类机器人

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。

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。

parallel robot mechanism,displacement analysis,dynamic simulation,DirectX

这类机器人机构具有结构相对简单、分析与控制比较容易、造价低廉

The age of the robotic rodent is upon us.

啮齿类机器人的时代正在向我们走来。

Such robots will be like soft animals that can squeeze themselves through small openings and into tight places.

这类机器人会像软体动物一样压扁自己来通过小开口和进入狭小的空间。

When the hybrid region senior official jumbles together with black area senior official black Germany is graceful, ended after the conference with great speed rushes together, some several hundred starship is already shot down, but this kind of bombing, has truly seriously disturbed the kind of person robot flight vehicle construction speed, however this time kind of person robot used in the Moon crater base the massive residues already to make several hundred own starship, only was this kind of flight vehicle structure nearly entirely alike which constructed with the humanity, obviously the kind of person robot wisdom and the thought and the humanity were how close!

当混血区域长官混为一谈和黑区长官黑德曼，在会议结束后一起火速赶到的时候，已经有数百架星际飞行器被击落，但这种轰炸，确实严重干扰了类人机器人的飞行器建造速度，然而此时类人机器人利用月球环形山基地内的大量剩余物资已经制造了几百架自己的星际飞行器，只是这种飞行器的结构几乎和人类建造的一模一样，可见类人机器人的智慧与思维和人类是多么的相近啊！

Before its solid hybrid area senior official jumbles together has not come, bitter experience disastrous defeat black area senior official black Germany graceful accepts the kind of person robot to make the expert suggestion, spheres them, lets they own consume gradually, because the kind of person robot and the humanity are same, needs to supplement own energy can continue to revolve, likely the humanity eats meal is same, only different is the kind of person robot needs the regular supplement electrical energy, but regarding the Moon on, the electrical energy basically depends on the solar cell board electricity generation or the nuclear power generator, so long as therefore lets the kind of person robot electrical energy military supplies appear seriously short, can urge their collective to break through or to come out the surrender.

其实在混血区长官混为一谈没来之前，遭遇惨败的黑区长官黑德曼就采纳了类人机器人制造专家们的建议，就是围住它们，让它们渐渐地自己消耗掉，因为类人机器人和人类一样，需要补充自身能量才能继续运转，就像人类吃饭一样，唯一不同的是类人机器人需要定期补充电能，而对于月球上来说，电能基本上靠太阳能电池板发电或核动力发电机，因此只要让类人机器人电能补给出现严重短缺，就会促使它们集体突围或出来投降。

To start immediately to implement this plan, made large quantities of high performances the absolutely counter-attack robot, by "tited for fat" the way eliminates these the fellows who mutinied on the Moon, stemming from this time Earth humanity regarding kind of person robot specialSensitive, this has no recourse the plan is in the situation which keeps secret extremely is formulating the implementation, besides David and the entire unification, the third person had not known.

就在病床上，大卫博士忍着余下的伤痛忧思难眠，辗转往复思来想去，最后终于想出了一个以机器人对付机器人的绝妙方案，当灵感突然显现之后，大卫博士就立刻写成了一份详细的计划报告，然后火速转交给联盟主席全统一，全统一长官看完后，不禁拍案叫绝，并马上授权大卫博士开始实施这项计划，制造大批高性能的绝对反击机器人，以&以牙还牙&的方式清除那些在月球上哗变的家伙们，出于此时地球人类对于类人机器人的特殊敏感，这个迫不得已的方案是在极为保密的情况下制定实施的，除了大卫和全统一之外，没有第三个人知道。

This type of robot is in tended only for entertainment.

这类机器人是为娱乐而设计的。

In addition, this method is used in the motion control study of spinning machine tool, and achieve good control effect

机床的工作台可视为直角坐标型的机器人，这类机器人是近似线性系统，可以采用比较复杂的迭代学习控制方法，因此，本文提出了弹性移动关节机器人的混合PID迭代学习控制律，证明了该方法的收敛性，并将这种方法应用于旋压机床的学习运动控制，达到了良好的控制效果。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。