本体

So, the study in this dissertation focuses on some key points in theuncertainty treatment of mobile robot localization as follows: Combined with the multiple proprioceptive and exteroceptive sensors ofmobile robot MORCS-1, aimed at the drift error of fiber optic gyro as theproprioceptive sensor, the neural network using genetic algorithm as optimaltool is proposed to accomplish the modeling and calibration for temperaturedrift of fiber optic gyro, which can reduce the drift error to the standard outputat constant temperature; and aimed at the noisy disturbance of ranging datafrom the exteroceptive sensor laser scanner, a dynamic adaptive filter isintroduced through the analysis of neighboring ranging data in time and spatialcorrelation to realize the real-time and dynamic filter, which can validly filter the noisy disturbance to meet the requirement of the accurately real-timeobstacle detection in mobile robot navigation.

总结全文，在移动机器人定位的不确定性处理研究中，提出了一些具有一定创新性的方法：结合自行研制的移动机器人MORCS-1系统的多种内外部定位传感器，针对内部本体感受传感器光纤陀螺仪的漂移误差，提出采用基于遗传算法优化的神经网络来对光纤陀螺仪的温漂建模及校准，能够将其温漂变化控制在恒温条件下标准测试输出附近；针对外部环境感知传感器激光雷达测距数据中包含的噪声干扰，考虑移动机器人导航中激光雷达测距数据的时空关联性，提出采用动态自适应滤波技术进行预处理，从而可以有效滤除噪声干扰满足导航中障碍实时精确检测的要求。

In particular, the northern areas of dry air in the winter due to injuries, electrostatic absorption of quadrochromatic reaches the phenomenon of Fasciola down.

格边不朔方地域，不夏天由于氛围潮湿便当变成静电呼附功用，呈现草稿被感光片呼上去的本体。

Concrete algorithm is firstly recognizing 2D feature obtained from geometric entities, then on the instruction of the shape analysis combining with the projective rulers of mechanical drawing, matching three 2D view features, creating 3D basic model, forming a operation list, finically finished 3D reconstruction.

在重建算法上，利用提取的几何实体进行二维视图特征的识别，在形体分析法的指导下，结合制图中的投影原则匹配三维基本形体，最后按照基本体素的运算序列经过复杂的布尔运算完成重建。

From the study in the past, the experts in and out of our country studied the music of Gesar, but they merely studied the music noumenon on some part or some area fragmentarily. So this article tries to probe into its music thoroughly, using the inner regulation of this art and the forms it embodies. The first chapter of the thesis introduces the talking and singing in Gesar, with theemerging and development of the combining of the two art forms being a start.

从以往的研究来看，虽然国内外也有些专家、学者对《格萨尔》音乐有一定的研究，但他们的研究都是零碎性的、片段性的，更多的是对某一部分、某个地区的音乐本体研究，所以本文将试着从它的艺术形式出发，以这种艺术形式的内在规律及其特殊的表现形式来对《格萨尔》音乐进行一个较为全面和深入的探讨。

Starting off from the "the agreement of language and expression" pursuit of late-Qing intellectuals and concrete poetry creation to the flourish of free verse written in vernacular during the May 4th Movement of 1919, the article reviews the complex genesic intertwinement and concrete view of modern Chinese poetry from the interactive angle of experience, language and form.

对这一形态的辨析，会发现&现代汉诗&的&发生&的内在机制和隐藏的问题。本文倾向于诗歌本体内部的语言、形式与现代性语境中的个体经验的纠结、互动对诗歌发生的影响：在论述方式上，注重的诗歌文本和语言、形式理论的分析。在晚清至&五四&这一中国现代知识分子追求现代性的语境下，本文试图通过对知识分子对新的汉语言说方式的追求和具体诗歌创作情况来考察&现代汉诗&的&发生&的语言脉络和形式依据。

Lactide, glycolide or caprolactone, biodegradable polyester and diisocyanate as materials are first bulk melt polymerized to prepare the degradable polymer with thermal deformation transforming temperature of about 37 deg.c. The obtained material is processed at temperature over melting temperature so as to shape into spiral rack, applied with stress at temperature higher than Ttrans to form shape easily operational handling and frozen to eliminate stress into the product.

