运动

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, a signalized point is stuck on a moving object to be tested, a microphone array and two video cameras are arranged, and the video cameras are demarcated to obtain a projection matrix; sound pressure signals of a sound source in the moving object to be tested are obtained by the microphone in an array mode, the dynamic video of the moving object to be tested is obtained and disassembled into an image by the video cameras; the signalized point on the moving object to be tested is identified in the video image and the matched signalized point is treated with three-dimension reconstruction to obtain the spatial location of the moving object to be tested; the sound pressure signals are treated with beam forming treatment to obtain a sound field characteristic function scattergram of the moving object to be tested, the video image is treated with spatial coordinate superposition frame by frame and restored into a dynamic video image.

首先在被测运动物体粘贴标志点，布置传声器阵列和两台摄像机，对摄像机进行标定，得到投影矩阵；传声器阵列获取被测运动物体中声源的声压信号，摄像机获取被测运动物体的动态视频，将动态视频拆解成图像；在视频图像中识别出被测运动物体上的标志点，对匹配后的标志点进行三维重构，获取被测运动物体的空间位置；对声压信号进行波束成型处理，得到被测运动物体的声场特征函数分布图，将其视频图像进行逐帧空间坐标叠加，并还原成动态视频图像。

In case of simple background, we use image difference for motion region detection, and then adopt the original Chan-Vese model for face contour detection and tracking, while in case of complex background, we use Wronskian change detector for motion region detection, and then adopt the modified Chan-Vese model for face contour detection and tracking.

对于简单背景情况，首先利用图像差分进行运动区域检测，然后在运动区域内采用Chan-Vese模型检测人脸轮廓，并根据其定位结果计算下一帧中新的运动区域和提取人脸轮廓；对于背景复杂的情况，则用朗斯基变化检测算子来首先检测出运动区域，然后在运动区域内采用改进的Chan-Vese模型检测人脸轮廓，并根据其定位结果计算下一帧中新的运动区域和提取人脸轮廓。

The fourth chapter talks about the weft carrier, in this part, we mostly introduce the big gripper shuttle in the comparative way and not only analyze the structure but also analyze the stress of the fatigable parts. In the fifth chapter, the shuttle box is our research emphasis, we start with the design principle and analyze its structure and the logic of the action of the parts. The sixth chapter discusses the shoot mechanism, builds its theory model and analyzes its law of motion from the view of kinematics and kinetics during the wefting. And then, we can consider the hydraulically shoot mechanism and comprehend its principle and some special parts. Subsequently, the content is about the flying of a shuttle, because the course of the flying of a shuttle is very complex, it is necessary to study the shuttle according to mechanics and to analyze its course of motion and its change of speed from the view of energy.

第五章谈的是梭箱，这部分从梭箱的设计原理入手，从结构的角度对梭箱进行分析，考虑到梭箱上各执行件间的动作存在一定的逻辑关系，还对执行件动作时间与控制作出论述，从中可以看出重型宽幅织机所独有的特性；第六章论述投梭机构，先构造出投梭机＿重型宽幅织机引纬机构与梭箱的设计＿构的弹性理论模型，从动力学的角度剖析投梭规律，随后分析液压式投梭的工作原－－理和一些特型元器件；第七章论述梭子的飞行运动，考虑到梭子飞行运动的复杂性，我们把梭子飞行运动划分为三个阶段，然后分阶段介绍其运动规律，在对梭子进行＿运动分析的同时还详细分析它的受力情况，在这一章的最后，我们对影响梭子飞行＿的因素也作出了讨论；顺沿这一过程，即是第八章对制梭机构的论述，在这一部分，、主要研究制梭过程与制梭力的情况，同梭子飞行过程一样，制梭过程也分为三个阶段，就每个阶段而言，我们都对其进行受力与运动方面分析，同时也就一些容易出现的问题作出讨论；最后两章是对纬纱交接机构和纬纱的退绕与张力控制作出讨＿论，鉴于这两部分不存在复杂的动力学方面的问题，论述重点便放在结构与原理的分析上面，包括分解纬纱交接机构，解析其动作过程，介绍储纬与纬纱张力的一些情况。

Accordingly corresponding reference scholars Lane in 1980 khat to Europe as the source of power in the United States homosexual campaign development process :(1) 1908-1945, and sporadic individuals try to defend homosexuality and its powers;(2) After the Second World War, urban male homosexuals "minority groups consciousness" the awakening;(3) 1950-1952, the search for identity;(4) 1952-1953, outbreak on the unfair treatment of outrage;(5) 1953-1960, the homosexual movement to strengthen the exchange of information, pay attention to the field of education;(6) the 1960s, the civil rights movement led to the gay rights movement;(7) In 1969, the beginning of the massive homosexual movement;(8) 1973-1979, homosexual movement and the government dialogue through formal channels.

