底层

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。

Iε/(21)/tiε/"elder sister" has neutral tone on the second syllable and the underlying third tone on the first syllable does not change to the second tone(35)which indicates that the tone is not copied along with the segments.

以亲属名词为例：&姐姐&这个重叠词的第二个音节的声调是轻声，而且第一个音节它的底层是三声但是重叠后并没有变成二声。

This article discusses the tone sandhi pattern of AA""and ABB in Datong dialect ,argues that there exist in the two sandhi patterns the underlying representations which adjust during the transformations to the surface representations according to the tone of the first syllable.

通过分析大同方言单音节形容词AA儿式和ABB式的连调式，提出两种连调式都在底层有一个统一的模式，在生成过程中以首字的单字调为条件进行调整，这种调整可以用强制非恒原则来解释。

Up the street at Pravda, a rave scene is in full swing in a split-level dive bar where live bands play on the lower level and D.J.

在普拉弗达，狂欢的景象在错层式的低档酒吧中达到高潮，乐队在底层演奏，主持人的唱片室和乡土爵士乐唱片在楼上。

The average value of the total nitrogen,ammonium nitrogen,nitrate nitrogen,available nitrogen and organic nitrogen were 4591 mg/kg,12.66 mg/kg,1.8 mg/kg,26.25 mg/kg and 4598 mg/kg respectively.The forms of nitrogen that we concerned were decreased from plow layer to subsoil in five paddy soil profile.

土壤表层全氮、铵态氮(NH_4~-N)、硝态氮(NO_3~--N)、碱解氮、有机氮均匀含量分别为4591 mg/kg、12.66 mg/kg、1.8 mg/kg、26.25 mg/kg、4598 mg/kg，土壤表层各形态氮素的含量在剖面中的分布特征是从表层到底层呈下降趋势。

This articles main innovation is to have independently developed a set of distributional spatial data integration software from the first floor, has constructed the spatial information application service platform prototype based on the SIG frame city by using this software, and has solved the distributional isomerism space data conformity demonstration and in the client side realize to the far-end data operation and so on the essential technology.

本文的主要创新之处在于是从底层自主开发了一套分布式空间数据集成软件，利用该软件构建了基于SIG框架的城市空间信息应用服务平台原型，解决了分布式异构空间数据整合显示及在客户端实现对远端数据的操作等关键技术。

A piece of sod has grass on the top and soil on the bottom.

一块草皮是由表层的青草和底层的泥土组成的。

A huge six-story building, on his person at the bottom of a dozen square duty room on duty.

偌大的一栋六层楼，就他一人在底层的一间十几平方的值班室值班。

The crack that see much of most in several residence is that a layer maneuver a wall to hand over to connect place to have the stairs form the crack creation;Hand over to connect place or beam bottom and wall body to have the level crack the creation in the house noodles and the wall body;There is Shu under the first floor window sill toward the crack creation, the window sill of each floor two wall window way outside the layer four Cape existence inclined crack;Small scaled and hollow carve in the reinforced concrete pillar and the Mao a piece of fill a wall of mutually knot existence the Shu is to the crack;It is carve a piece periphery a creation crack.

随着国家保护耕地措施的实施，粘土砖的使用逐步得到控制，砼小型空心砌块在住宅工程中开始得到越来越多的应用期刊文章分类查询，尽在期刊图书馆在多层住宅中最常看到的裂缝是顶层纵横墙交接处有阶梯形裂缝产生；在屋面与墙体交接处或梁底与墙体间有水平裂缝产生；在底层窗台下有竖向裂缝产生，各个楼层的窗台两角和顶层外墙窗口四角处有斜裂缝存在；在钢筋混凝土柱和砼小型空心砌块填充墙的相结处有竖向裂缝存在；在砌块周边产生裂缝。

The crack that see much of most in several residence is that a layer maneuver a wall to hand over to connect place to have the stairs form the crack creation;Hand over to connect place or beam bottom and wall body to have the level crack the creation in the house noodles and the wall body;There is Shu under the first floor window sill toward the crack creation, the window sill of each floor two wall window way outside the layer four Cape existence inclined crack;Small scaled and hollow carve in the reinforced concrete pillar and the Mao a piece of fill a wall of mutually knot existence the Shu is to the crack;It is carve a piece periphery a creation crack.

随着国家保护耕地措施的实施，粘土砖的使用逐步得到控制，砼小型空心砌块在住宅工程中开始得到越来越多的应用在多层住宅中最常看到的裂缝是顶层纵横墙交接处有阶梯形裂缝产生；在屋面与墙体交接处或梁底与墙体间有水平裂缝产生；在底层窗台下有竖向裂缝产生，各个楼层的窗台两角和顶层外墙窗口四角处有斜裂缝存在；在钢筋混凝土柱和砼小型空心砌块填充墙的相结处有竖向裂缝存在；在砌块周边产生裂缝。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。