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The quaternion calculation for spacecraft attitude determination is investigated in this paper,including the transformation between quaternion and the direction cosine matrix,the quaternion differential equation,the selection of time steps for integrating the quaternion equation,and the compensation methods for the noncommutativity error in high dynamic motion.

介绍了四元数计算中的相关问题，包括四元数与方向余弦阵之间的转换、四元数运动方程、求解四元数运动方程时积分步长的选取和高动态应用中非互易误差的补偿，此外还介绍了对偶四元数的发展。

The system parameters are determined by optimizing an output-error cost function. To deal with the non-uniqueness of the fully parameterized state-space system, a projected gradient search algorithm is presented by restricting the update of the parameters to the tangent space to the manifold of observationally equivalent state-space systems. The sufficient condition to employ L-M algorithm for optimizing parameters is also introduced. The proposed hierarchical optimization identificationmethod includes two steps: First, the parameter search direction is determined by the proposed adaptive L-M projected gradient approach; Second, the optimum step size is computed according to a line search method.

通过极小化输出误差目标函数获得了系统参数估计；提出了正交梯度搜索方法用于解决系统参数的非唯一性问题，正交梯度搜索的本质是在输入-输出等价类相切平面的正交垂空间更新系统参数；给出了用 L-M 算法进行参数优化的充分条件；提出的系统参数递阶优化辨识方法包括两步：首先用给出的自适应 L-M 算子正交梯度方法确定参数优化方向；其次由一维搜索方法计算最佳步长。

Finally, the factors and steps of design of evaluation scheme for DIS system were studied.

最后，探讨了具体的分布交互仿真系统评估方案设计所应考虑的主要因素和设计步骤。

We must see to it that nuclear-weapon states take concrete steps towards nuclear disarmament.

我们必须督促拥有核武器的国家采取具体的措施来解除核武器。

If not they follow the above steps again except they disassemble the case and blow it out.

如果他们不遵守上述步骤再次除拆开的情况，并打击了。

There are, however steps you can take to discourage them.

还有，你可以采取的步骤，但劝阻他们。

After discussing the general methods and solving steps, we study and give the discrete functions under the flow field situation for different accuracy demand, and then make the numeric calculation.

首先论述水平集方法的一般原理及解决问题的流程。然后，针对速度场的情况，研究并得出了多种求解精度要求下水平集方程的离散表达。

The change happens in a series of discrete steps.

变化在一系列不连贯的步骤而发生。

These computers operate in a series of discrete steps.

这些电子计算机以一连串不相关联的步骤操作。

It suggests a belief that intelligence is the output of a mechanical process, a series of discrete steps that can be isolated, measured, and optimized.

它表明了一种信念：智能是一种机械过程的输出，一系列被孤立、衡量和优化的不相关联的步骤。

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。