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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。

Many colleges and universities now have just returned from the master, a doctoral student in theoretical knowledge is absolutely perfect, they understand real estate from the market research, positioning, started construction, marketing promotion, and various properties later theory procedures, and relying on such unique advantage of the real estate company was paid employment, but a serious shortage of practical experience, after many combat operations, defeated results proved -- theory must be integrated with the practice, only very comprehensive theoretical and practical grasp of the integrated brain is the thousand-mile to find real estate companies!

现在许多刚从高校出来的硕士生、博士生的理论知识绝对过硬，他们了解房地产从市场调研、定位、开工建设、营销推广、后期物业等种种理论程序，并且凭借这种特有的优势所被地产公司高薪录用，但是实践经验严重不足，经过多次的实战操作，结果都败下阵来，事实证明――理论必须结合实践，只有理论和实际掌握十分全面的综合性人材是房地产公司要找的千里马！

Real estate tax levy of the main goal is to curb real estate speculation and stabilize real estate prices high.

房地产税征收的主要目的是遏制房地产投机和房地产价格稳定高。

It was his November 25, 2003 Fudan University Real Estate Research Center open speech, the first to systematically sent from the Shanghai property market official, also different from the Shanghai real estate developers "alternative" voice, said Shanghai high-risk real estate.

正是他在2003年11月25日复旦大学房地产研究中心的公开演讲中，第一次系统地针对上海地产市场发出了不同于官方、也不同于上海地产开发商的&另类&声音，坦言上海地产的高风险。

It is learned that preparations have already SIREO with real estate Asset Management Limited, FAKTOR Development Co., Ltd., ECE Project Management Limited, the German Civil Service Pension Real Estate Holding Co., Ltd., the Bavarian State Real Estate Management Co., Ltd. close to 30 German funds and investors get in touch.

据了解，筹备工作已经SIREO房地产资产管理有限公司， FAKTOR发展有限公司，欧洲经委会项目管理有限公司，德国公务员退休金房地产控股有限公司，巴伐利亚州房地产物业管理有限公司，近30德国基金和投资者取得联系。

Obviously China's real estate and economic development, economic growth in line with national product does not comply with the judge bubble; second, the entire real estate prices and consumption of a serious departure from, this phenomenon does not appear; Third, the real estate bubble must be speculation very Sheng, from the country, the home for self-occupation ratio is 95%, only 5% is in order to re-sell, including rental.

显然，中国的房地产和经济发展，经济增长符合国家的产品不符合法官泡沫；第二，在整个房地产价格和消费的严重背离，这种现象不会出现；第三，房地产泡沫必须猜测非常盛，从国家，家庭自住的比例是95 ％，只有5 ％是为了再出售，包括租金。

Should be a lot of reader's request, to China Daily, published a joint华商网"Commercial real estate investment and brand status questionnaire", in Shaanxi Province to investigate millions of readers in the hope that readers on the Xian and surrounding cities, self-comparison know what they are currently selling commercial real estate projects to vote, to be followed by the professionals, through the questionnaire analysis, of the Xi'an City Commercial Real Estate Development as well as the purpose of assessing the advantages and disadvantages given for the forthcoming investment buyers developers to provide informative and reliable reference.

应了很多读者的要求，中国日报，发表了一份联合华商网&商业房地产投资和品牌状况调查问卷&，在陕西省调查数以百万计的读者，希望读者对西安及周边城市，自我比较了解，他们目前正在销售的商业房地产项目进行表决，然后由专业人士，通过调查问卷分析，西安城市商业房地产开发，以及为了评估的优势和缺点考虑为即将举行的投资买家开发商提供翔实，可靠的参考。

In short, real estate prices, and socio-economic climate is closely linked to the overall economy began to prosperity, and real estate prices is the trend up, and the economic downturn, the real estate prices began to fall, when the large scale buying, in order to when the economy picks up and then thrown out.

简而言之，房地产价格和社会经济环境是密切相关的整体经济开始繁荣，房地产价格上涨的趋势，以及经济不景气，房地产价格开始下跌时，大规模购买，以便在经济复苏，然后扔掉。

Poor Larry, poor goth rocker Larry, with black makeup smeared around his white-powdered face, his fingernails painted black and his long stringy hair dyed black, compared to real people with their eyes pecked out by birds, real dead people with their lips peeling back from their big dead teeth, compared to real death, Larry could just be a really sad-faced clown.

可怜的拉里，可怜的哥特摇滚客拉里，脸上打了白色的粉底抹着黑色的化妆，指甲涂成黑色，一头长直发染成黑色。比起那些眼睛真的被鸟啄出来的人，那些嘴唇翻起来露出死牙的真正尸体，比起真正的死亡，拉里只算得上是一个苦着脸的小丑。

Buyers to apply for subsidies, with "Shitai County residents to purchase goods Checklist for housing subsidies," confirmed their household registration information, ID cards, purchase contracts, purchase invoices and registration certificate to the county real estate property Real Estate Management Construction Committee Bureau report, confirmed after verification, the county real estate Construction Committee Governance Council within 15 working days after the payment of subsidy payments to subsidize the object directly punch.

购房人申请补贴时，凭《石台县农村居民购买商品住房补贴申请审核表》广州发票自己户籍证实资料、身份证、购房合同、购房发票和房地产产权登记证到该县建委房地产治理局申报，经确认核实后，由县建委房地产治理局在 15 个工作日内将补贴款直接打卡发放给补贴对象。

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。