查询词典 point transformation

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Mapping transformation ; nodal point ; target detection ; differential method

映射变换；节点；目标检测；差分方法

How to get full use of features point pair to get transformation matrix with higher precision is a crucial question.

如何利用获得的多对特征点来计算较高精度的变换矩阵是图像拼接中的重要问题。

From the ordinary point of view this is normal, for to turn our response around and embrace suffering rather than resist it is to go against the laws of Nature—which explains why transformation is so rare.

从一般观点来看，这很正常，转变我们的反应去拥抱痛苦而不抵抗它们是违反自然律则的—这解释了为什么转化如此罕见的原因。

Complex function method and multi-polar coordinate transformation are used to study the Green function of a fixed rigid circular inclusion in right-angle planar space under an anti-plane point loading on the horizontal straight boundary.

利用复变函数法、多极坐标移动技术研究了直角平面区域内含有固定圆形夹杂时的反平面问题Green函数解。

The lecture contains 12 chapters for 2 semesters and includes information of materials basic features and properties such as Crystallography, Motion state of electrons in solids, Crystal structure, Semi-crystals and non-crystals, Phase diagram, Point defects and line defects, Plane defects and volume defects, Diffusion, as well as the basic principles of materials processing such as Solidification, Deformation and recrystallization, Solid transformation.

授课内容分十二章；涉及材料最基本的性质和特征（晶体学基础，固体材料中电子运动状态，晶体结构，非晶态与半晶态，相图、晶体中的点缺陷与线缺陷、面缺陷与体缺陷、扩散）以及材料成形过程涉及的基本原理（凝固、形变与再结晶、固态相变等）。

Based on the clustering characteristic of rigid transformations computed from each correspondence point pair, the PV method is proposed to estimate initial rigid transformation.

根据从对应点组计算的刚体变换的聚类特性，提出PV方法来估计刚体变换的初值。

Secondly, there are the clusters with clear 7 fold symmetry and transformation point at lower temperature in liquid metals.

二是发现液态金属中存在着明显的7度对称性原子团和低温端相变点。

On the basis of discussion above, a new Ip-Iq transformation method by using positive sequence voltage component instead of common coupling point voltage is proposed to ensure that the reactive current can be detected accurately under unbalanced voltage system.

在此基础上，论文利用所检测得到的基波正序电压代替D-STATCOM接入点电压进行Ip-Iq变换，克服了接入点电压不平衡对Ip-Iq变换法的影响，实现了参考信号的快速、准确检测。

Then, an optimization algorithm is used to optimize the initial projective transformation matrices by using area around each feature point, and complete the precise image mosaics.

方法的具体实现为：首先利用相位一致方法提取各图像中边缘上的角点特征，对特征角点进行初始匹配，然后利用初始匹配的角点计算变换矩阵的初始参数，再以光强度差的平方和为优化目标函数，在优化的过程中逐步获得变换矩阵的最佳参数，最后对重叠区域运用渐入渐出的方法实现了光强或颜色的自然过渡。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。