可驱动的

On the base of applied tech. and system structure, the key tech. are expressed in detail. It includes:Knowledge representation technology: it is described in two stages by "Depictive frame + Rule group"."Depictive frame" is used to reflect the factors concerning question field."Rule group" reflects the son-question in question field; knowledge management system: it is made up of knowledge-base editing component, factor classifying component, knowledge inspecting component and extractive knowledge component; uncertainty reasoning adopt method of elicitation search strategy and data drive controlled by member knowledge. It take reliability of compound proof at first. That can resolve the matching contradiction. Reasoning explanation introduce pre-text and followed method of resolving path. Knowledge discovery component take SLIQ as basic arithmetic. It provides classification model in two stage forms which aim at training suit. That is decision tree and productive rule.

在确定应用技术与系统结构的基础上，重点阐述了本文的核心技术，这包括：知识表示技术，采用"描述框架+规则组"的层次结构，"描述框架"用于描述问题域所涉及的因素，"规则组"反映问题域内的子问题；知识管理系统，由知识库编辑构件、因素分类构件、知识检测构件和知识求精构件组成；不确定性推理机采用启发式搜索策略，元知识控制的数据驱动，以复合证据可信度优先作为匹配冲突消解的策略，推理解释采用预置文本与求解路径追踪的方法；知识发现，采用SLIQ快速可伸缩算法，分类模型用判定树与产生式规则两种形式描述。

The main content of this thesis is as follows: 1The structures of EPS are analyzed. The main components of EPS are introduced in detail. Then the distributed torque in EPS is analyzed and the control system model is set up. 2Three control modes are discussed and the control strategy of EPS is studied in detail. Three principal modules in the control strategy are discussed—the predicted module which predicts motor rotational speed and steering rotational speed, the power-assistant module and the return control module. 3The assistant torque curves of the motor are designed by using the B-spline, so that any kind of custom-built assistant torque curves can be designed according to different kinds of automobiles. 4The hardware frame of EPS is studied. The developed controller based on 8-bit MCU MC68HC908MR8 is introduced and many related circuit units are designed, including the control circuit, the driver control circuit and so on. The software structure is discussed, then the steering control program flowchart is given.

本文的主要工作有： 1分析了EPS 的总体构成，对EPS 的各个部件作了详细的介绍，并在此基础上分析了EPS 的受力情况，建立了控制系统模型，并研究了EPS 的安全性能； 2讨论了EPS 的三种控制方式，提出了控制策略，并讨论了其中三个关键模块的作用：预估模块包括对电机转速和方向盘角速度的预估，助力控制模块以及回正模块； 3用B 样条插值方法进行EPS 助力曲线的设计，可按照用户的要求设计任意形状的助力曲线，以满足不同车型和不同用户的要求； 4研究了控制系统的硬件结构，以MC68HC908MR8 为核心设计了控制器，详细讨论了控制器的控制电路、驱动电路等；设计了控制系统的软件，给出了控制程序流程图，并对要点进行了详细的说明。

On the base of applied tech. and system structure, the key tech. are expressed in detail. It includes:Knowledge representation technology: it is described in two stages by "Depictive frame + Rule group"."Depictive frame" is used to reflect the factors concerning question field."Rule group" reflects the son-question in question field; knowledge management system: it is made up of knowledge-base editing component, factor classifying component, knowledge inspecting component and extractive knowledge component; uncertainty reasoning adopt method of elicitation search strategy and data drive controlled by member knowledge. It take reliability of compound proof at first. That can resolve the matching contradiction. Reasoning explanation introduce pre-text and followed method of resolving path. Knowledge discovery component take SLIQ as basic arithmetic. It provides classification model in two stage forms which aim at training suit. That is decision tree and productive rule.

在确定应用技术与系统结构的基础上，重点阐述了本文的核心技术，这包括：知识表示技术，采用&描述框架+规则组&的层次结构，&描述框架&用于描述问题域所涉及的因素，&规则组&反映问题域内的子问题；知识管理系统，由知识库编辑构件、因素分类构件、知识检测构件和知识求精构件组成；不确定性推理机采用启发式搜索策略，元知识控制的数据驱动，以复合证据可信度优先作为匹配冲突消解的策略，推理解释采用预置文本与求解路径追踪的方法；知识发现，采用SLIQ快速可伸缩算法，分类模型用判定树与产生式规则两种形式描述。

Based on these results, it was concluded that in conditions where eye movements are needed, besides saccadic suppression, the higher central system must calculate and control the eye movements, which affects its capacity to process the text information.

