This paper presents our research in actuating in - vivo micro - robot based on the capsule endoscope platform by the external power. while seeking secure driving method we take several factors into account, such as driving environment, power transmitting and consuming, motion requirement and controllability, and locating technique. we mainly deal with driving the capsule with spatial gradient magnetic field, so we employ combined electro - magnetic coils, including gradient coils and homogenous coils, which have rotational dof around a translatable patient bed, to compose a controllable uniform gradient which act on the permanent - magnet embedded robot, thereby get an appropriate spatial force and torque to fulfill the anticipant locomotion such as move, stop, pitch and yaw
基於驅動環境、能量供給和消耗、驅動動作要求及驅動安全性與可控性，定位方案等多方面考慮，尋求安全可靠的腸胃檢查微機器人的外部驅動控制方法，並著重研究直接利用外磁場磁力驅動微機器人:在微機器人內部嵌入永磁性體，利用體外的組合電磁線圈產生加載電流控制的驅動磁場，其中外部的電磁線圈由多組梯度線圈和勻場線圈組合構成，通過繞病床的旋轉以及病床的平移共同控制微機器人所在位置的磁場強度及梯度，作用於微機器人內嵌磁體以獲
得空間意義上的必要驅動力和調整轉矩，從而有效地完成驅動動作要求。
The proposed algorithm used adaptive operators for every sub - band to suppress these energy - concentrated coefficients on the block boundary to reduce blocking artifacts in space domain
通過為各個子帶設置自適應操作運算元去抑制塊邊界系數能量聚集現象，使
得空域中的塊效應
得到消除。
As a result, invisible points can be culled view - dependently in high efficiency for hardware acceleration, and at the same time, the advantage of sequential point trees could be still fully taken. therefore, the new method can run much faster than the conventional sequential point trees, and the acceleration can be highly promoted particularly when the objects possess complex occlusion relationship and viewed closely because invisible points would be in a high percentage of the points at finer levels
具體地說，從根結點開始，我們將點模型樹按照廣度優先的方式一層結點一層結點地順序排列在排列一層結點時，我們引入迭代的z型序列來安排這些結點在序列中的位置，使
得空間上鄰近的點在序列中的位置也是靠近的而在每個非葉子結點，還記錄它的兒子結點在序列中所處的片段位置。
On the first day, when, getting up early in the morning, he came out of the shed into the dawn, and saw the cupolas and the crosses of the new monastery of the virgin, all still in darkness, saw the hoar frost on the long grass, saw the slopes of the sparrow hills and the wood - clad banks of the encircling river vanishing into the purple distance, when he felt the contact of the fresh air and heard the sounds of the rooks crying out of moscow across the fields, and when flashes of light suddenly gleamed out of the east and the suns rim floated triumphantly up from behind a cloud, and cupolas and crosses and hoar frost and the horizon and the river were all sparkling in the glad light, pierre felt a new feeling of joy and vigour in life such as he had never experienced before
第一天，他一大早就起了床，走出棚子，頭一眼就看見新聖母修道院開始還發暗的圓屋頂和十字架，看見覆蓋著塵土的草上的寒露，看見麻雀山的丘陵，看見隱沒在淡紫色遠方的，長滿了樹木的，蜿蜒著的河岸，他覺
得空氣清新，沁人肺腑，可以聽到從莫斯科飛越田野的烏鴉的啼叫聲，一會兒，在東方天際邊，突然噴射出萬道霞光，一輪紅日從雲層里漸漸顯露出來。於是，圓屋頂，十字架露水遠方和那條小河所有這一切都在陽光下閃爍，這時，皮埃爾感覺到一種從來都沒有經歷過的，全新的，生活的喜悅和力量。
Due to its complexity of the problem, the theories and experiment results obtained are discrepant, and some of them are even contrary one another. started from the influence by movement rules of small cavities and solid particles, the mechanisms of combined effect of cavitation and sand abrasion are study in this thesis from the aspect of the turbulent coherent structure near the wall. first, a dynamic equation is established for a single spherical bubble and single spherical sand under the non - turbulent coherent structure near the wall, and then a dynamic equation established under the turbulent coherent structure near the wall
首先從理論上推導出在典型湍流邊界層模式的非擬序結構下
空泡與固體顆粒的近壁區運動方程，然後推導出湍流近壁擬序結構作用下的
空泡與固體顆粒的近壁區運動方程，再將兩種不同條件下的的運動方程進行比較，指出湍流近壁區的擬序結構對
空蝕與磨損的發生具有決定性的意義，即正是由於擬序猝發作用的存在，才使
得空泡、沙粒對壁面的
空蝕與磨損作用
得以發生。
The 4th generation fighters are designed to have the ability of supersonic cruise. stealth and supermaneuverability which is based on the high - tech achievements of various fields including advanced aerodynamics, modern control theory and so on. in order to achieve the air superiority in modern air combats
為了在現代
空戰環境和
空戰方式下取
得空中優勢，第四代戰斗機設計提出了超音速巡航、隱身、超機動性等設計目標，綜合了多學科先進技術，包括：先進的
空氣動力學、控制理論、航
空電子技術等。
Our fate now depended upon victory in the air.
我們的命運現在取決于能否贏
得空戰的勝利。
The part of a parachute that opens up to catch the air
傘衣降落傘打開以獲
得空氣浮力的部分
This house feels empty with just me in it
只有我一個人住，房子顯得空蕩蕩的。
