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In this paper,pose representation by quaternions are researched.With the basic quaternion algebra,the "quaternion based rotations combination theorem" is introduced and proved theoretically.On the basis of this theorem,a method for compute of pose nonliear state transfer function and its linearization is purposed.Then,the computing of the measurement function and the linearization is studied.With the Extended Kalman Filter,the pose is tracked and estimated.

研究用四元数表示物体的姿态，在四元数基本运算法则基础上提出并证明了"基于四元数的多个旋转运动合成规则"，然后将此规则为依据，推导出一种用来计算姿态非线性状态方程系数的方法，对非线性状态转移函数进行线性化，并且研究了测量方程函数的确定及线性化，借助扩展Kalman滤波实现了对姿态的跟踪。

This paper analyses and implements a kind of UHF Near-Field RFID Reader Antenna. Moreover, it calculates and simulates the impedance and radicalization feature of this antenna theoretically.

本文设计并实现了一种RFID阅读器近场耦合天线，并对该天线的阻抗特性和辐射特性进行了理论计算和仿真。

Theoretically, there are infinite arrangements of position and exposure time of the radioactive source for a given treatment.

理论上对一固定治疗方式射源位置及暴露时闻有无限多的排列方式。

The advantage and disadvantage of NMF model have been analyzed theoretically and practically by numerical integrals of radiosonde data.

相比于原来的公式，在低高度角的观测精度上可能有一定的提高。

The advantage and disadvantage of NMF model havebeen analyzed theoretically and practically by numerical integrals of radiosonde data.

相比于原来的公式，在低高度角的观测精度上可能有一定的提高。

Firstly, the random walk problem is introduced and the solution is schemed out theoretically. And then, the equivalent RC circuit for thermal analysis is discussed as the IC package is divided into many small blocks at the desired level of granularity. The techniques of analyzing the equivalent RC network by random walk algorithm are then discussed. At the same time, an equivalent model for thermal analysis is set up according to an IC chip. The proposed method is then applied to this model for both steady and transient analysis. Two speedup strategies, pseudo parallel walking and walk results reuse, are proposed sequentially to improve the algorithm performance.

首先简述随机行走问题的基本概念，给出问题的理论解法；然后讨论基于三维网格划分的IC芯片热等效阻容网络模型，着重分析随机行走算法在热等效模型中的应用，并建立一个实际芯片的热等效模型，采用随机行走算法模拟计算模型的稳态温度分布和瞬态温度变化；最后针对随机行走算法应用中的不足，提出了伪并行行走和结果重用2种加速技术。

The escape rate of lunar atmosphere molecules is calculated theoretically to explain the rareness of lunar atmosphere.

文章从理论上计算了月球大气分子的逃逸率，解释了月球大气稀薄的原因。

Part Four.The main conclusion and some contents need to discuss in the near future. This article has the system construction of the risk of the factor the company may face to and analyzed the reasons of risk completely;then have some measures for them. Analyzing the reasons of these risks theoretically, and put forward to guard against these risks;End, this text analyzed the risk of the bank when they develope the international factoring combining with the Chinese situation and the writer rasied the solutions.

四、主要结论和有待继续研究之处本文对于学界鲜有系统论述的保理商的风险问题进行了比较完整的体系建构；全面系统的论述了保理商在从事国际保理业务时可能面临的风险；从理论上分析了产生这些风险的原因，并相对于这些风险提出了比较完备的防范措施；最后，结合中国国情来说明我国银行在开展国际保理业务所面临的障碍，并针对这些障碍提出了相应的应对措施。

Therefore, based on the re-search achievements of the anatomic structure and physiological function, the visual functions mentioned before are analyzed theoretically, so as to simplify human being's complex system, to design a visual device for a humanoid robot.

为此，我们以人的视觉生理学和解剖学研究成果为基础，对上述人的视觉机理进行研究，目的是简化人类复杂的视觉反馈系统，研制出相应的仿人形机器人视觉系统。

Theoretically and practically, the study of reactive power optimization in power system is of great significance.

因此，对电力系统无功优化问题的研究，不仅具有理论意义，对电力系统的实际运行也有重要意义。

They weren't aggressive, but I yelled and threw a rock in their direction to get them off the trail and away from me, just in case.

他们没有侵略性，但我大喊，并在他们的方向扔石头让他们过的线索，远离我，以防万一。

In slot 2 in your bag put wrapping paper, quantity does not matter in this case.

在你的书包里槽2把包装纸、数量无关紧要。