机器人

Then gives the methods of how to create a configuration space .Introduces the nonholonomic constrains and how to implement it in a discrete space.

本文介绍了机器人C一空间的构建方法，介绍了机器人的非完整约束，给出了一种离散化空间的非完整约束方法。

A few robots cross in the unreal time of days , or they bump into furniture, or conk out after three-quarters of the way. In December 1990, after a decade of effort, graduate students at Carnegie Mellon University 's Field Robotics Center wired together a robot that slowly walked all the way across a courtyard.

有些机器人要么磨磨蹭蹭花上数天的时间，要么莽莽撞撞一头碰到家具上，要么刚走完四分之三就出了故障。1990年 12月，在经过了 10年的努力之后，卡耐基－梅隆大学"野地机器人学中心" [7]的研究生们终于组装出了一台机器人，并命名为"漫步者"。

A few robots cross in the unreal time of days, or they bump into furniture, or conk out after three-quarters of the way. In December 1990, after a decade of effort, graduate students at Carnegie Mellon University 's Field Robotics Center wired together a robot that slowly walked all the way across a courtyard. Maybe 100 feet in all.

有些机器人要么撞大运挪了一段，要么一头撞到家具，要么走完四分之三就出故障。1990年12月，努力了10年之后， Carnegie Mellon University 's Field Robotics Cente的研究室们组装了一台机器人，缓慢费力地但还是成功地走过了约100英尺宽的院子。

Firstly, the development of the spherical robot is introduced and according to the knowledge of the research forepassed, the nonholonomy and the nonlinear controllability for a spherical robot based on the principle of angular momentum conservation are discussed with the differential geometric control theory.

首先介绍了球形机器人的发展状况，在了解前人研究领域的基础上，应用微分几何控制理论，对此角动量守恒的球形机器人的非完整性和非线性可控性进行了研究。

Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR, continuous motion trajectory control modeling algorithm for SR is developed.

基于地面机器人常用的D-H建模方法和空间机器人满足的动量守恒和角动量守恒原理，提出了SR连续运动轨迹控制建模算法。

The cumulative error of the robot is compensated effectively and the mobile robot trajectory distortion is reduced.

并对移动机器人累计误差进行了有效的补偿，减少了由于累积误差造成的移动机器人轨迹扭曲失真。

Current coordinates of the robot cleaner are aligned with reference coordinates of the recharging station, and the robot cleaner moves to a previous spot where it was before it returns to the recharging station, and resumes the work from where it stopped.

机器人清洁器的当前坐标以充电站的参考坐标被校准，而机器人清洁器移动到它返回充电站前所在的先前地点，并从停止处继续给定的工作。

It is a new thought of making use of the results in biological cybernetics to improve the performance of robot.

将生物控制论的研究成果应用于机器人领域是提高机器人运动能力的一种新思路和新方法。

In other words, localization can be performed based on a general scene. In this thesis, we adopt Spatial Gaussian Mixture Model in image segmentation to describe an image viewed by the robot in spatial domain without any artificial landmark. Secondly, we use a modified combination algorithm by Cyr and Kimia to combine similar data. It is found out that a monotonic relationship exists among the scene registered and its neighborhood in terms of distance. This phenomenon can be used to assist to localize the robot and this work demonstrate the feasibility by several experiments.

本论文中采用高斯混合模型(Gaussian Mixture Model， GMM)来描述空间中的场景，将场景概念化，这样任意的场景皆可以用高斯混合模型来表达，而无需加入大量的人工场景，接著将所获取的每个希望校正点的资料采用由修改后的Cyr and Kimia的结合演算法来减低及统合资料，当场景接近原本的当初建立的场景，经由最大可能性大体上会呈现单调的特色，将辅助机器人修正回原本的位置，以达到协助机器人定位的目标。

Since had own starship, the kind of person robot then starts in the summit sky execution patrol mission, moreover the arrogance is more rampant, has created the very great difficulty to the humanity police power's further bombing, was good jumbles together in the hybrid area senior official with 黒 area senior official black Germany graceful this time has brought the massive long-distance weapon delivery, therefore then stay up till dawn carried on the rug type saturation bombing to the Moon crater base, caused in the crater the kind of person robot not to dare to appear easily, also their flight vehicle after shot down the dozens of frames does not have to remove into in the base to hide.

自从有了自己的星际飞行器，类人机器人便开始在山顶上空执行巡逻任务，而且气焰更加嚣张起来，对人类警察部队的进一步轰炸造成了很大难度，好在混血区长官混为一谈和黒区长官黑德曼这次又带来了大量远程发射武器，于是便日夜不停地对月球环形山基地进行地毯式饱和轰炸，使环形山内类人机器人不敢轻易露头，它们的飞行器在被击落数十架之后也不得撤入基地内隐蔽起来。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。