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As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

This paper presents a new method to estimate unknown projections. To achieve better results, we make use of the discrete Radon transform and a set of discrete orthogonal Tchebichef polynomials to establish relationship between the projection moments and the image moments, and then estimate the unknown projections from the known projections using this relationship.

提出一种新的投影数据估计算法，利用离散Radon变换和Tchebichef正交多项式建立图像矩和投影矩之间的关系，并用这种关系从已知投影数据中估计未知投影数据，达到提高重建图像质量的目的。

I thought of their unfathomable distance, and the slow inevitable drift of their movements out of the unknown past into the unknown future. I thought of the great precessional cycle that the pole of the earth describes.

我想到它们远不可测的距离，它们缓慢的不可避免的运动，从木可知的过去走进不可知的未来，我想到地球运转时画出来的一个巨大的圆。

By the iterative functional equation we usually mean an equation containing at leastan n-th iterate〓of an unknown function.A relatively general form of it is〓(1)where〓is a given integer,J is a connected closed subset of the real number axis R,G is a given〓function from〓to R,and f is an unknown function to be solved.

迭代函数方程通常是指含有未知的函数并含有它的至少2次迭代的方程，它的一个比较广泛的形式是〓，对任〓，（1）其中〓是个给定的整数，J是实数轴R的一个连通闭子集，G是个给定从〓到R的〓映射，f是个未知而待求的函数。

Secondly, based on the different structure characteristics and additional conditions, we study several kinds of inverse problems of pseudoparabolic equations. One is a kind of pseudoparabolic inverse problem of identifying a constant coefficient solved by combining the formal solution of the problem and the additional condition properly. The second is the pseudoparabolic inverse problems of identifying an unknown boundary function and an unknown source term solved by using the Riemann function method to get the formal solution of the problem and then using the additional condition to transform the problem into a Volterra integral equation of the second kind. The third is a kind of backward heat flow problem of nonlinear pseudoparabolic equation solved by combining the Riemann function method and the fixed point theory properly.

其次，根据不同模型的结构特点和附加条件，研究了几类伪抛物型方程的反问题：一是利用问题的形式解并结合附加条件，解决了一类伪抛物型方程常数系数的反问题；二是利用Riemann函数方法获得问题的形式解，利用附加条件将问题转化成求解第二类Volterra积分方程问题，解决了一类伪抛物型方程未知边界值的反问题和未知源项的反问题；三是将Riemann函数方法和不动点定理相结合，解决了一类非线性伪抛物型方程的后向热流问题。

Brightness of aware sort is the classification norm of distance classification. Distance classification compares brightness between aware sort and unknown pixels. Angle of spectral line is the classification norm of degree classification. Degree classification compares angle of spectral line between aware sort and unknown pixels.

距离分类器是以已知地物类别的亮度值作为分类基准，通过比较未知类别像元与已知类别像元亮度值间的距离进行分类；角度分类器是以光谱谱线角为分类基准，通过比较n维波段空间中未知类别像元与已知类别像元光谱角度进行分类。

RT-PCR and Real-time PCR analysis revealed that mRNA levels of the FK506-binding protein 12 (FKBP12) and two unknown genes were higher in the diapausing pupae, whereas the ecdysteroid-regulated 16kDa protein (esr16), NADH dehydrogenase 1 alpha subcomplex subunit 6, and two unknown genes were higher in the pupae of diapause termination.

通过RT-PCR和Real-time PCR的方法，鉴定了滞育解除过程中有3个基因表达量在下调，有4个基因表达量在上调。这7个差异表达基因中有3个和已知的基因有较高的同源性：FKBP12，esr16和NADH dehydrogenase 1 alpha subcomplex subunit 6。

There was pressure as the trilobite settled on its unknown runway at an unknown base, and I waited.

当三叶虫在一个未知的基础它未知的跑道上安顿，而且我等候的时候，有压力。

This paper researches the improvement of the vector of unknown parameter α and the vector of random-effect parameter β, including GLSE and LSE in some conditions, discusses the relevant properties of parameter's estimation, and explains the thought of using its unbiased estimator replaced when the variance is unknown.

本文研究了未知参数向量a和随机系数β的参数估计的改进，包括在一定条件下的GLSE和LSE，并讨论了参数估计的有关性质及说明了在方差未知时，用其无偏估计代替的思想。

He must leave home, friends, and country, and go out into unknown paths and press on in unfaltering and go out into unknown paths and press on in unfaltering obedience in order to receive the promises.

也必须先离开本乡、本族、本家，以及一切的朋友，到一个异乡去，然后神才一件一件成就祂的应许。主肯医治十个长大麻疯的，对他们说：「你们去把身体给祭司察看」；他们在什么时候得医治的？「他们去的时候就洁净了。

As of Tuesday, Google's results were still censored in China.

截至周二，谷歌的搜索结果仍受中国审查。

In order to make the positive action increase and negative one decrease, the sub-forces of the social factors must be adjusted to form a centripetal force.

在这一过程中，人的主体性发挥是社会有机体健康发展的灵魂。