小口

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。

A contraceptive device consisting of a small thimble-shaped cup that is placed over the uterine cervix to prevent the entrance of spermatozoa.

一种小形杯状的放在子宫口防止精子入内的避孕用具。

Born months baby, yet mature taste used plastic dropper full liquid suction hose mouth tube every small dose instillation.

对于出身10个月的小宝宝，味觉尚未发育成熟，可用滴管或塑料软管吸满药液，将管口放在小宝宝口中，每一次以小剂量慢慢滴入。

For a baby born a few months, have yet to develop a mature sense of taste can be dropper or plastic liquid filled suction hose, the nozzle mouth on a baby, every time a small dose instillation.

对于出生几个月的小宝宝，味觉尚未发育成熟，可用滴管或塑料软管吸满药液，将管口放在小宝宝口中，每一次以小剂量慢慢滴入。

In contrast, when straight grain direction and provide a consistent, across the mouth of grain direction of expansion by gum fixing limit is very small, to stick the formation.

相反，当直丝绺方向与订口一致时，横丝绺方向的伸缩受胶固着的限制很小，粘贴处平整。

Assembling the steel wire, using 20-22 gauge wire, 22 gauge wire used only for a steel pipe diameter of 12 mm.

准备绑扎用的铁丝、绑扎工具（如钢筋钩、带扳口的小撬棍）绑扎架等。

Oropharyngeal cavity of the upper part of the snail-shaped organ on the gill, small eyes, the location on the low side, there is no need and swallow spoon-shaped teeth, the tooth surface smooth.

口咽腔上部有螺形的鳃上器官，眼小，位置偏低，无须，下咽齿勺形，齿面平滑。

I was about to spit it out of my mouth… it reminded me the ecology experiment I did in university, counting the little bugs in the fruits of the small-fruited fig tree… it's so disgusting

他话才讲完，我差点没把满口的无花果喷了出来…脑子里马上想到大学做生态学实验时数榕果小蜂的景象…真是恶心

Beckham's slip-up came despite his careful preparations.

尽管小贝做了不少功课，但还是犯了个口误。

Also, the smaller turrets (armed with TMG's) were the same. At first the T-28 was armed with a 76.2 mm short-barreled tank gun: KT-28. Later versions received a more powerful tank gun L-10 with a barrel length of 26 calibers and muzzle velocity of

此外，安装机枪的小炮塔也一样，最初T-28装备的是一门KT-28型短管76.2 mm坦克炮，后来的改进型号采用的是一门威力更大的L-10坦克炮，炮口初速度达到了555米/秒。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。