多形

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。

An auxiliary power motor with improved structure includes wheel shell, rotor ring, stator plate, central wheel axle and control circuit.

一种改良结构的辅助动力马达，包括轮壳、转子环、定子盘、中心轮轴及一控制电路，转子环的内环面埋设磁铁，定子盘周围固设环形矽钢片，其外环面具有多个T形齿牙，其齿数为非转子环磁铁数的公倍数，矽钢片设有三相星形线圈绕组，且于定子盘电机最佳启动角度处设有霍耳元件组；借此将定子盘固设于中心轮轴，令轮壳夹设住转子环并套设于中心轮轴两侧，当转子环旋转时，即可降低磁极间的钝齿转矩，令电动车行进更加顺畅无噪音。

Plants erect, loosely clumped or not clumped; stems mostly well-branched throughout; leaves 1-4.5 cm, linear to narrowly lanceolate.

植株直立，松弛丛生或而不是丛生；全部的多数的茎多分枝；叶1-4.5厘米，线形的到狭披针形。

Thin wall box shape section is a kind of structure generally adopted for machines.

薄壁多室箱形截面是机械结构中常见的一种结构形式。

Gadget of the Day: The Multipot - This sweet little device is a hybrid, multifunctional lamp, which combines a LED ambient light, a Multisocket, and a lower vase-shaped, containing space to tidy away any extra cabling.

& 玩意儿的一天：multipot -这是一个可爱的小装置&杂交、多功能灯既有带领周围轻，multisocket、低花瓶形、含用地以外的任何额外布线整齐。

The mathematical model of complex countercurrent multi-effect evaporation with condensed water flash is established, which aims at minimum annual cost (including cost of fresh vapor, vacuum pump power, evaporator, maintenance and depreciation).Based on such decisive variables as the pressure of fresh vapor, the pressure of condenser and heat-transfer mean temperature difference of vari-effect,the model is solved by the complex method,Lagrangian multiplier method, iteration method and matrix method.The practical example indicates that the influence of the pressure of fresh vapor, the pressure of condenser and flash of condensed water on the optimum design results is notable.

建立了带有冷凝水闪蒸的复杂逆流多效蒸发系统优化设计的数学模型，该模型以整个蒸发系统的年总费用(包括加热蒸汽年费用、真空泵年动力费用以及蒸发器和辅助设备的年折旧维修费用等)最小为优化目标，以生蒸汽压力、冷凝器真空度及各效有效传热温度差为决策变量，提出一种新算法———复合形法结合Lagrangian乘子法、迭代法和矩阵法求解模型。

Digital Language nuclear phase meter, intelligent dielectric loss test, instrument megger, frequency series resonance test device, grounding resistance tester, transformer load switch tester, the nuclear-phase high-pressure device, vacuum oil filter, clamp grounding resistance instrument, stray current detector, transformer features an integrated tester, cable fault tester, DC resistance tester, digital relay protection tester, automatic transformation ratio tester, relay protection tester, vacuum tester, Loop resistance tester, wireless high-pressure phase of nuclear device, active transformer capacity tester, insulation oil dielectric strength tester, high voltage switch mechanical properties tester, intelligent switching characteristics tester, light-up-flow devices, wireless instrument of nuclear phase, oxidation Zinc arrester tester, high voltage test transformer, DC high-voltage generator, lightning counter checkers, inductive load DC resistance tester, dielectric strength of insulating oil automatic tester, relay protection test chamber, multi-function test bed, IF DC - Generators

数显语言核相仪，智能化介质损耗测试，仪兆欧表，变频串联谐振试验装置，接地电阻测试仪，变压器有载开关测试仪，高压核相仪，真空滤油机，钳形接地电阻仪，杂散电流测定仪，互感器特性综合测试仪，电缆故障测试仪，直流电阻测试仪，微机继电保护测试仪，全自动变比测试仪，继电保护测试仪，真空度测试仪，回路电阻测试仪，高压无线核相仪，有源变压器容量测试仪，绝缘油介电强度测定仪，高压开关机械特性测试仪，智能开关特性测试仪，轻型升流器，无线核相仪，氧化锌避雷器测试仪，高压试验变压器，直流高压发生器，雷击计数器校验器，感性负载直流电阻测试仪，绝缘油介电强度全自动测试仪，继电保护试验箱，多功能测试台，中频直流发生器

Sitting in front of him was a man with an umbrella standing 4 the seat.

由于没有选项的提示，因此它比完形填空的难度要大得多。

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

Boomerang: Curved throwing stick used chiefly by the aborigines of Australia for hunt ing and warfare.

飞标：弯曲形投掷尖刺武器。澳大利亚原住民多在狩猎及战争中使用之。

I am accused of being overreligious," she said in her quiet, frank manner,"but that does not prevent me thinking the children very cruel who obstinately commit such suicide.""

客人们在卡罗利娜·埃凯家里，举止就文雅一些，因为卡罗利娜的母亲治家很严厉。

Designed by French fashion house Herm è s, this elegant uniform was manufactured in our home, Hong Kong, and was the first without a hat.

由著名品牌 Herm è s 设计，这件高贵的制服是香港本土制造，是我们第一套不配帽子的制服。