关节的

The arthroscopic portals and synovial membrance of carpus in cows were studied in this experiment by using arthroscopy.

应用关节内窥镜对奶牛腕关节的进镜部位和滑膜形态进行了研究。

Second, based on the screw theory, the'virtual joint'concept was proposed. By means of this concept, the conventional trajectory planning in Cartesian space was converted in the 'virtual joint'space, that is, the complex trajectory planning in Cartesian space was simplified by utilizing the trajectory planning in the'virtual joint'space.

第二、基于旋量理论提出了"虚拟关节"的概念，利用这一概念可以将传统的笛卡尔空间的轨迹规划转化成"虚拟关节"空间的轨迹规划，也就是说，利用简单的关节空间的轨迹规划方法实现了复杂的笛卡尔空间的轨迹规划。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

The mean MSTS score were 22.5±1.6 in modular prosthesis group, 24.6±1.4 in osteoarticular allograft group, 27.0±1.5 in APC group respectively.

肱盂关节的外展度数：肿瘤型假体组42.2 4.5 ，异体半关节组48.3 5.3 ，APC移植组58.0 5.7 ，三组间差异有统计学意义（F=15.40，P=-0.000）。

Both partial and complete dislocation cause pain and unsteadiness in the shoulder.

肩关节部分脱位和完全脱位都可以导致肩关节的疼痛和不稳。

The models of articulation as seen in the lateralroentgenograms of the patellofemoral and tibiofemoral joints were correlated with the anatomy of surface of distal end of femur.

测量这些圆弧表面的半径、圆弧所对的圆心角以及它们的圆心之间的距离，并且把髌股关节和股胫关节侧位X线片上看到的关节的模型和股骨远端表面的解剖学结构相对应。

The radii of these surfaces, the angles they subtened, and the distances between their centers were measured in lateral roentgenograms. The models of articulation as seen in the lateralroentgenograms of the patellofemoral and tibiofemoral joints were correlated with the anatomy of surface of distal end of femur.

测量这些圆弧表面的半径、圆弧所对的圆心角以及它们的圆心之间的距离，并且把髌股关节和股胫关节侧位X线片上看到的关节的模型和股骨远端表面的解剖学结构相对应。

Making use of the low speed and large torque of ultrasonic motors,we designed a five-fingered dexterous hand driven by ultrasonic motors.

利用超声电机低速和大转矩的特性设计了由其驱动的五指灵巧手，传动方式采用的是腱传动方式，每个手指均有4个自由度和4个关节，即其手指具有相互独立的关节，从而可以使手指末端两个关节的运动完全依照人手的二次运动方程耦合关系进行运动规划。

In terms of the fact that Skinned Mesh Animations based on Matrix palette skinning does not work well for non-quasi-articulated objects, this paper presents a new technology for skin deformation, skinning arbitrary deformation,which can set proxy-joints,automatically construct skinning approximations for arbitrary precomputed animations,and use dual quaternion for skinning .

针对利用MPS驱动的骨骼蒙皮动画对于非关节的对象精度不高的问题，提出了基于MPS的任意变蒙皮，该技术在任意动画上设置代理关节，自动为预先处理的任意动画的每一帧构建蒙皮相似量，利用二重四元数蒙皮，实验表明，SAD不仅能够有效地驱动非关节元素对象提高精度，而且能够充分利用MPS的优点

A method for approximate NURBS skinning ;2. In terms of the fact that Skinned Mesh Animations based on Matrix palette skinning does not work well for non-quasi-articulated objects, this paper presents a new technology for skin deformation, skinning arbitrary deformation,which can set proxy-joints,automatically construct skinning approximations for arbitrary precomputed animations,and use dual quaternion for skinning .

针对利用MPS驱动的骨骼蒙皮动画对于非关节的对象精度不高的问题，提出了基于MPS的任意变蒙皮，该技术在任意动画上设置代理关节，自动为预先处理的任意动画的每一帧构建蒙皮相似量，利用二重四元数蒙皮，实验表明，SAD不仅能够有效地驱动非关节元素对象提高精度，而且能够充分利用MPS的优点。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。