本体感受的

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。

Just as much as vision or taste, proprioception is a SENSE - it is not the processing of this information, it is one of our information-gathering systems: and it is quite possibly the best and at the same time the most neglected.

正如视觉或味觉，本体感受是感觉-它不是对信息的处理，而是我们的一个信息收集系统：这很可能是最佳的但同时又是最容易被忽视的。

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。

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。

Since the 1990s, he has proposed that the fundamental task of Chinese teaching is language learning, that its purpose is to improve students' ability to comprehend and apply Chinese, the essence is to direct students acquire the language while practicing on the basis of their development and the major method language-sense teaching. He has asserted that the language-sense teaching method must follow the steps of feeling, apprehending, accumulating and using of language. The practice and analysis of language-sense method must be of equal importance, and closely combined to moral education, thought training, aesthetic edifying, and Chinese language impartment. He has also claimed that teaching material should be compiled with more contents, more refinement and higher starting point in terms of students' actual development of language skills. His analysis of the long-term misplays in Chinese language education is profound and the repositioning and re-interpretation to the facts as purpose, task, essence, subject, method and materials of Chinese language teaching are full-scaled. In terms of teaching, Hong has stressed on the cultivation of the ability of language acquisition and intuition.

上世纪90年代以来，他先后提出语文教学的根本任务是学习语言；语文教学的目的是提高学生正确理解和运用祖国语言文字的能力；语文教学要以学生发展为本，&变讲堂为学堂&，指导学生在实践中学习语言；语文教学的主要方法是语感教学；语感教学要遵循&感受、领悟、积累、运用&的途径，坚持语感实践与语感分析并重，并与思想教育、思维训练、审美陶冶、语文知识教学紧密结合，与生活密切联系；根据学生语言发展的实际，大容量、高起点、选精品编写教材等一系列主张，从理论上对语文教学的长期性失误作了深刻剖析，对语文教学的目的、任务、本体、主体、方法、教材等问题进行重新定位和诠释。

Early in 1995, in his "Desire" series where red and blue lines come in strong contrast with each other, Ma Yiping instinctively used his personal experience to drop a hint of the transcendence of life. From 1996 to 2001, his "Images" series established the development direction of his art, owing to its artistic expression_r_r of overloaded psychological priori images. In his works before or after 2003, dream-like symbolic images presented perplexed feeling of human beings about the universe and the physical world. In his "images" series in 2006, uncertain images stood on black cube-shaped objects and ambiguous edges pointed to various uncertain directions with the accompaniment of silver light and shadow. At this point, the intuitive perception of the essence of nature made his artistic style gradually take shape. In his later "fetish" series, in which he gradually became mature in spiritual and symbolic expression_r_rs, Ma Yiping fully grasped the eternal sense of the spiritual world.

在早期，1995年的《欲望》马一平用对比强烈的红色、蓝色层层涂盖、本能地运用自身感受以暗示的手法表达对生命的超越。1996-2001年以物象为主题的系列作品对超载心理先验物象的表达方式确定了他艺术作品的发展方向，2003年前后的作品中，梦一般的暗示性物体程现了生命本体对宇宙物理世界的茫然，在2006年的《物象》系列中，黑色的方体上不确定的物状、模糊的边缘在泛着银色光影的衬托下，泛生着各种不确定的指向感，此时对本质直观的感知性的把握使作品艺术风格基本形成，到后来的《神物》已经充分地把握了精神世界里的永恒感，画面中所能达到的精神性和神密暗示意义的表现手法已近成熟。

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。