据此相应参考社会学者里卡塔在1980年对以欧洲为源头的美国同性恋权力运动发展历程：（1）1908—1945年，零散的个人尝试为同性恋及其权力辩护；（2）第二次世界大战后，城市男同性恋者&少数派群体意识&的觉醒；（3）1950—1952年，寻找身份认同；（4）1952—1953年，爆发对不公正待遇的愤慨；（5）1953—1960年，同性恋运动加强信息交流，注重教育领域；（6）60年代，将民权运动引向同性恋运动；（7）1969年，开始出现大规模同性恋运动；（8）1973—1979年，同性恋运动与政府通过正式渠道对话。

The shorter of interruption duration, the more obvious interruption effects, and this support the motion opponency theroy. 3 The different intervals between priming and target were detected. Due to interruption of blank frame, the shorter interruption elicited positive proming effects, which is consistant with integration of temporal and spatial in the human brain. 4 The negative of the same direction is relationship to visual adaption and visual inertia effects.

本系列实验得到以下主要结果与结论：1插入空白图片，将导致特定运动方向的反转，而对二义的运动没有明显影响，反映了空白图片对正常视觉运动的阻断；2阻断时间越短，导致特定运动方向反转的几率越大，即阻断效应越明显，支持运动知觉对立理论；3考察不同间隔的启动——靶刺激，由于空白刺激的插入，启动——靶刺激间隔较短时引起的正性启动效应，与人脑系统对视觉信号的时间与空间整合和视觉惯性是一致的。4同向运动的负性倾斜效应与视觉适应有关。

The integrate evaluation by using multiple indicator mentioned above can reflect the change of sports load and athletes' functional status and the degree of the sports fatigue comprehensively and sensitively, can offer quantified scientific basis to diagnose the sports fatigue by the combination of Chinese and western medicine. It is also very important to control training load, judge sports fatigue, prevent overtiredness and development of sports injury to excavate demic sports potential efficaciously, raise contest ability etc, and has become all important part of scientific training.

用上述指标进行综合评定，能较灵敏地反映运动负荷量的变化和运动员的机能状态及运动性疲劳程度，为中西医结合诊断运动性疲劳提供科学依据；同时对控制训练负荷，判断运动疲劳，防止过度疲劳和运动损伤的发生，有效地挖掘人体的运动潜力，提高竞技能力等，均有十分重要的意义，并已成为科学训练的重要环节。

Regarding the computer embroidery machine for coordination motion control, two kinds of control thought are proposed; the motion control of principal axis motor、frame motor、color changing motor、line sheering motor and all part of coordination is realized.

对于电脑绣花机的运动部分的协调控制，提出了两种控制思想，实现了主轴运动、绣框运动、换色运动和剪线运动控制以及各部分的协调运动控制。

Application of PMAC time-base control in the NC machining of noncircular section parts;2. This system solved the problem about the motion s devolving, it is the applying of function of PMAC on accurate and time-base controlling that ensured the synchronization of motion.

为解决感应加热过程中传送运动系统的运动交接难的问题，开发了一种以PMAC运动控制器为核心的运动控制系统，利用PMAC卡运动控制的精确性和时基控制的同步性解决了控制运动的交接问题，经试验证明所开发的系统可以达到控制要求。

The motion vector in outgoing video stream is obtained by adding up base motion vector to delta motion vector. Base motion vector is extracted from input video stream. The search area of delta motion vector is very smaller than previous full-scale full-search area. Therefore, the computational complexity can be reduced and the estimation can be speeded up.

在该模式中，最佳运动矢量由基运动矢量和增量运动矢量相加得到，其中基运动矢量可直接从输入视频流中获得，而增量运动矢量的搜索域比先前全搜索域小得多，从而减小了运动估值搜索域，降低了计算复杂性。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。