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For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

Blood samples from 23 Huacaya alpacas ,3 males and 20 females ,were used to study chromosome karyotype ,so as to provide some effective cytogenetics basis for the selectioiymprovement by crossing and disease diagnosis of alpacas ,and genetic mechanisms of sex determination. Peripheral blood lymphocyte culture was used to prepare chromosome. Methods of trypsase-EDTA and BSG (Barium hydroxide / Saline / Giemsa)were used for G-banding and C-banding respectively . The results showed as follows:Firstly , the number of diploid chromosomes was in the alpacas 2n=74,with the karyotype 74, XY and 74, XX for males and females respectively.

为了从选种、杂交改良、疾病诊断以及性别决定的遗传机制等方面为羊驼的繁育与推广提供更为有效的细胞遗传学资料，本试验采用外周血淋巴细胞培养法制备染色体，分析了23只胡阿基亚型羊驼(Huacaya alpaca，雌20只，雄3只)的染色体及其核型，并通过BSG法(Barium hydroxide／Saline／Giemsa，氢氧化钡-盐溶液-吉姆萨，也即Sumner BSG法)与胰酶-EDTA法分别对羊驼的C-分带和G-分带进行分析，结果表明：(1)羊驼二倍体染色体数目为2n=74，雄性羊驼核型为74，XY；雌性羊驼核型为74，XX。

Used to do , be used to doing 与be used to do

不能与表一段时间的状语连用。

Especially, the technology of Automatic Gain Control and signal processing are studied which are key factors working on the performance of the receiver. Based on analyzing the theory of automatic Gain Control, operational amplifiers 0P37 and logarithmic D/Aconverter AD7111A are used to design variable gain amplifiers which can be controlled numerally, A/D convector LTC1405 is Used to test the echo, Complex Programmable Logic device is used for controller, and an arithmetic is designed for automatic Gain Control which is simulated and analyzed in order to test its feasibility.

本文在分析自动增益控制AGC原理的基础上，采用集成运放OP37和数控增益衰减器AD7111A设计可数字控制的可变增益运放模块；采用高速A／D转换器LTC1405作为回波信号检测模块；采用复杂可编程逻辑器件CPLD作为核心控制模块，构成数字自动增益控制电路，并设计粗调和细调步进控制相结合的算法，对回波信号的增益进行精确而快速的调节控制，使回波信号振幅快速稳定在设计指标范围内，利于接收机后续信号处理电路对回波信号作进一步的处理。

Or more of current CEOs used to be company presidents; 20% or more of current COOs used to be vice-president of operations; and 20% or more of CFOs used to be financial controllers.

％或更多的CEO们目前使用的是公司总裁； 20 ％或更多的电流库斯曾是副总统的行动；和20 ％或更多的首席财务官必须使用财政控制器。

The solder removing device comprises the restoring chamber(37) used to store the liquid heating medium whose temperature is above the solder's melting point, the substrate conveying machine used to convey the defectively soldered substrate in and out the solder treating pond, and the brush(45) used to rub the surface of the defectively soldered substrate immerged in the heating medium in the solder treating pond and rub off the solders which are over heated by the heating medium.

焊料移除设备(31)包括用于存储温度高于焊料的熔点的液体形式的加热介质的修复腔室(37)、用于输送有缺陷地焊接的基片进出焊料处理池的基片运输机、和用于摩擦浸入焊料处理池内的加热介质的有缺陷地焊接的基片的表面由此擦去通过加热介质过度加热的焊料的刷子(45)。

The main achievement is as following: Present a new software structure with insert mode based on diagram and data platform. With this structure the software can be used in various voltage levels of power networks by switching function groupware with corresponding edition. Therefore it is important to solve software universality and developability.(2) Present a new idea that any operating condition is combination of running mode of plant or station, power supply topological and rules of equipment maintenance. This idea is very useful at simplifying setup and choice of operating conditions and ensuring calculation result correction.(3) Present a new idea of protection setting examination and rectification. Protection setting examination is used to examine the selectivity、 sensitivity and speed under certain operating condition, and pass an opinion whether these settings are wrong;Setting rectification is used to calculate new relay settings when error is found in setting examination.(4) Point out that interaction design is the key step in developing power system application software,which can secure usability.

主要成果有：(1)提出了以图形/数据平台为基础的插件式软件结构，通过配置不同版本的功能插件即可应用于不同特点的电网，对解决软件的通用性和可发展性具有重要意义；(2)提出了基于厂站方式、供电方式和检修规律相组合的运行方式分解方法，它能有效提高运行方式选择的合理性与全面性，使定值计算的正确性得到保障；(3)提出了保护定值校正的思想并进行了软件实现，它能检测当前保护定值在选择性、灵敏性、快速性等方面是否适合当前的运行方式，并对不正确的定值进行纠正；(4)指出交互设计应作为电力系统应用软件开发中的一个关键步骤，目的是保证软件的可用性，并对软件开发的过程进行了总结，提出了许多有益的实践经验。

The scale 7, 10 and 13 are used to extract the feature vectors, which are used to train the artificial neural network. The trained neural network is used to classify semen cuscutaes and Japanese dodder seeds, which are collected from different places all over the country.

选择第7、10、13分解层数的特征向量，进行人工神经网络训练，再用训练出来的网络对不同产地的植物种子菟丝子和金灯藤所得FTIR小波提取的特征向量进行分类。

The constituent ratio, prevalence and average ectoparasite abundance were used to reflect the prevalence and density of ectoparasites. Non-parametric Mann-Whitney U-tests were used to test differences in the abundance and richness of ectoparasites between female and male hosts. Spearman correlation analysis was used to analyze the relationship between ectoparasites and the body parameters of hosts.

用染虫率和虫指数反映体表寄生虫的流行和密度状况，用统计分析中的非参数检验（Non-parametric Mann-Whitney U）分析雌雄小兽宿主间寄生虫数量差异，用Spearman相关分析分析体表寄生虫数量与宿主身体参数的关系。

Octree is used to save memory space, the method of growing from inside and carving from outside is used to find exact edge of defect, and the isosurface extracted through MC is used to get final reconstruction model by topology simplification.

该算法使用八叉树来节省内存，并同时从内部增加和外部切除体素的方法来准确找到缺陷的边缘，利用MC提取的等值面经过拓扑简化得到最终的重建模型。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了