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With the development of sciences and the widening of human being activities, robots play more and more important roles in productiveness and research. As the main technology of the robot, route planning and motion control have such an important place that studies on them mean more in theory and actuality than we can say.

随着科技的进步和人类活动领域的拓宽，机器人必将在人类生产研究中扮演着越来越重要的角色，作为机器人技术中的核心技术之一，路径规划和控制算法在机器人的研究中有着举足轻重的作用，对它门进行全面系统的研究具有特别重要的理论意义和现实意义。

In the meantime, the thesis argues that the establishment and perfection of exit mechanism is a gradual process. A market for "enterprise development" should be established to ensure sustained and healthy development of venture capital industry. This thesis consists of 9 parts, including introduction, the basic theory of venture capital and its exit, the main route of exit and comparison, introduction on some exit systems in USA, British, Taiwan and some developed regions, the effect on economic growth, summary and case study of the exit, progressional establishment of venture capital exit system in China, equity pricing patterns for stock transfer and the information to be disclosed, and conclusion etc.

本文分为九个部分，包括导论，创业投资及其股权退出的基本理论，创业投资股权退出的基本方式，美国、英国和台湾多层次资本市场建设及对创业投资股权退出的影响，国内创业投资股权退出的现状及影响股权退出的因素分析，多层次资本市场体系是我国创业投资股权退出机制建设的重要内容，改善创投公司机制和提高被投资企业的质量是我国创业投资股权退出机制建设的重要基础，合理测算和制定转让价格及披露相关信息是当前实现创业投资股权退出的重要措施，主要观点和结论等。

The first chapter is a prolegomenon, it introduces the background, meaning, researching route and meathod of this paper.

第一章是绪论，主要介绍了本文的背景、选题意义、研究思路和方法。

IN AIDS epidemiology, one orthodoxy—particularly in Africa, where things are at their worst—is that the main route of transmission is male promiscuity.

爱滋病学史上，尤其是在非洲发病率最高的非洲，一种根深蒂固的观点是艾滋病传播的主要原因是男性的性随意。

We prepared the pyrethric acid II through four reactions: esterification, oxidation, decomposition, diesterification. And the original synthesis route of the pyrethric acidII was improved: the yield of oxidation of allyl rise through increasing the activity of Selenium dioxide; in the document, tert-butyl-trans -2, 2-dimethy1-3-(2"-methoxycarbony1-1"-propenyl)cyclopropanecarboxy late was synthesized from tert-butyl-trans-2,2-dimethyl-3-(2 -formyl-r -propenyl) cyclopropanecarboxylate with two steps, with low yield.

我们经过酯化，氧化，成双酯，热分解四步反应，成功地得到了第二菊酸，并改进了原第二菊酸的合成路线：通过改变二氧化硒的活性提高了烯丙甲基的氧化产率；将原路线中醛氧化成羧酸、羧酸酯化的两步反应改为醛和甲醇、二氧化锰等作用一步直接酯化的方法，减少了反应步骤，提高了总收率。

Methods 32 cases of IDPC were found in post|operation samples, by means of open operation , a diagnosis rate of 2%(8/409); the diagnosis rate of IDPC rose to 7.2%(24/311) by means of transurethral route galvano|prostatotomy.

我院在1990～1999年间，分别采用2种不同的手术方法：一种是耻骨上前列腺切除409例，发现前列腺偶发癌8例；一种是经尿道下前列腺电切311例，发现前列腺偶发癌24例，报告如下

However, protein-rich food, as well as route of transmission of AIDS on such topics as the correct rate is higher than 90%.

但在富含蛋白质食物以及艾滋病传播途径等题目上的正确率都高于90%。

According to the characteristics of the Kernel-Tree network, this paper proposes a new WH seamless roaming solution, which combines the IEEE802.11 protocol and the KTRP protocol, in the multihop Ad hoc network based on TCP/IP protocol stacks. The solution includes the virtual address technology, the proxy ARP in multihop Ad hoc, and the fast route-convergence technology in KTRP protocol. And its implementation for Linux is also discussed in this paper.

本文根据"核心树网络"的特点，结合IEEE802.11协议和核心树路由算法，提出"虚拟地址"技术，无线多跳网络代理ARP协议，核心树中快速路由收敛技术来共同完成基于TCP/IP协议簇的无线多跳网络中"无缝漫游"的设计方案；并讨论了在Linux操作系统下方案的具体实现。

It is still the main supply route for the Prudhoe Bay oilfields, and you will be sharing the road with large tractor-trailers.

它是普拉德霍湾油田重要供给线，在路上随处可见到大型拖拉机。

Public transit route choice model is the key technology of transit passenger information system.

公交乘客出行路径选择模型是公交乘客信息系统的关键技术。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。