摆

My mother raised me alone.To Chris's relief, Pandora soon came out balancing a tray full of tea and cups, and another with fruit and cookies.

让克里斯感到安慰的是，这里潘多拉正好端着两个托盘出来，一个摆着茶壶和杯子，另一个摆着水果和饼干。

In the year of 1954 French scientist Maurice Allais found an unexplained phenomenon: in observing total solar eclipse, Allais found that a pendulum swing plane suddenly changed the direction of motion, that is, when the Earth, the sun and the moon are in a straight line, the law of motion in space will be changed.

在观测日全食时，阿莱发现一只摆的摆动平面突然改变了运动方向，即当地球与太阳、月球在同一条直线上时，会以某种方式改变摆在空间的运动规律。

The basic character of a mass spring oscillate in small amplitude and small angle is studded with an analytic method founded on nonlinear dynamics.

以非线性动力学理论为基础，用解析方法分析包括有质弹簧在内的弹性摆小振幅、小摆角的基本运动规律。

The static performance, steady gain and frequency responses of the control system are very similar to those of 4WS The direct yaw moment control is integrated with the front steering angle control using pole assignment Simulation results show that the integrated system can present an ideal yaw rate response with a small side slip angle at the center of gravity.

通过静态特性、输入前馈稳态增益、频率特性和时域响应仿真比较，显示该控制与四轮转向控制的特性十分相似。从理论上而言，横摆力矩控制可以取代四轮转向系统。提出并建立了极点配置法设计的前轮转角控制和横摆力矩控制的集成模型。

Experiments using the down-scaled vehicle prove that the static direct yaw moment control significantly reduces the side slip angle at the center of the gravity Also the experiment results indirectly show that the 2 degree of freedom vehicle model is rather accurate.

仿真实验表明集成控制系统可以使汽车在各种运行情况下质心处侧偏角很小的同时，有效跟踪理想横摆角速度响应。模型小车实验也证明静态横摆力矩控制可有效减小质心处的侧偏角，并间接证明二自由度汽车模型准确性。

One team placed an anomalistic figure using six bottles of drink,another team described this figure and the rest members placed it again according to the description.

一队用六个饮料摆出不规则的形状，另一队的一部分人语言描述该形状，其余的队员根据描述把形状摆出。

Because of the fact, the bearing capacity of the whole drive cannot be developed well enough. To improve the performances of the load-capacity, transmission efficiency, and reliability of mechanical drive, we originally developed some designs of the double crank ring-plate-type cycloid planetary drive. The new-type drive keeps all the natural advantages, which is of multi-tooth mesh, small mesh angle, and hardened tooth flank of gears. Moreover, The drive does not need the special output unit as the ring-plate-type drive does, so that the rigidity of the output shaft becomes much higher. Since the tumbler bearing is placed outside the cycloidal gear, the size of the bearing is no longer restricted to any extent.

为大幅度提高其承载能力、传动效率和可靠性诸指标，我们创新研究出来的多种结构双曲柄环板式针摆行星传动，其特点是不仅保留着原摆线针轮行星减速器同时啮合齿数多，总法向力与总圆周力间夹角小，摆线轮与针轮齿均为硬齿面等本质上的优点；而且又具有环板式传动省去输出机构且输出轴刚性好，转臂轴承移至行星轮外，从而传递的转矩可以成倍提高的优点。

The crawler and swing arm both are driven by DC servo motor directly, the complex driving devices are eliminated, swing arm drive DC servo motor is installed in the interior of driven wheel and swing arm wheel; it ensures robot has high maneuverability and strong over-obstacle capability, at the same time it overcomes the disadvantages of traditional drive and transmission system, such as a lot of elements, complex structure and low efficiency, it reduces energy consumption, saves interior space, reduces overall weight, increases the work reliability and running stability of robot and provides new design programs and new technology channels for small-sized crawler ground movable robot drive device.

机器人的履带和摆臂均由直流伺服电机直接驱动，省去了复杂的传动机构，摆臂驱动直流伺服电机则安装在从动轮和摆臂轮内部，在保证机器人具有高机动性和强越障力的同时，克服了传统驱动、传动系统零件众多、结构复杂、效率低下的缺点，降低了系统能耗，节省了内部空间，减轻了整体重量，提高了机器人的工作可靠性和行驶稳定性，为小型履带式地面移动机器人驱动装置提供了新的设计方案和新的技术途径。

Then, based on the consideration of decreasing impact force by correcting the robot swing foot motion error, develop a fuzzy compensate control strategy for swing foot landing. The motion control commands of pitch DOFs of hip joint, knee joint, and ankle joint of swing leg are gradually compensated online.

并基于调整机器人摆动脚运动误差以减小步行碰撞力的减振思路，提出了摆动脚落地补偿控制策略，在线分级实时补偿摆动腿的髋前摆、膝前摆和踝前摆的运动角度。

Experiments were carried out to verify the static model. Experimental results show that the experimental curve matched well with the simulated curve, and there was certain error between them (maximal static error is 0.035 rad). The error cause was analyzed. Then the experiments were carried out to measure the dynamic performances of the side-sway joint. Experimental results show that the step response time of the joint was about 2 s steady value's tolerance zone ?

完成了侧摆关节静态特性试验，试验结果与仿真曲线基本吻合，验证了静态模型的正确性，但存在一定误差（最大静态误差为0.035 rad），分析了误差原因；对侧摆关节进行了动态特性试验，试验结果表明对于不同的期望值角度阶跃信号，侧摆关节开环阶跃响应时间大约是2 s

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失