通过固定窗口显示方式和知动窗口显示方式条件下中文阅读的比较，排除了强迫阅读的因素，说明有无眼动是产生阅读速度差异的主要原因；根据以上实验结果，可得出结论，在有眼动的情况下，除了saccade抑制影响阅读和识别外，主要的因素在于高级中枢对位置信号的处理，眼动的驱动控制及运动过程影响了高级中枢对阅读内容和识别内容的解码速率。

The article introduces some needed resolving problems. It brings forward principium of control, How can drive the servo signal and X and Z to the coordination of movements; How to change the feed rate; design of system structure, confirmation for input and output point, I / O address allocation;and also the project for speedup/down control during the screwthread processing. Method of programming design and manual operation trapeziform figure in system of numerical control lathe Corresponding project to problems is provided synchronously.

介绍可编程控制器应用于车床数控系统需要解决的问题，如何产生驱动伺服机构的信号及X、Z向的动作的协调；如何改变进给速度等；提出PLC作为数控机床主控制器的控制原理；系统结构设计；输入/输出点数确定及输入/输出点的地址分配；螺纹加工中升、降速的解决方案；程序设计及具体操作梯形图设计的方法，并给出相应的解决方案。

And the old ways of earning a living rivalled by new agricultural techniques

古老的谋生之道正受到新的农业技术、新的贸易、新的行业的挑战；这种新贸易是与世界上一向无人知晓的地区进行的贸易，而种种新行业则是使用一些无需传统的人力畜力驱动、可节省劳动力的奇特机遇。

And the old ways of earning a living rivalled by new agricultural techniques,by commerce with hitherto unknown parts of the globe, and by new crafts with strane machines that saved labor and that ran without the traditional human or animal power

古老的谋生之道正受到新的农业技术、新的贸易、新的行业的挑战；这种新贸易是与上一向无人知晓的地区进行的贸易，而种种新行业则是使用一些无需的人力畜力驱动、可节省劳动力的奇特机遇。

According to the function of distributed emulator, optical information processing and image multi-object tracking system, the following three aspects were emphasized in this dissertation. Firstly, a vast virtual terrain, ground radar models and canyons were created for the distributed emulator with modeling software Creator. The radars were driven to scan during emulating and the real time terrain code was sent to Radar module. Secondly, an optics channel simulating the optics camera of a virtual aircraft was implemented with simulating software Vega. The 2-D information got from the channel was translated and sent to multi-sensor information fusion system as an optics information source. Thirdly, the dissertation studied some motion estimation methods and analyzed the factors which influence the speed and the precision of the block matching algorithms. Then an improved block matching method was proposed for image multi-object tracking system and applied in the system combined with frame difference method.

论文根据多传感信息融合实验系统中的分布式飞行仿真系统、光学信号处理器和图像多目标跟踪系统三个子系统的功能要求，具体完成了以下三方面的工作：首先利用建模软件Creator创建分布式飞行仿真系统中的大面积地形、场景中的地面雷达模型和峡谷地形，并在仿真过程中实时驱动雷达模型的扫描，同时为后续雷达仿真模块提供实时地形编码；其次利用仿真软件Vega，在分布式仿真系统中为光学信号处理器设计实现了光学通道，模拟飞行器的光学摄像机的功能，并且对由此通道获得的目标二维光学信息进行转化处理，作为光学信息源发送给后续的多传感信息融合器；最后针对图像多目标跟踪系统，在研究图像分割运动估计算法的基础上，通过分析影响块匹配算法速度和精度的因素，改进了块匹配运动估计算法，结合差分法可应用到目标跟踪系统中。

Focusing on the unique characteristics, multi-driven and structure-alterable two-vehicle, of the dexterous window-cleaning robot, this paper puts forward a completely distributed robot system with cell structure and distributed intelligence.

本文针对灵巧擦窗机器人的多驱动、可构形双车体的特点，提出了一种&单元结构、分布智能&概念的完全分布智能式机器人体系结构，并且，在此基础上对灵巧擦窗机器人控制系统的实现结构、全局规划、运动学模型、镇定和跟踪、分布式软件结构和实现、硬件系统的研制等方面的问题进行了深入的研究。

Strausak Fine milling machine Typ 82 CNC / ATEK 5500 OPERATING/INSTRUCTION MANUAL（Strausak AG Maschinenfabrik CH-4573 Lohn/SO Schweiz/Suissse/Switzerland）[3]. CNC-Description with Hardware-Specification/ Standardversion for 7 axes （issue march 1992 GRUNDIG ATEK SYSTEM AG ATEK 5500）[4]. INTERACTIVE UNIX OPERATING SYSTEM VERSION 4.1 RELEASE NOTES （SunSoft Part No.:801-5068-10 Revision A,May 1993

对82CNC数控铣床PC控制主机的升级改造涉及硬件系统和软件系统两个方面：在软件方面，采用硬盘克隆的方式并注意掌握好克隆过程中的关键技术细节，根据升级后所选用的功能组件和运行的硬件平台的不同来合理地裁减和配置相关的内核、驱动、BIOS设置，不仅可达到&事半功倍&的效果，还能彻底摆脱外方在技术上的封锁和限制，构建真正适用于企业环境的MMI操作界面，并拥有灵活的组网方式和自主的维护方法。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。