类机器人

A humanoid robot joint was established. Two pieces of Mckibben muscles were used to actuate the joint.

建立了一个类人的机器人关节，由两条对抗设置的Mckibben人工肌肉驱动。

Saw the humanity counter-attacks the robot so remarkable performance absolutely, an all people feeling is all gratified, all harbors the urgent mood to raise the head hopes for that final victory, while the daybreak dawn is going to arrive Moon's time, from the Moon crater, in the high summit crater, in turn departed suddenly several hundred giant starships, fires into the remote outer space rapidly, looked like is wants to encircle tightly prominently, is the head is a biggest blue color starship, in transparent cab, a stature big fully armed, on wears has the platinum imperial crown kind of person robot, is operating the giant starship personally, is leadingOther small flight vehicle, arranges the diamond attack formation, attempts to break through the humanity police power formidable air alert ......

看到人类绝对反击机器人如此卓越的表现，所有人都顿感欣慰，都怀着迫切的心情翘首期盼那最后的胜利，正当黎明的曙光将要降临月球的时候，忽然从月球环形山，高高的山顶火山口中，依次飞出了数百艘巨型星际飞行器，急速地冲向遥远的太空，看来是想突出重围，为首的是其中最大的一架蓝色星际飞行器，在透明的驾驶室内，一位身材高大全副武装，头上戴有白金皇冠的类人机器人，正亲自操纵着巨型星际飞行器，带领着其余较小的飞行器，排列成菱形攻击编队，试图突破人类警察部队强大的空中警戒

Aiming at shadow influence problem in vision navigation process of agricultural robot, illumination invariant image based on shadow removal algorithm was introduced. An enhanced OSTU image segmentation method was used, and an optimized Hough transformation algorithm was used to extract crop line, and coordinate transform was applied to obtain navigation parameters.

该研究针对农业机器人视觉导航中存在的阴影干扰问题，采用基于光照无关图的方法去除导航图像中的阴影，然后采用增强的最大类间方差法进行图像分割和优化的Hough变换提取作物行中心线，最终通过坐标转换获得导航参数。

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。

According demos with robots, Foundation class library with mobile robot is expatiated systemically.

根据机器人自带演示程序，系统地整理了移动机器人自带的基础类库表。

Containing the Visible Region positioning and the Sequence Region positioning raised in this paper as well as the Orientation Region positioning raised by Levitt [17] , the qualitative positioning method segments the environment of robot into different equivalent classes , and describes the positions without coordinates but just using landmarks and landmark relations, based on the extracted qualitative relations from images such as the visibility of landmarks, the sequence of landmarks and the position relative to the landmark pair boundary .

定性定位包括本文首次提出的可见区域定位和顺序区域定位，以及Levitt[17]提出的有向区域定位，利用通过图像获取的路标的定性关系如路标的可见性，路标排列的顺序和相对于路标对边界的位置等，将机器人的运动环境划分为若干个等价类；其定性性体现在不必使用坐标就可描述机器人的位置，这种定位方法只利用视觉反馈中的定性信息。

It analysed the technology used in roaming engine and the method to modeling.It also designed a kind of work flow for geometry modeling and applied some of banausic technology for three-dimensional modeling;It also designed the engine by loading the virtual robot.Depending on the technology of collision detection,it developed a detection arithmetic for roaming;At last,it build the current roaming engine based on the model of virtual robot in the development environment of VC++ supported by MFC and WorldToolKit.

通过对虚拟现实相关技术进行研究，并分析了现有的主流漫游引擎和建模方法，设计了一种几何建模流程，并对多种三维建模优化技术进行应用；提出在虚拟场景中引入了虚拟机器人模型来设计漫游引擎，结合碰撞检测技术，提出了漫游检测流程算法；最后，运用VC++开发平台，基于MFC开发类库和WorldToolKit虚拟现实支持类库的支撑，实现了基于虚拟机器人模型的漫游引擎。

On the basis of study on two projects:"10-DOF ultrasonic detection system for complex surfaces part" and "Ultrasonic water-logging automatic survey system for rods", this thesis studies the technologies of ultrasonic measurement, kinematic and dynamic modeling of 10-DOF ultrasonic system, real-time sensitivity auto-adjusting, integrated technology of ultrasonic measurement, surface construction and ultrasonic detection for complex surface parts and rods, thus improving the accuracy and efficiency of ultrasonic detection for parts of complex surfaces. Meanwhile, an auto-detection system for metal rods with rough surfaces and bad columniform accuracy is presented for the first time.

本文结合&10自由度复杂曲面超声检测系统&和&棒材水浸超声自动检测系统&两个项目的研究，主要开展了超声测量、检测机器人运动学和动力学建模、误差补偿、灵敏度自动补偿和曲面构件超声检测一体化技术和轴棒类构件超声检测一体化技术的研究工作，进一步提高了复杂型面构件超声检测的效率和精度，并首次针对表面粗糙、圆柱度较差的金属轴棒类构件开发出了高效率的自动化检测设备。

2The papre decompounds the complex motion of the robot into two types of basic motions, that is self-discipline bionic worming and pose adjustment. Thus the arithmetics of the pose and orientation of the robot are unified, which provides advantage for mix control mode and simple kinematics analyse.

将拱泥机器人的复杂运动分解为仿生自律蠕动和姿态调整两类基本运动，统一了机器人自身姿态合成与定位算法，为混合控制模式的实现和机器人运动学分析及仿真模型的建立提供了便利条件。

Using the Second Lagrangian kinetics,the dynamic features of the robot are analysed,the generated driving torque of the arms is derived,and its dynamical models are set up.The sliding-mode fuzzy control is adopted by of the MJR120 palletizer,and the numerical simulation shows that the control method is efficient.

本文经过对该机器人进行的详细动力学分析，确定了系统的广义驱动力，运用第二类拉格朗日方程建立了系统的动力学模型；对MJR120 码垛机器人在控制上采用了滑模模糊控制技术，通过仿真实验表明了该控制方法对MJR120码垛机器人进行控制的有效性。

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。