角度计

So now that we have the accelerometer's reading, we need to be able to change it to an angle.

所以，现在我们有加速度计的读数，我们需要能够改变它的角度。

The flexion angle of the first swing of the leg is defined as the acute angle.

角度的测量借助录像/电子角度计/等速运动仪器进行（Bohannon 1986年）。

To discuss the rule of orientation sensitivity for propeller anemometer, wind tunnel experiment method and numerical simulation method are used to study the change rule of its measured values under different measuring angles.

中文摘要：为探讨叶轮式风速计的方向敏感性规律，采用风洞试验和数值模拟两种方法研究在不同测量角度下叶轮式风速计测量值的变化规律。

The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

Goniometer - An instrument used in measuring angles.

角度计 -用来测量角度的设备。

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Accelerometer can not measure gravitational acceleration.

通过力学基础的角度来解释加速度计，并通过试验的方法，验证了加速度计不能测量重力加速度这一结论的正确性。

At first, this paper gives the brief introduction of the history and present status of accelerometer and its testing technology, the working principium and math model of the liquid floated pendu-lous accelerometer, and then, decides the binary width pulse force retrim loop as the design proposal of testing system, researches the transfer function of every part in the system emphasizly, analyses the stability of the whole accelerometer testing system from the angle of control theoretics by the open loop transfer function of system, and designed the correcting net, analyses the basal problems such as resolution, sampling restraint, precision and so on, designs the hardware testing circuits such as preamplification, band-pass filter, alternating amplifier, phase sensitive demodulatorn, pulse-width modulation, frequency scale circuit, moment current generator. Finally, using the graphics program language LabV-IEW which is designed for testing field especially by NI accomplishes the solfware design of testing system,realized the testing functions.

首先对加速度计及其测试技术的发展历史和现状，液浮摆式加速度计的工作原理和数学模型等作了简要的介绍，然后确定了以二元调宽脉冲再平衡测试回路为设计方案，并从控制理论的角度进行了分析，着重研究了系统中各部分的传递函数，利用系统开环传递函数分析了系统的稳定性，同时设计了系统的校正网络；分析了二元调宽脉冲再平衡测试回路的分辨率、采样约束以及测试精度等基本问题，并按照系统分析的结果设计了包括前置放大、带通滤波、交流放大、相敏解调、脉宽调制、频标电路以及力矩电流发生器等测试系统各部分硬件电路，验证了电路的正确性，最后按照测试系统的要求，采用了美国NI公司专为测试领域所开发的虚拟仪器工具——LabVIEW作为测试软件开发工具，利用该图形化编程语言完成了测试系统软件部分的设计，实现了测试功能。

So the technique of uncooled microbolometer infrared imaging has become one of the main points from now on. In the paper uncooled microbolometer infrared imaging system is studied from focal plane character, image dealing and application. The details are in the following: On uncooled microbolometer infrared focal plane aspect: first, the work principle of microbolometer, manufacturing technology of microbolometer infrared focal plane, temperature balance equation of microbolometer detector are analyzed. The performance of microbolometer detector is predicted by model. Second, the infrared focal plane is the core of infrared system, whose quality can determine the performance of the system. It is the precondition that the high quality of every detective unit maintains the qualification of the focal plane. The even degree of detective units has great influence on imaging characters if the other characters of detective units are normal.

本文以非致冷微测辐射热计红外成像系统为对象，从焦平面特性、图像处理和红外系统应用方面展开分析、研究，具体内容如下；在微测辐射热计红外焦平面方面，首先分析了微测辐射热计的工作原理、微测辐射热计红外焦平面的工艺制作、微测辐射热计探测单元的温度平衡方程，根据有关参数对其特性进行建模预测；其次，红外焦平面是红外系统的核心，它的质量的好坏直接决定系统性能，因此保证其各探测单元的高性能是维护焦平面品质的前提，在探测单元其它特性正常的情况下，各探测单元之间特性的均匀程度对系统成像性能有极大影响，为此本文提出自适应滤波多项式焦平面非均匀性校正算法从软件角度解决焦平面的固有的噪声问题。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。