本体感受

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

The traceur/freerunner is using proprioception almost all the time without realising it.

traceur / freerunner 几乎所有的时间都在无意识的使用本体感受。

Proprioception indicates whether the body is moving with required effort, as well as where the various parts of the body are located in relation to each other.

本体感受决定身体的移动是否能够得到所需要的力，以及在身体各部分是否存在联系。

The essay tries to probe into internal source of the appearance and development of the movement of Impressionism by analyse the artistical features of traditional painting and analysing the artistical features of Impressionism, Neo-impressionism and Post-impressionism ,to show how the impressionism has developed step by step from the traditional descriptive art whose feature is to emphasizing the natural characteristic of art and the feeling of artist, and to realize that the stage which comes from tradition to morden in history of art never be overlooked.

本文试图通过分析传统绘画的艺术特色，探寻印象主义运动产生及其发展的内在根源；通过分析印象派、新印象派和后印象派的艺术特色来展示印象主义如何从以再现客观世界为特点的传统写实绘画逐步发展到具有现代特征的注重绘画本体特性和艺术家个体主观感受的这一转变过程，从而重新认识印象主义这样一个由传统走向现代的艺术史上不可或缺的一段历史。

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。

Thus, we speculate that a certain proprioceptive deficit threshold must be reached before physical function is affected.

因此，我们推测某本体感受必须以前到达缺乏门限物理作用受影响。

It develops early on by twelve months most of us are able to walk, or near to it, and this requires rapid improvements in our proprioceptive ability.

它在我们第12个月就得到开发，我们大多数人能够步行，或勉强可以走路，这需迅速提升我们的本体感受能力。

If you managed to compensate for this without bailing, managing to recover your balance and direction to finish the movement correctly, guess what it was your proprioceptive ability that enabled you to do that.

如果你设法弥补了这一点，恢复了平衡和方向，正确完成动作，这就是你的本体感受能力使你做到的。

Women aged 20 to 93 years old were enrolled. The noninvasive infraredcervical spine and to evaluate proprioceptive abilities.

入性的POLARIS红外系统定量测量颈椎三维运动范围，评估本体感受能力。

The proprioceptive sense can be sharpened through study of many disciplines.

本体感受可以通过多种进行训练变得敏锐。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。