几乎

The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

"My wife and I have sex almost every day of the week," Milton Berle once said.

"是的，星期一几乎差不多了，星期二几乎差不多了，星期三几乎差不多了"。

And then some ellipses that AUGR estimator is better than the OLS estimator and AUGL estimator is better than the OLS estimator are given, respectively.Second, the definition of the almost unbiased unified biased estimator is proposed. This definition includes the familiar almost unbiased estimators in literatures, and it is the unified expression of the familiar almost unbiased estimators. Followed the biased and variance are compared of AUUB estimator and the unified biased estimator, respectively. AUUB estimator has smaller bias than UB estimator and the variance of AUUB estimator is between the variance of UB estimator and 4 times of the variance of UB estimator. Finally the properties of AUUB estimator are discussed. The conclusion is gained that there are parameters made AUUB estimator is better than OLS estimator in terms of their mean square error. The sufficient and necessary condition that AUUB estimator is admissible is given. The ellipse is given that AUUB estimator is

然后给出了几乎无偏统一有偏估计的定义，该定义包括了文献中常见的几乎无偏估计，实现了常见几乎无偏估计的统一表达式；接下来我们比较了几乎无偏统一有偏估计与统一有偏估计的偏度与方差，得出了几乎无偏统一有偏估计比统一有偏估计有较小的偏度，几乎无偏统一有偏估计的方差介于统一有偏估计的方差与统一有偏估计的方差的四倍之间的结论；最后我们对统一有偏估计的主要性质作了讨论，证明了存在参数K，S使得几乎无偏统一有偏估计在均方误差意义下优于最小二乘估计的结论，给出了几乎无偏统一有偏估计为可容许估计的充要条件，还给出了在均方误差阵意义下几乎无偏统一有偏估计优于最小二乘估计的椭球。

By getting Lebesgue characteristic of integrable function of Riemann from the definition of Gather zero measure, discussing the relation between almost continuous everywhere and existent of limit, it gets the theory which is from the function integrability to the consecution and from consecution to the limit existence .i.e. the almost limit existence is equal to the almost continuous everywhere in the integrable function of Riemann. It also gets a unified condition which has a wider range than regulated function and comes to the conclusion that the function of bounded variation is the integrable function of Riemann.

通过定义零测度集给出了可积函数的特征，讨论了其几乎处处连续与极限存在的关系，从而得到了从函数可积性到连续性，从连续性到极限存在性的函数特性理论，即可积函数中极限的几乎处处存在与几乎处处连续是等价的，得出比正规函数更加宽泛的统一条件，得出了有界变差函数是可积函数的结论。

By getting Lebesgue characteristic of integrable function of Riemann from the definition of gather zero measure, it discusses the relation between almost continuous everywhere and existent of limit, and gets that the almost continuous everywhere is equal to the almost limit existence everywhere in the integrable function of Riemann.

通过定义零测度集给出了可积函数的特征，讨论了其几乎处处连续与极限存在的关系，即可积函数中几乎处处连续与极限的几乎处处存在是等价的，得出了比正规函数更加广泛的统一条件，得出了有界变差函数是可积函数的结论。

We provide a substitution box, exponential permutation which has much measurable security, and give a enumerating result and a fast algorithm of calculating such permutation. An almost perfect nonlinear exponential permutation with high algebric degree is proposed. with some discussion on how to select the parameters of such permutation. The experimental result shows us a conjecture that there exists no such permutation over even dimensional space. As a way of generating substitution boxes, we briefly point out the cryptographic weakness of the exponential functions derived from such permutation. We also present two new cryptographic indexes, fixed point and cyclic structure, on which we investigate the performance of such permutation. Finally, we give a viewpoint about the application of correlation immune functions in designing substitution boxes.

提供了一种可度量安全强度的代换盒－幂置换；详细阐述了幂置换的实现和计数问题；给出了一种计算幂置换的快速算法；从几乎完善非线性幂置换角度讨论了幂置换参数的选取，并提出了一种高次几乎完善非线性置换；通过试验给出了关于偶数维空间上几乎完善非线性幂置换的一个猜想；简要给出了由幂置换派生出的幂函数的密码局限性；针对幂置换，提出了两个密码安全指标：不动点和循环结构；证明了幂置换在这两个指标下的密码性能；简要讨论了相关免疫函数与代换盒设计的关系。

Looking from the history longitudinal, the corrupt culture's main body nearly is the imperially appointed official, their nobody does not read book of the saints and sages, does not have the official not to say cultivates oneself and puts one's house in order maintaining peace, actually also nearly does not have the official not to incur the power to accept bribes, does not have the official not to take bribes and pervert justice; Inspects from the crosswise aspect, besides the government official social stratum's corruption, the rich person has the rich person "corrupt", the poor person also has the poor person "corrupt"; Regarding corrupt is nearly nobody does not hate, however the corruption actually is also that "strikes root in the hearts of the people".

从历史的纵向来看，腐败文化的主体几乎都是朝廷命官，他们无人不读圣贤之书，无官不讲修齐治平，却又几乎是无官不招权纳贿，无官不贪赃枉法；从横向方面考察，除官吏阶层的腐败外，富人有富人的"腐败"，穷人也有穷人的"腐败"；对于腐败几乎是无人不恨，然而腐败却又是那么"深入人心"。

The animal hardly makes any movement, hardly use any energy, and hardly needs any rood.

冬眠的动物几乎没有什么活动，几乎也不消耗什么能量。因此它也几乎不需要什么食物。

We could be very simple minded as chemists, but since hardly any chemists knew of the problems, and few biologists could do any chemistry, we had the problem pretty much to ourselves!

我们只要像化学家那样简单地思考就够了，但是既然几乎没什么化学家知识这些难题，也几乎没什么生物学家懂化学，这些难题几乎就是专属于我们的！

You almost masturbated, he almost got it up - you almost had sex.

你几乎要自慰，他几乎要勃起合起来你们几乎发生关系

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。