使归化

Before separating, we mark three points which are not collinear of the object firstly; secondly we use homogeneous coordinates and normalization to deal with the date we measured, which can make the date work for the system we developed.

在分开待测物之前先标定待测物体不共线的三个点，在分开以后进行坐标变换还原数据，然后归一化所得数据，使数据直接应用于系统。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

The difference of optical path loss of each receiving fiber reduces the measurement accuracy of this system.

实验证明系统测量角度范围-0.16 rad～0.16 rad，归一化修正方法使系统测量分辨率提高到了3.8×10-4 rad。

Although the perpetual objects of Ri Guang Liu Nian, Shou Huo, Ding Zhuang Meng is different, the concrete writing patterns is similar. Imaginary abstraction as narrative premise, desalinizes diseases'pathological meanings, provide a valid condition for novelistic telling; as narrative strategy, plots absurdity completes to rewrite and reconstruct the history and the reality, which makes narrative behavior develop freely; as narrative purpose, solemn and inevitable ending makes the word have fatal colors, ultimate meanings can be showed.

虽然《日光流年》、《受活》、《丁庄梦》的关注对象不同，但在具体的写作中呈现出共同的叙事模式，即以意象的抽象化作为叙事前提，淡化疾病的病理学含义，为小说的讲述提供有效条件；以情节的荒诞化极端化作为叙事策略，完成对历史和现实的改写与重构，使叙事行为能够自由发展；以结局的悲壮和必然作为叙事旨归，为文本染上宿命的色彩，残病叙事的终极意义得以彰显。

The results show that the signal noise ratio of MFL signal was improved significantly.

结果表明，采用归一化最小均方自适应滤波方法可使缺陷漏磁信号的信噪比得到显著的提高。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。