射门

After escaping the attention of his marker , Gerrard set himself to volley Gareth Barry 39 s free kick but watch agonisingly as his close range effort ruffled the side netting .

在逃离盯防他的人的注意之后，杰拉德接到加雷斯·巴里的任意球起脚射门，可惜苦恼的是他如此近距离的射门打在了边网上。

Both Martin Laursen and Jon Dahl Tomasson almost scored: the defender had a header cleared off the line, while the striker first fired a shot over and then chipped agonisingly wide after breaking clear down the right channel.

劳尔森与托马森均有破门良机，小劳的头球在门线上被化解，JDT先是射门高出横梁，后又于右路突破直接射门，差之毫厘，十分可惜。

Shots on goal from regular play are more realistic - the game takes into account player speed, shot angle and speed and how much pressure the player is under.

比赛中进球的射门更加真实。射门需要考虑球员的速度，射门技巧和速度和这名球员身上的压力。

A lucky break at the other end gave Giorgio Chiellini the chance to level for the Bianconeri, but his shot at full stretch was collected at the second attempt by Milan goalkeeper Dida, Chiellini, who again came close at full stretch just a minute into the second half.

另一方的幸运转机让后卫奇耶里尼有机会为斑马军团追平比分，但他拼尽全力的射门却被米兰守门迪达的第二次扑救收缴了。下半场刚开始一分钟，奇耶里尼的再次全力射门差点成功。

Direct shot can shoot most of times, movement shot and fill shot cannot shoot at that much. The most shooting happened at normal position. The gap between normal position and non-normal position is closer and closer. The percentage of non-direct confrontment shot far more than direct confrontment shot, and also this percentage is close to each other year by year.

直接射门的进球数量最多，运球突破射门和补射进球数量较少；绝大多数的进球是在正常状态下打入的，正常状态和非正常状态进球占全部进球的比例差距越来越小；非直接对抗射门进球数所占的比例远远大于直接对抗射门进球的比例，但直接对抗和非直接对抗的比例成逐年接近趋势。

In the arena, work on this skill before taking a finishing touch and watch your accuracy greatly improve.

射门前使用这个技术会让你的射门精确度大大提高。

The striker on one teamispreparing to make a decisive shoot while the goal-keeper ontheopposite team is posing for defence.

其中一个队的射门球员正准备做出决定性的射门动作，而对手球队守门员也摆出了防御的姿势。

The striker on one team ispreparing to make a decisive shoot while the goal-keeper on theopposite team is posing for defence.

其中一个队的射门球员正准备做出决定性的射门动作，而对手球队守门员也摆出了防御的姿势。

It was also no surprise that he turned his header from Lampard's cross on target, but Hahnemann was the equal of the effort as he stooped to his left to push the effort wide of goal.

切尔西前30分钟的开局打得很流畅，所以德罗巴得到机会不是什么意外，他接兰帕德的传球头球射门也在意料之中，只是哈内曼同样神勇，他将这次射门扑出底线。

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。

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。