绝对二次曲线的像求解将仿射重构变换为欧氏重构的单应矩阵。

The key to feature extraction is to select the optimal feature combination from all the features. In this study, the optimal color feature combination,{/G,(R+4G+B)/6, H variance, S variance}, is selected using genetic neural network at first. Then the main texture features including the mean, variance, energy and entropy of the cooccurrence matrix, the secondary texture features including the maximum frequency number, absolute uniform, inertia and importance of the co-occurrence matrix are extracted.

在此基础上，提出适合多阈值和小目标图像分割的免疫遗传图像分割方法，该方法借鉴了生物免疫系统自调节、抗原识别和记忆功能，并结合了遗传算法对图像进行自适应区域的阈值分割，改善了遗传算法优化复杂问题时存在收敛速度慢和易陷于局部最优的不足，克服了传统阈值分割方法对目标大小的限制，是一种新型的有效的图像分割方法。

However the reachability matrix is difficult to get. It is proved that there is no need to calculate the reachability matrix fur a Directed Acyclic Graph.

证明了对于一类特殊的有向图即有向无环图，应用解释结构建模法无须求解可达矩阵亦可保证建模结构化的实现。

Salt is good, but if the salt becomes flat and tasteless, with what do you season it?

14：33 盐本是好的，盐若失了味，可用什么叫它再咸呢？

He reiterated that the PLA is an army of the people under the leadership of the Communist Party of China.

他重申，人民解放军是在中国共产党领导下的人民军队。