控制轮

The principle and composition of a two-wheel difference speed steering AGV based on machine vision guiding are simply introduced, and the problems about the computer control system design, image information recognizing and so on are also generally presented.

简要地介绍了基于机器视觉导向的AGV两轮差速转向的原理和组成，并对计算机拉制系统设计，图像信息识别等AGV控制问题进行了阐述，提出了一种采用模糊控制方法对AGV两轮差速转向进行控制。

When one partner has requested that the other bid slam with at least second-round control of a particular suit (the "open" suit) regardless of the rest of his hand, this scheme is used for replier's actions: with no control in the open suit, pass or return to the agreed suit; with second-round control, bid six of the agreed suit (or five notrump with the guarded king); with first-round control, control-bid in the open suit (or, with, additionally, first-round or maximum-possible and an as-yet-unshown control in another suit, control-bid in that suit).

当一方要求另一方在持有特定花色第二轮控制以上的时候应叫上满贯，而不必管手上还剩下什么东西，回答人的应叫方式如下：在开放花色上没有控制时，派司或叫回被同意花色；持有第二轮控制时，叫六阶被同意花色(或持有护卫的K叫5NT)；持有第一轮控制时，在开放花色上做示控叫品(或者，附带性的，第一轮或有高限牌力可能且未叫花色上有尚未表示的控制时，则在此未叫花色上做示控叫品)。

The key technologies of ABS based on slip-ratio consist of processing of wheel speed and calculation of wheel acceleration, estimation of vehicle velocity, estimation of the optimal slip-ratio, and the control strategy of ABS. In order to improve the performance of conventional ABS, the above mentioned key technologies and corresponding realization algorithms had been investigated in this paper, and the ABS product equipped in vehicle for performance test had been manufactured.

结合车辆动力学控制的最佳ABS系统是以车轮滑移率为控制目标的ABS系统，它涉及到一系列关键技术研究，如轮速信号的处理方法和轮加速度信号的计算方法、车身速度估计方法、最佳滑移率估计方法和ABS的控制方法等。

In this system,we define the left wheel as the norm wheal,the right is the differential wheel,controlling the benchmark wheel is to controll the speed,another one is to reduce the friction between the wheel and the ground when turning steer.so as to make the wheel purely rolling.

电动汽车电子差速系统中的左轮定义为基准轮，右轮定义为差动轮，控制基准轮转速是为了控制电动汽车的运行速度，控制差动轮转速是为了减小电动汽车转向时汽车车轮的滑动摩擦，尽量使电动汽车车轮运行在纯滚动状态。

A live, tetravalent reassortant, orally deliverable rotavirus vaccine has recently been licensed in the United States, but it has been less effective in many developing countries where the need for vaccine is the greatest.

发展灭活疫苗和亚单位疫苗也是出路之一，但是它们均不能提供内源性合成的蛋白质，因而不能产生在控制轮状病毒感染中起重要作用的细胞毒性T细胞反应，故需研究更加完善的疫苗。

Traditional worm casting ladle is adopt to the lower light revolving shaft, before pouring, molten iron is self dumping, using self-locking of worm gear, control dumping torque of casting ladle, pouring later, man turn on hand wheel, bevel gear turn to worn gear drive, and turn casting ladle pouring, don't turn on hand wheel, another side of worm gear tooth self-locking, control vertical torque of casting ladle.

传统蜗轮浇包都是采用较低的轻便转轴，浇注前期，铁水自己倾倒，利用蜗轮的自锁性，控制浇包的倾倒力矩；浇注后期，人扳转手轮，伞齿轮转向蜗轮传动，翻转浇包浇注，不扳动手轮时，蜗轮齿的另一侧面自锁，控制浇包的竖直力矩。

It is proved through the experimentation that adopting these technique can obviously improve the control precision of the reaction wheel's velocity and obviously minish the angle momentum output of the two-axis gimbals mechanism on the satellite.

结合反作用轮的控制模型，在双闭环控制结构上，加入了前馈控制和死区电压补偿。通过实验证明，采用这些技术，可以显著提高反作用轮转速的控制精度，大幅度减少星载二维转台的角动量输出。

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。

The invention relates to a desk type drill machine for preventing drill head wreckage, comprises chassis, supporting post, operating board covered in middle of supporting post, cabinet and generator; cabinet is equipped with tension pulley pressure sensor, belt tension unit and pressure foil gage; tension pulley is compacted on driving belt of drill machine, pressure foil gage is installed on top bar of tension pulley, the pressure foil gage is in electric connection with input end of controlling circuit, output controlling end of controlling circuit is connected to power input end of generator.

本发明是防止钻头折断的台式钻床，包括底座、支柱、套在支柱中部的工作台、以及机箱和电机，机箱上设有张紧轮压力传感器，由皮带张紧装置和压力应变片组成，其中的张紧轮紧压在钻床的传动皮带上，压力应变片设在张紧轮的顶杆中，压力应变片与控制电路的输入端电连接，控制电路的输出控制端连接在电机的电源输入端中。

Directed against the commonly used control methods which adopt logical threshold value, we put forward a self-optimizing control method, based on the single-wheel vehicle model, the loading diversion is laid special stress, further, build the mathematics model of two-wheeled vehicle, and the scene of which move on three types of typical road surface.

针对几种常用的主要采用逻辑门限值控制的方法，提出了一种自寻最优控制方法，并在已有的单轮汽车模型之上，重点考虑了载荷转移问题，建立了双轮汽车的数学模型，将该方法运用于双轮汽车的模型在三种典型路面的仿真。

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。