空间运动

The most striking feature of this machine is the realization of the space saddle-type welding seam welding control system by using the interpolation arithmetic, which can replace the method of mechanical differential outfit simulated space curve movement, guarantee the stability of the welding line, and make the track of the welding blowpipe more accurate and the mechanical structure simpler.

本机最大特点在于用运动控制方式，利用插补运算方法实现空间马鞍型焊缝的焊接控制系统，保证焊接线速度恒定，取代用机械差动机构模拟实现空间曲线运动方法，使得焊枪运动轨迹更加准确，机械结构变得简单。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

Firstly, urban space's development course and actuality of space's patterns are reviewed contrastly in the paper abroad and home. Then, existing problems of urban space at present in our country are discussed stressly:"Ten Faulty Expressions in Writing" of urban construction;"the Movement of Beautifying City" in china; the problem of urban characteristic; the problem of reforming of old city; the problem of residential segregation. The above problems' formed reasons and countermeasures are put forward. Then, the example of Xi'an and its existing problems of urban space and several countermeasures are analyzed in the paper. The transformation of three sections realized in the planning thought of urban space is put forward: from "elitism" to "plebeianism"; from mega-urban project design to "daily living space" and from "technology first" to "human-oriented".

论文首先从中西方城市空间形态的演变历程入手，对比分析了国内外的空间形态现状，重点论述了当前我国存在的城市空间问题：城市建设"十大败笔"；中国"城市美化"运动；城市特色问题；旧城改造问题以及空间分异问题，分析了其形成原因并得出了解决途径，然后对西安进行了实例分析，总结出其城市空间存在问题并提出几点对策，接下来提出了城市空间规划理念应实现的三个方向的转变：从"精英主义"向"平民主义"理念转变、从大尺度城市设计向"日常生活空间"营造转变以及从"技术至上"向"以人为本"理念转变。

Regarding (6) type, when tradition Time variable t is two spatial vectors (+ psi 1i) and (- psi 2j) Crossed products v also is not 0, it (x1, x2, x3) differs 90 compared to on speed with the three-dimensional space in the space by the pure imaginary number attribute, I=e^I pi, therefore it Number space has in the physical property with the dot product constitution the difference, because Crossed products psi 1i (X psi 2j extremely small visible it is equal to zero under the conventional speed, but is very big in the object movement speed time, Crossed products psi 1i (X psi 2j in the physical quantity and for the quantum mechanics in may not to the easy quantity, its space and the conventional space is different, the performance is intrinsic or the interior space If the definition vector (+ psi 1i) and (- psi 2j) the dot product constitutes the three-dimensional space (x1, x2, x3) is exterior space, but the three-dimensional space which (+ psi 1i) and (- psi 2j) Crossed products constitutes by the vector is the internal space, contrasts its component

对于⑥式，传统时间量t为两个空间矢量(+ψ1i)与(-ψ2j)的叉积比上速度v且不为0，其与三维空间(x1，x2，x3)在空间上相差90度以纯虚数表征，I=e^Iπ，故其与点积构成的实空间有物理性质上的不同，因为在常规速率下叉积ψ1i(Xψ2j非常小可视其等于零，而在物体运动速率很大时，叉积ψ1i(Xψ2j之中物理量与则为量子力学中的不可对易量，其空间与常规空间不同，表现为一个内在或内部性空间。若定义矢量(+ψ1i)与(-ψ2j)点积所构成的三维空间(x1，x2，x3)为外部空间，而由矢量(+ψ1i)与(-ψ2j)叉积而构成的三维空间为内部空间，对比其分量

However, Jiazhangke's films create the space by using motion, shooting scale ,the relations among performers and the transportation and a outer space of image in Jia's films is also created through dispatching the shot, performers and multiple space ,refering to which this text reexplains and conformities the film's concept of space and analyses how to create the space using audio in order to formulate Jia's understandings to space――the film space view of "non-mirror-image" and the inherent tension and open space idea taking root on the reality.

