结合臂

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

Department of Automation, University of Science and Technology of China, HeFei 230027）Abstract: This paper presents a method of neural network for interactive-force manipulator on the base of kinematics and analyses of the explosive force of human arm mode and neural network theory such as function approach, optimizing calculation. The method optimizes the whole servo-system, and ensures the system's robust.

中文摘要：本文根据关节机械臂的运动特性，在分析用于测试人体手臂运动爆发力机械臂模型设计的基础上，利用人工神经网络的函数逼近、最优化计算等方面理论，结合实际人－机力交互系统的控制特点，提出一种神经网络控制方法，对基于力控制策略的机械手伺服系统进行优化，同时保证了系统的鲁棒性。

The fibres of the corticospinal tract, which run craniocaudally in the dorsal pons, the pontine tegmentum, and the superior cerebellar peduncles ventrally, were all preserved, this differential involvement therefore being responsible for the cruciform appearance on MRI.

译：脑桥神经元和横桥纤维严重减少，造成脑桥基底部和小脑中脚的苍白和萎缩。上下走行于脑桥背侧的皮质脊髓束、脑桥背盖部、腹前侧的小脑上脚/结合臂均未受累。这种差异性受累是MRI上出现十字征的原因。

Brachiocephalic artery bypass and combined coronary artery perfusion, respectively in the ..., in order to ensure the brachiocephalic artery and the right coronary artery branches are ...

体外循环结合头臂动脉分支和冠状动脉分别灌注法在。。。，为了保证头臂动脉和冠状动脉分支得到合适的。。。

Lines which were 2n=21"+1" and one line which was 2n=20"+2", one line which was 2n=43. The salt-resistance addition line Line15 was confirmed as a Disomic alien addition line by C-banding, SSR, FISH methods, and the two alien addition chromosomes had close correlation with the long arm of the second homoeologous group, the centromere region of the third homoeologous group and the short arm of the seventh homoeologous group. We also confirmed the particular C-banding type of the alien addition chromosomes by C-banding following FISH method. The drought-resistance addition line Line17 was found also as a Disomic alien addition line by SSR and FISH detection. The alien addition chromosomes had close correlation with the short arm of the second homoeologous group.

对导入赖草优质耐盐基因的株系Line15进行了C-分带、荧光原位杂交、SSR相结合的鉴定，确认Line15是一个二体异附加系，附加的一对染色体与小麦的第二同源群长臂、第三同源群着丝粒和第七同源群短臂密切相关，并确定了Line15的外源染色体C-分带特征带型，为目后鉴定Line15附加系的真伪提供了简便快捷的途径；对抗旱附加系Line17进行了荧光原位杂交和SSR检测，得出Line17也是一个二体异附加系，外源染色体与小麦的第四同源群短臂密切相关。

The results showed that karyotypic type of Ya01-21was 2n=104＝100m+4sm（4SAT）, Chromosome length ratio of the longest and the shortest 4.25, the average arm-ratio 1.35, belonging to 2C type of chromosome. Molecule identified combine with chromosome studied indicated that Ya01-21 was a progenies of Erianthus arundinaceum. following the law of n+n; ITS identify showed that Ya01-21 is a progenies of Erianthus arundinaceum, the somatic chromosome karyotypic type of Ya01-36 was 2n=132＝130m+2sm, Chromosome length ratio of the longest and the shortest 3.94, the average arm-ratio 1.27, belonging to 2B type of chromosome, combining the advance of characters the law of 2n+n can be resumed.

研究结果表明，崖城01－21的体细胞染色体核型公式为2n＝104＝100m+4sm（4SAT），最长与最短染色体的长度比为4.25，平均臂比1.35，染色体属2C型，分子鉴定结合细胞学研究认为其为斑茅的真实后代，其染色体遗传为n+n；崖城01－36经ITS签定为真实杂种，其体细胞染色体核型公式为2n＝132＝130m+2sm，最长与最短染色体的长度比为3.94，平均臂比1.27，染色体属2B型，结合其性状的进展，推断亲本向其传递染色体可能以2n+n的方式进行。

Later, under the untypical parasternal four-chamber view which can thoroughly display the ostium of coronary sinus, the catheter was promoted further to the ostium of coronary venous sinus. Then the echocardiography technician adjusted the transducer of TTE in order to thoroughly confirm the position of the catheter tip. After confirming the position of catheter tip in the coronary venous sinus, the operator inserted the catheter into the coronary venous sinus for 3～4 mm farther. It was noted that if resistance was encountered by operator, the operation must be stopped, which was the same as x-ray fluroscopy as image guiding. TTE guiding His bundle elactric cahteter、high right atrium electric cahteter and right ventricular electric catheter in site: It is difficult using TTE singly since there are too many crossroads in inferior venous.

