机器人的

With the aid of noise reduction, color threshold segmentation and center point computation and so on, the landmarks in the panoramic image were recognized. By using triangulation method, the robots position was obtained, which was a good basis for the navigation and the collision of robot.

通过去除全景图像的噪声、分割颜色阈值、计算中心点等处理，识别出机器人周围景物的已知路标，采用三角定位法，计算出机器人的坐标，从而为机器人的导航、避碰等任务奠定良好的基础。

With the aid of noise reduction, color threshold segmentation and center point computation and so on, the landmarks in the panoramic image were recognized. By using triangulation method, the robot's position was obtained, which was a good basis for the navigation and the collision of robot.

通过去除全景图像的噪声、分割颜色阈值、计算中心点等处理，识别出机器人周围景物的已知路标，采用三角定位法，计算出机器人的坐标，从而为机器人的导航、避碰等任务奠定良好的基础。

While cooking is certainly a more universal way to showcase a robot's abilities than, say, laserwelding, it is also unique in its ability to tackle something deeper: namely, the public's angst over a future populated by vengeful hominoid machines.

要展示机器人的能力，烹饪绝对比雷射焊接等其他方式更能让常人接受。就化解更深层的疑虑，亦即民众对未来地球可能住著许多报复心重的类人机器人的不安心理而言，烹饪机器人也有独到的能力。

A centroid adjustment method is presented which can maintain the horizontal pose robot body when one arm is hung on the overhead ground lines. The balance weight is moved by the servo motor according to the angle of inclination between the inspection robot body and the horizontal plane, which can be checked by the obliquitous sensor, so that the centroid position of inspection robot is concentrated on the arm that is hung on the overhead ground lines. Because the body of inspection robot is kept in horizontal pose, the other arm can accomplish corresponding task for attaching to or detaching from the overhead ground lines.

本文提出了一种质心调节方法，利用倾角传感器测量机器人车体与水平面之间的倾角，从而控制配重块移动电机的运动，将机器人的质心调节到悬挂于架空地线上的那只手臂上，因此能保证机器人车体保持水平姿态，确保需要脱线或上线的手臂完成相应的动作。

This thesis establishes constrained motion model and sensor model of a mobile robot to represent mobility and perceptivity, respectively, and defines the k step reachable region to describe the states that the robot may reach. We show that the calculation of the k step reachable region can be reduced from that of 2k reachable regions with the fixed motion styles to k + 1 such regions, and provide an algorithm for its calculation.

首先建立了移动机器人约束运动模型和传感器模型用于描述机器人的移动和感知，给出了可达区定义，即机器人在有限步内可能到达的区域，在此基础上证明了在k步不同运动模式下多达2k个可达区的计算可以降为k+1个可达区的计算，并提出了k步可达区由k+1个扇形组成的计算算法。

Through the interface software, the Pro/E model of the robot is transmitted into the software ADAMS. After that the tyre file and road spectrum are written, the robot ADAMS model is established, the robot trafficability and ride comfort are simulated, and the simulation analysis of the insert mechanism and the shear mechanism is carried out.

把草方格机器人的Pro／E模型通过接口软件导入功能强大的多体系统动力学分析软件ADAMS，编写了轮胎文件和地面文件，建立了草方格机器人的ADAMS模型，进行了机器人的平顺性、通过性以及剪切机构和插草机构的仿真分析。

Based on the experiments of physical properties of desert sand,the driving force of running desert wheeled cross-country vehicle were obtained by calculating force between tire and sand.The experiments about pressuring grass resistance of lengthways lay out grass mechanism were done.According to the vehicle terramechanics theory,desert trafficability of straw-checkerboard sand barriers paving robot was analyzed.

本文在测试沙土物理特性和选择沙漠车的基础上，依据车辆地面力学理论，通过分析、实验和计算草方格铺设机器人的行驶阻力以及牵引车的牵引力，讨论防风固沙草方格铺设机器人在沙漠中的通过性。1沙土特性与牵引车参数1.1沙土的物理特性该机器人是通过轮胎与地面的相互作用力推动其前进。

In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.

基于GA研究机械臂运动对基座的姿态扰动问题，首先，建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系；接着，应用GA作为最优化算法，在空间机器人可行解空间中，寻找最优解得到最优路径，以达到对基座姿态干扰最小的目的；最后，通过数值仿真实验验证算法的实用性。

The first one is the system for the two-armed hard-flexible manipulators moving in a certain channel. The dynamic model of that is proposed based on the D'AlembertLagrange principle.

第一个模型研究了由两支对称的刚性-柔性机器臂构成一个双臂机器人的定轨道水平移物问题，利用D'Alembert-Lagrange原理建立了双臂钢性-柔性机器人系统的双臂机器人定轨道移动的非线性对称组合模型。

The vision system captures real-time images, makes camera calibrations with Zhang's method, preprocesses images, matches feature point, then gets the stereo coordinate of the feature point of the suspicious objects, programming with Matlab7.0 and the pattern matching library EasyMatch of machine vision software eVision, displays the real-time images on the console, finally, controls semi-intelligent explosive-handling robot to grasp the suspicious object automatically and accurately.

单手双目手眼系统是半智能排爆机器人的重要组成部分和关键技术，该视觉系统利用双目立体视觉原理，采用Matlab7.0作为运算引擎，调用机器视觉处理软件EVision6.2中的EasyMatch模式匹配库进行立体图像匹配，能实时捕获排爆机器人周围的图像信息、进行摄像机标定、图像预处理、立体图像匹配、确定机器人未端手爪与可疑目标物的相对位置坐标，并把图像实时显示在控制台，自动控制手臂靠近并准确地抓取可疑目标物。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了