本文通过对电影空间概念的重新诠释和整合，以及对贾樟柯利用运动、景别、人物关系和交通工具营造空间，通过贾樟柯对影片中镜头、演员、多重空间的调度，创造画外空间，和用声音创造空间等实证性的分析，阐述了贾樟柯对空间的理解——非镜像化的电影空间，以及这种理解扎根于当下、立足于现实而形成的内在的张力和开放式的空间观念，揭示了他的作品独特的空间观念及这种空间观念对中国电影民族化的影响。

In Experiment 1, the pattern of spatial attention shift was examined by instructing participants to saccade to the cue.

实验一要求被试将眼睛跳往提示刺激处，通过对线运动错觉的分析确定该条件下的空间注意转移规律；实验二要求被试在将视线保持在注视点处的条件下判断目标色块是否出现，以探明线运动错觉是否受对目标色块前注意阶段加工的影响；实验三要求被试将眼睛跳往提示刺激的对侧，分析眼跳位置与提示刺激空间方位的一致性对空间注意转移的影响。

Based on the discussion,a simple and clearly defined vector equation of kinematic error for robots,has been derived for practical use by means of space vector,characteristicsof space vecto...

据此，利用D-H 坐标变换与空间矢量的关系，以及空间矢量导数性质，推导了简洁实用、意义明确的机器人运动误差矢量方程，并就该方程在一般空间机构运动精度研究时的应用实例作了说明。

Combining the advantages of fixed search pattern and spatial correlation search pattern,the algorithm employs the high search accuracy of DS and the high search speed of ARPS.It performs zero motion prejudging for immobile macroblocks between the two adjacent frames to reduce the computational complexity,and employs the spatial correlation of motion vectors to improve the quality of predicted motion vectors.

该算法利用DS算法搜索精度高和ARPS算法搜索速度快的特点，综合固定模式搜索和空间相关搜索两方面的优点，对于相邻两帧图像中的不变宏块采用零运动预先判断以减少算法的计算量，并利用运动矢量的空间一致性提高预测运动矢量的质量。

For non-intense beams,particle trajectory can be obtained by multiplying linear transport matrices. For nonlinear transport of intense beams,the influence of space-charge effect on beam transport needs to be taken into account,and self-consistent solution should be derived because of the interaction between charged particle distribution and space charge field. In the program,components and currents are divided into equal intervals,respectively,and each interval is treated as a uniform solenoid field.

程序在计算非强流脉冲束流的线性传输时，粒子的轨迹通过矩阵的直接相乘计算得出；程序在计算强流脉冲束流的非线性传输时，需要考虑束流中的空间电荷效应对束流传输的影响，在束流运动过程中，空间电荷场也在不断地变化，而且粒子运动的轨迹与空间电荷势又是相互依赖的，因此需要求得一个自洽的解，先把元件分成若干均等的区间，把电流分成若干等份，后采用束流电流迭代与元件区间迭代的计算方法。

Painting carries out a static expression through describing objects and things in perceptual space. A kind of definite perceptual space gives up its dynamic state and converts a static state, starting to use a scene chosen by a painter in painstaking to do painting activity. That makes the eternal movement world in static, in the static state it lets people unfold infinite thinking space to understand and comprehend the worldly kaleidoscope.

绘画就是通过感性空间中所描绘的物体和事物来进行静止的表述，一种确定的感性空间，放弃了它的运动状态而转入静止，开始用一个画家苦心孤诣地做出了选择的场面来进行着绘画的活动，以至使本来永恒地运动着的世界静止了，这种静止的状态中，让人们去展开无限的思维空间，去理解和感悟这人间百态。

James, son of Zebedee, and John the brother of James, whom he named Boanerges, that is, sons of thunder

载伯德的儿子雅各伯和雅各伯的弟弟若望，并为他们起名叫"波纳尔革"，就是"雷霆之子"

The southern Hungarian university city of Szeged will host part of the project, amounting to 40 percent of the total investment, which will mostly be paid for through Hungary's EU structural funds.

位于塞格德南部的匈牙利大学将负责部分项目，总计占总投入资金的40%。大部分资金将由匈牙利的欧盟结构基金会支付。