本发明以丙交酯、乙交酯或己内酯，生物可降解聚酯及二异氰酸酯为原料，通过本体熔融聚合制备得到热致形变温度转化点在37℃左右的可降解高分子材料，将得到的材料在熔融温度以上进行加工、赋形制作成用于不同管腔内的螺旋管状支架；在T＞T trans 条件下施加应力，加工为便于手术操作的形状；冷冻定型消除应力，即得产品。

Degradation test in vitro was carried out in phosphate buffer solution (0.1M, pH7. 4) at 37 ℃. The buffer solution was changed daily. Degradation test in vivo was implanted the sample to subdermal in adult ICH rat in the scapular area lateral to the dorsal midline. At suitable time the samples were recovered. Molecular weight changes in surface layer and bulk of polymer sample were measured by GPC and weight loss was determined gravimetrically. It was found that the degradation behavior can be regulated by changing the composition of copolymers. The critical compositions from surface to bulk degradation behavior for PGCA, PLCA, PLMCA, PLDCA systems were 15-20, 20-30, 30- 40, 40 of mol percent GA or LA unit in copolymers, respectively. The degradation behavior of PGCA, PLCA, PLMCA, PLDCA systems were compared and analysed. Some factors influencing the degradation character, such as copolymer composition, hydrophobicity, crystallinity and enzyme affect etc. played important role.

体外实验中材料降解环境为37℃，0.1M，pH7.4磷酸缓冲溶液，每天换液，定期取样；体内实验中将聚合物试样埋置于ICH小白鼠背部肩胛骨皮下部位，定期处死小鼠，取样，将体内体外样品进行重量损失及试样内外层分子量变化测定，分析各聚合物试样降解行为特性，实验结果证明，改变共聚物组成，可以调节各聚合体系降解行为特性，对PGCA，PLCA，PLMCA，PLDCA共聚体系，交酯摩尔百分含量15-20％，20-30％，30-40％，40％分别为各体系内降解行为特性由表面降解型向本体降解型过渡的临界转折点，交酯含量较低的聚合物不同程度地表现表面降解行为特性，论文对各共聚体系体内外降解行为作了分析对照，例如共聚物组成对材料降解速度与降解行为的影响；生物体内酶对降解行为的影响；材料亲疏水性，聚合物链段结晶行为及碳酸酯结构对材料降解行为的影响等，得出交酯/环碳酸酯共聚体系降解行为一些共性和规律。

The above situation has noticed that, use the gubernacular tree-made solid plate when the phenomenon of the bending of fine lines may be overcome.

以上的环境都夺目到了，搁置舶来不流体树胎版制版时爆发的细线条笔直的本体不离必定可以获得降服。

Protein reserves riched in the cytoplasm of haustorial cells, especially in the site between haustorial cells and endosperm cells.

胚乳吸器的细胞质，尤其是与胚乳本体细胞交界处的细胞质富含蛋白质。

The deep going change of historical and cultural environment in the nineties has led to the disparity about writing pattern of life consciousness and the transformation of theme state, so has brought about the transformation of humanity writing. The new historism novels have begun writing many kinds of life form in made-up historical space, and have deducted complicated humanity sceneries, which include violence, evil, misery, degradation, etc; The private novels have paid attention to experience of female life itself, and has displayed particular life pattern of women; The new state novels have manifested revelry and anxiety of the 搉ew? human beings in metropolis, displaying objectified existing state; Novels in the realism shock have regarded heroes as ordinary people, revealing awkward life state.

九十车代历史文化语境的深刻变化导致了生命意识书写方式的差异和主题形态的嬗变，从而带来了人性书写的改观：新历史主义小说在虚构的历史空间中展开对多样生命形式的书写，演绎出暴力、罪恶、苦难、沉沦相交织的人性景观；私小说则关注女性生命本体的体验，展现了女性特有生命姿态；新状态小说注重表现都市新人类的生命狂欢与焦灼，展示了物化的生存状态；现实主义冲击波小说则完成了改革英雄到普通人的转换，揭示了尴尬的生命形态。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。