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But in fact, the system of half-tracked air-cushion vehicle is over complicated. When the vehicle drives in an unknown soil, the parameters and structures of controlled member will change with load or disturbances. This system is nonlinear and time-variant, and it is very difficult to analyze its transfer function and state function quantitatively.

然而在实际工作中，由于本课题中的系统过于复杂，当行驶在未知土壤条件下时，被控对象往往随着载荷或干扰因素影响，其特性参数或结构发生改变，属于非线性和时变性的不确定系统，它的传递函数或状态方程难于用传统的定量分析方法加以实现。

In this paper the dynamics characteristics are analyzed theoretically at first. According to the unique configuration and mechanics characteristics, the mechanics model and kinetic differential equation of the half-tracked air-cushion vehicle are established. Algorithm of mechanics and lifting-state parameters are put forward and analyzed. And variation ranges of the driving state parameters are obtained and the corresponding influence factors are analyzed. The further qualitative studies on control model are carried out.

因此，本文首先从理论上分析了半履带式气垫车的动力学特性，根据半履带式气垫车的独特结构和力学特性，建立了半履带式气垫车的力学模型和相应的运动微分方程，提出并分析了在纵摇与升沉运动时，半履带式气垫车的力学参数和垫升状态参数的计算方法，得到了在行驶过程中各运行状态参数的变化规律，并分析了相应的影响因素，进而对控制对象模型进行了定性研究。

The dynamic characteristics of the half-tracked air-cushion vehicle are different from other conventional vehicles. Its mechanical equation includes several parameters being related to propulsion system, air-cushion system and soil condition. This system is a higher order nonlinear time-variant system with a delay.

由于半履带式气垫车的力学特性不同于以往的常规车辆，其动力学模型包含与驱动系统、垫升系统、地面条件等有关的多个参数，属于大滞后的高阶非线性时变系统。

In order to prove the reliability, test studies have been primarily carried out in the indoor soil bin. The data of the vehicle driving state parameters under the same or different terrain are analyzed. The process curves are compared by different control schemes. The theoretical model of the optimum driving state is reliable and fuzzy control scheme is feasible. The disturbances and unknown factors of control system are analyzed. Test results prove that the half-tracked air-cushion vehicle can drive steadily under control of the computer. At the same time the sensors used to measure soil mechanics characteristics on line need to be developed. And it is the important problem to be solved in the future study. The necessary regulation and correction are put up. So the studies in this paper provide some instruction for the further research work.

为了验证本文提出的最佳工作状态及最佳垫压理论，并分析控制系统的可靠性和稳定性，本文在半履带式气垫车的模型车上，在室内土槽中进行了初步的实车性能和理论验证试验，考察了在同种和不同土壤条件下气垫车的行驶状态参数的测量数据，比较了采用不同控制方法下的过程曲线，验证了最佳工作状态的理论模型和模糊控制系统方案的可行性与可靠性，从而保证了采用自整定模糊PID控制器能够使半履带式气垫车在稳定行驶最佳工作状态下；同时通过试验研究，分析了系统中各干扰与未知因素，对控制方案进行了相应的调整和修正，为今后进一步的研究工作提供了一定的指导。

Because the half-tracked air-cushion vehicle is driving on the bad soil conditions, especially on the soft and wavy terrain, the driving state parameters will change and deviate from the optimum state values.

由于半履带式气垫车工作环境恶劣，特别是路面起伏大，土壤较软等，同时可能会受到各种严重干扰，引起状态参数发生改变，而远离最佳工作状态。

In search of a second opinion, Poblete tracked down amyloidosis experts on the Internet.

为寻求其他专家的不同意见，波夫莱特在网上查询淀粉样变性方面的专家。

Six motion parameters were tracked. Repeated measures statistical analysis was performed to evaluate angular and translational motion.

六种活动参数被记录，测试将多次重复以分析椎体的角位移和平移位移。

The metabolites of endophytes fungus was developed with 2D-TLC, and antibacterial active components was detected and tracked by bioautography of Bacillus subtilis model and TTC coloration. Result: The results showed that the development system screening was easy, and antiblastic spot was accurate and limpid.

以二维薄层色谱将金钱松内生真菌代谢产物样品展开，以枯草芽孢杆菌为指示菌，氯化三苯四氮唑为显色剂，采用培养基覆盖生物自显影技术对其抗细菌活性成分进行检测、追踪。

At different stages (1, 3, 5, 7, 9, 11, 14, 18 and 21 d after injection), the spontaneous behavioral abnormalities were observed. the changes in the contralateral rotations induced by apomorphine and the spontaneous behavior in the rats in the open-field tests were tracked.

术后1、3、5、7、9、11、14、18和21 d，追踪观察大鼠自主行为和阿扑吗啡诱导的旋转行为变化；开野实验观察大鼠自发运动行为改变。

Patient safety is apriority in most health care professional''s practice.The thought of dispensing amedication where the handling of it could not be tracked violates the rules of asafe,professional practice.

在多数医护行业，病人的安全是头等重要的事情，分发某种药物而不能追溯其如何处理的这种做法，违背了职业操作的安全规范。

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。