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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。

In this study,we conducted a set of experiments to acquire systematic knowledge about the properties of AFSCs;meanwhile,to evaluate whether AFSCs could be used for cell-based therapy,we induced them to differentiate into hepatic linage in vitro and in vivo.Our study mainly included three parts of work.1.Isolation,expansion,and biological analysis of human second-trimester AFSCs.

在其诱导分化方向和应用领域方面，我们针对我国肝病的发病形式和目前肝脏再生修复治疗的限制性因素，以分离、培养和鉴定羊水来源干细胞、并将其在体内外诱导分化为肝细胞为目标，建立相应的技术方法，为人类羊水来源干细胞的基础研究和临床应用奠定基础。

To avoid the influence of head position change and to overlap and compare the changing hard tissue under the skull reference system, this work set up a three-dimensional reference frame, which was based on point"S'"(the median point of the upper rear brim of the anterior wall of pituitary fossa), point"Na"and point"Ba"and of which point"S"is origin. UNISIGHT is used to get the original coordinates of all the landmarks in the MPR phase.

为消除矫治前后患者头位变化的影响，使治疗前后变化的上下颌骨和牙列以相对不变的颅底结构作为参照系统进行影像的重叠和对比，本研究通过头颅内的固有标志点S'，N，Ba三点确定了参考平面，建立了以S'点为原点的测量三维坐标系。

All you need is a modicum of technical knowledge to set it up, and the patience to let it work its magic on your Inbox.

只需少量的技术知识来将其设立、而耐心的工作，让你的魔法inbox。

Afterwards, he modestly studied to the senior entertainer, and tried to find out a set suited oneself characteristic the clay sculpture technique, created has the individuality characteristic, the full of beauty and significance mudskipper series work.

后来，他虚心向老艺人学习，并摸索出一套适合自己特点的泥塑技艺，创作出具有个性特点、妙趣横生的泥猴系列作品。

My work experience has provided me with a set of professional credentials that I believe to be of particular value to NARA.

我以往的工作经历使我能够胜任这份工作，而且我认为它对于国家档案馆与记录管理局来说有着特殊的价值。

The death rate grew by 37%. Chinese previously did not need security door. But by now, to some place, security window has been set at seventh floor. For there are too many gangster every where, no company in China would arrange with their workwomen to go home at night. No body knows what really are the food every one have everyday. Neoteny has take place on children. Then we can imagine the situation of our health in the future. There are about 20 million girls in China are pursuing sexual work. That creates 6% of GDP aggregate, which is as much as 1000 billion RMB. This kind of activity had never appeared in the history of human being except Japan. The height of Chinese people is 2.5cm lower than that of Japanese. We can no longer see them by looking down. The small Japan became big Japan. We create 0.1 billions GDP with the payment of 1 person's life, reported by reference news. The number of death in 2003 is 136 thousands. So the number of industrial injury will be 200 thousands. It is true that our GDP is bloody. Actually, this number is a small part of the true number. The numbers which can be accounted are in nationalized business or in a big accident. In personalized business or overseas-funded enterprise, the owner do not pay attention on the death of workers. So the data can not pass to the statistical department. However, the number of death there is much more than that of the first ones. If we add this in account, the number,annually can be compared with the massacre in Nanjing.

中国人从原来不知道防盗门窗为何物，到现在防盗窗已安装到了楼房的七层以上；由于流氓遍地防不胜防，全国企业早已不再安排女工上下夜班；有毒食品已经100%的覆盖了全部行业，每天人们咽进肚子里的食物究竟是什么，只有天知晓；性早熟现象已经蔓延到了学龄前儿童，未来的身体和寿命可想而知；约2000万少女被迫卖淫，创造的收入占GDP总量的6%，相当于一万多亿人民币，这种肉体积累是世界历史上除日本之外绝无仅有的现象；中国人的平均身高比日本人低了2.5公分，由以前低头看日本人到现在抬头看日本人，小日本真的成了"大日本"；《参考消息》报道，中国每亿元GDP工伤死亡1人，2003年死亡达13.6万人，以此推算，今年工伤死亡人数将达到20万，"是名副其实的带血GDP"，其实这个死亡数字不过是冰山一角，能够统计到的死亡数字，要么是国有企业，要么是死人较多的特大事故，私企和外企平常死个把人根本到不了统计部门，而私企和外企用工数量远远超过国有企业，如果考虑到这个因素，每年死亡人数至少相当于一场南京大屠杀。

Dr. Robert Waterston (International Human Genome Sequencing Consortium): After three billion years of evolution, and several years of work by this 16coalition, we have before us the instruction set that carries each of us from a one-celled egg, to adulthood, to the grave.

罗伯特·沃特斯顿博士（国际人类基因组测序组织）∶经过30亿年的进化，以及这些科学家们数年的研究工作，我们终于揭开了基因组织的奥秘，而它将伴随每个人的一生，从一个单细胞卵到成人时代再到死亡的过程。

For example, through weighs the result by operator to promote and to set up him to the product quality sense of responsibility and the care, is the Total Quality Management work positive achievement.

例如，通过由操作者自己衡量成绩来促进和树立他对产品质量的责任感和关心，就是全面质量管理工作的积极成果。

It is easy to operate. The PLC control all work. According to different product performance,operator can set different technological parameter by human-computer interface.

操作简易，所有工作均由PLC程序控制，可以通过人机界面，根据不同的产品性能，设定不同的工艺参数。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。