整个系统

The SCADA/POAS system of Shaan Jing gas pipeline is an automatic system controlling the longest pipeline distance with the highest automatic level and complete function in China's land up to now.

陕京输气管道SCADA／POAS系统是迄今为止我国陆上控制天然气管道距离最长、自动化水平最高、功能齐全的自动化系统，整个项目从1993年开始至1997年基本结束。

It records users operation streams on the tested systems intelligently, and then generates new operation streams, playbacks the streams to drive the tested system run, and monitors its status at real time. CADTesting also accept GTL script and generate test cases according to script instructions.

CADTesting是一个面向整个三维计算机辅助设计行业的，而不是针对某一个CAD软件的测试软件，它采用黑盒测试技术，与被测试系统的内部实现无关，完全站在用户的角度对被测试系统进行测试。

In the wind - solar hybrid power supply System, because of wind and solar intermittent, random, regional differences, as well as the time difference makes energy storage devices has become a complementary scenery in the entire power generation system in one of essential components.

在风光互补发电系统中，由于风能和太阳能的间歇性、随机性、地区差异性以及时间的差异性，使得储能装置成了在整个风光互补发电系统中必不可少的部件之一。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

The mathematical model of complex countercurrent multi-effect evaporation with condensed water flash is established, which aims at minimum annual cost (including cost of fresh vapor, vacuum pump power, evaporator, maintenance and depreciation).Based on such decisive variables as the pressure of fresh vapor, the pressure of condenser and heat-transfer mean temperature difference of vari-effect,the model is solved by the complex method,Lagrangian multiplier method, iteration method and matrix method.The practical example indicates that the influence of the pressure of fresh vapor, the pressure of condenser and flash of condensed water on the optimum design results is notable.

建立了带有冷凝水闪蒸的复杂逆流多效蒸发系统优化设计的数学模型，该模型以整个蒸发系统的年总费用(包括加热蒸汽年费用、真空泵年动力费用以及蒸发器和辅助设备的年折旧维修费用等)最小为优化目标，以生蒸汽压力、冷凝器真空度及各效有效传热温度差为决策变量，提出一种新算法———复合形法结合Lagrangian乘子法、迭代法和矩阵法求解模型。

When debugging this system, we analyse the effection factors, such as electric machine' s rotation speed, oven' s temperature, tension roller' s location and paper' s characteristic,the control system has completely achieved the technical request.

在系统调试运行过程中，综合分析电机转速、烘箱温度、张力辊位置以及纸张特性等一系列影响因素，整个控制系统完全达到了工艺控制要求。

Considering the generator unit's self-exciting, overvoltage of the no-load circuit in course of power transmission, the structure of network and load distribution situation in the area of Heilongjiang, the whole network is divided into four small systems: JingPo Lake, LianHua factory, FuEr factory and HarBin.

结合&黑启动&机组所在区域的电网结构和负荷分布情况，并考虑机组的自励磁问题和送电过程中空载线路的过电压问题，将整个黑龙江电网划分为4 个小系统，即镜泊湖、莲花厂、富二厂和哈尔滨小系统。

Foundation of the express railway is the key and weak link in safety system.

路基是高速铁路安全系统的关键和薄弱环节，建在软土上的高填路堤边坡是否稳定，更是直接关系到路基乃至整个高速铁路系统的安全，采用桩—网复合地基形式修建高路堤是一个好办法，这种路堤形式尚不多见。

The main aim of this thesis is to design and realize signal processing of a self-developed laser target shooting system and then realize the whole laser target shooting system.

本毕业设计主要设计自主研发的激光打靶系统的信号处理过程，继而实现整个打靶系统。

The main aim of this thesis is to design and realize signal processing of a selfdeveloped laser target shooting system and then realize the whole laser target shooting system.

本毕业设计主要设计自主研发的激光打靶系统的信号处理过程，继而实现整个打靶系统。

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。