本研究结果显示，(1)单独应用TTE作为影像学引导进行冠状窦电极导管置放的成功率为93.8％～96.7％，并且应用TTE作为影像学引导放置专用冠状窦电极导管和普通电极导管的成功率和放置时间在统计学上无显著差异；(2)TTE作为影像学引导，除过度肥胖患者外，可完全替代X线引导进行冠状窦电极导管置放，包括鞘管和扩张管的放置、指引导丝在静脉而非动脉内的证实均可由TTE完成引导，且较X线C型臂有一定优越性；(3)TTE结合普通X线胃肠透视机作为影像学导引，可顺利完成心内电生理检查时导管的安全到位，而不需昂贵的X线C型臂，可将心内电生理检查扩大到广大的基层医院；(4)TTE较X线更易和更早期发现介入治疗的并发症如急性心包填塞等，对并发症的防治甚至挽救病人的生命至为重要；(5)动物实验研究表明，TEE可引导射频导管消融术时大头电极导管成功到位。

Of the 26 lesions with pontine and bulbar involvement, three had no association with other lesions (Fig 2). Twelve were associated with tegmental and superior cerebellar peduncular extension, and six showed corticospinal tract involvement in continuity with an MDJ lesion. In one patient with additional telencephalic lesions, the right side of the pons was hyperintense on long TR/TE images that did not cross the midline, suggestive of an arterial lesion (Fig 3). In two patients with pontine tegmental lesions, there was an associated middle cerebellar peduncle and deep cerebellar white matter involvement (Fig 4). Two others had associated cervical lesions.

在26处脑桥延髓区病灶中，3处病灶仅限于脑桥延髓区，其它部位无病灶（图2）；12处病灶还同时伴有背盖部和小脑上脚/结合臂处病灶；6处病灶为与中脑-间脑接合处病灶相连的皮质脊髓束受累；还有1例患者除端脑见病灶外，右侧脑桥于T2像也见高信号病灶，但未超越正中线，提示可能系动脉病变所致（图3）；2例脑桥背盖部病灶的患者同时伴有小脑中脚/小脑脑桥脚和小脑深部白质受累（图4）；还有2处脑桥延髓区病灶还同时伴有颈髓病灶。

Results: ADC in MS group was increased in all regions of NAWM compared to controls(P＜0.05),significantly higher in the body of corpus callosum, internal capsule, periventricular WM, frontal WM, parietal WM and occipital WM(P＜0.01). FA value in MS group was decreased in the body of corpus callosum, internal capsule, periventricular WM, frontal WM, parietal WM and occipital WM(P＜0.05), the genu and splenium of CC,middle cerebellar peduncle showed an insignificant trend of lower FA.

结果：MS组的正常表现脑白质的ADC值均高于对照组(P＜0.05)，以胼胝体体部、内囊、侧脑室旁及额、顶、枕叶脑白质更为显著(P＜0.01)；MS组的FA值与对照组比较，胼胝体体部、顶、额、枕叶白质及内囊、侧脑室旁发现明显降低(P＜0.05)，以后4个部位更为显著(P＜0.01)，而胼胝体膝部、压部和小脑结合臂有降低趋势，但无统计学意义。

According to the idiographic math model of the brachial-bridge luffing system and the applying range and specialty of many kinds of optimization methods, decides touse Sequential Unconstrained Minimization Technique to optimize the model.

结合臂桥架变幅系统的具体数学模型和各种优化设计方法的适用范围与易用性，决定采用惩罚函数算法对模型进行优化设计。

For a big chunk of credit-card losses; the number of filings (and thus charge-off rates) would be rising again, whether

年美国个人破产法的一个改动使得破产登记急速下降，而后引起了信用卡大规模的亏损。

Eph. 4:23 And that you be renewed in the spirit of your mind

弗四23 而在你们心思的灵里得以更新