In this paper, the main research works are as follows : 1 ) survey and analysis previous work in auv navigation and summarize : as the cumulate error, the dead - reckoning and inertial navigation systems ca n ' t be used without other modified system ; the acoustic navigation system is used only in small range, and is very expensive. 2 ) two important approaches in geophysical navigation techniques are summarized, one is terrain contour based navigation, this approach is investigated keystone today ; the other is image based navigation, due to no perfect image sensors and image seabed map, this approach has seldom been practised. 3 ) two important terrain contour based navigation algorithms has been applied to auv, one is match algorithm - based terrain contour match ( tercom ) ; the other is kalman filter - based sandia inertia terrain - aided navigation ( sitan )
主要研究內容包括:一、總結分析了當前水下導航的常用方法和不足之處,指出
基於航位推算的導航方法,存在著最大的問題就是導航誤差的積累問題,如果沒有修正系統,這種方法很難滿足使用要求;其次指出
基於聲學的導航方法,造價
昂貴,導航范圍有限,難以滿足自主水下航行器大范圍導航的需求;二、總結了當前水下地形輔助導航的主要技術路線,一是
基於地形高程的匹配方法,這是當前研究的重點;二是
基於地形圖像的匹配方法,由於缺乏良好的圖像傳感器,和可用的海底圖像地圖,目前這種方法還有待研究發展;三、將兩種地形高程匹配的常用方法應用到自主水下航行器上:以相關演算法為前提的地形輪廓匹配( tercom )方法和以卡爾曼濾波為
基礎的桑迪亞慣性地形輔助導航( sitan )方法,前者演算法簡單可靠,但是導航精度不高,後者雖然精度比較高,但存在著演算法較為復雜、有可能發散和出現奇異值等問題。
To meet the increasing demand of this expensive cytokine, we expressed it in transgenic plantso this is a promising way for producing therapeutic proteins in large scale because of its safety, low expense and ease to manipulate
為了滿足對afgf這種價格
昂貴的細胞因子的需求,本實驗探索利用轉
基因植物表達afgf 。利用轉
基因植物大規模生產治療性蛋白是一種非常有潛力的方法,這是因為此種方法安全、生產成本低、易於操作。
The transgenic plants have been studying for more than ten years, which have some advantages including that the plants are autotrophy not requiring expensive media or strict culture conditions, and the plant viruses cannot infect human, compared with other systems such as microbe fermentation and transgenic animals
與微生物發酵、動物細胞和轉
基因動物等生產系統相比,轉
基因植物不需要
昂貴的設備和嚴格的培養條件,具有光合自養、成本較低,植物病毒不感染人類等優點,已成為一類比較廉價和安全的生物反應器。
The very name assumed by his host of monte cristo and again repeated by the landlord of the h ? tel de londres, abundantly proved to him that his island friend was playing his philanthropic part on the shores of piombino, civita - vecchio, ostia, and gaeta, as on those of corsica, tuscany, and spain ; and further, franz bethought him of having heard his singular entertainer speak both of tunis and palermo, proving thereby how largely his circle of acquaintances extended
倫敦旅館的老闆也曾提到
基督山他那位東道主的化名,他覺得單是這一個名字就足以證明他那位島上的朋友的博愛行為不但遍及科西嘉,托斯卡納和西班牙沿岸,而且還同樣的遍及皮
昂比諾,契維塔韋
基亞,奧斯尼斯和巴勒莫,這可以證明他的交遊范圍是多麼的廣大。
As " glivec " is very expensive and the existing eligibility criteria of the samaritan fund are not reasonable to patients applying for drug subsidy from the fund, whether ha will revise the eligibility criteria of the fund when drawing up the details of the scheme, so that more patients who have to take the drug can receive drug subsidy ; and
(二)鑒于加以域的價錢十分
昂貴,而撒瑪利亞
基金的現行申請準則對向該
基金申請藥費資助的病人並不合理,醫管局會否在制訂有關計劃詳情時修訂該
基金的申請準則,使更多須服用該藥物的病人得到藥費資助;及
Even for bond funds of higher liquidity, particularly those involving active management, transaction fees can still be prohibitively high for retail investors
但就算一些流通量較高的債券
基金尤其屬主動式投資管理的仍收取高
昂的交易費,便可能令零售投資者卻步。
In addition, at present, most vod systems are based on wan ( wide area network ), so their designs are very complicated and the proprietary video servers are expensive and not fitf ul for lan ( local area network )
再次,現在的大多數vod系統都是
基於廣域網的解決方案,其設計不但復雜,而且其專用的視頻服務器價格十分
昂貴,幾十萬甚至上百萬的價格很難適用於小型應用領域。
On the base, the cheap labor resources in china, the expensive international long distance freight, the seasonal delicacy of many raw materials and its inconvenience in storage forwarded the process of the product that had been exported. and also because of the incitement of high profit of the export product, modern chinese inflexible pursuit of the industrialization and the severely patriotic spirit, pushed the convert of export process industry : from foreign merchant controlling the process industry alone to the native people investing in the expert process industry, from the raw material and elementary product to the deep finished goods, from semi - processed goods to terminal products, from light industry goods to heavy chemical industry goods, and so export substitution developed silk - spinning, silk - weaving, cotton - spinning and weaving, the bean process, the egg process, noodle industry and etc were most outstanding. and also some heavy chemical industry products such as steel cement sour alkali and etc beginned to be exported
其中有一點就是中國成了工業列強的原料品供應地,正是在此
基礎上,由於中國勞力資源的便宜,國際長途運費的
昂貴,以及許多原料品的時鮮性和不便於儲存,它們推動了該類產品的出口加工;也由於出口品高利潤的刺激,和近代中國人對工業化的執著追求以及強烈的愛國精神,促使出口加工業的發展由外商控制到國人投資經營轉化,由加工原料初級品向一定的深加工品轉化,由生產半成品向終端產品轉化,由輕工業品向重化工業品加工轉化,出口替代就這樣發展了起來。它以生絲、絲織、棉紡織、豆類加工、蛋製品、麵粉等加工最為突出,同時也興起一部分重化工業產品如鋼鐵、水泥、酸堿等的加工出口,呈現出一些較明顯的積極的發展趨勢。
Yunnan is one of the important regions where ethnic minorities live in compact communities. in yunnan, 24 ethnic minorities such as yi nationality, bai nationality, naxi nationality, etc. have been living here for generations
雲南是我國的一個重要的少數民族聚居區,其世居民族就有彝族、白族、納西族、哈尼族、傣族、傈僳族、佤族、拉祜族、景頗族、布朗族、阿昌族、普米族、怒族、德
昂族、獨龍族、
基諾族等20多個。
When becky told her father, in strict confidence, how tom had taken her whipping at school, the judge was visibly moved ; and when she pleaded grace for the mighty lie which tom had told in order to shift that whipping from her shoulders to his own, the judge said with a fine outburst that it was a noble, a generous, a magnanimous lie - a lie that was worthy to hold up its head and march down through history breast to breast with george washington s lauded truth about the hatchet
湯姆撒了個大謊主要是為了替她挨鞭笞,法官情緒激動,大聲說,那個謊是高尚的,它是慷慨寬宏大量的謊話。它完全有資格,
昂首闊步,永垂青史,與華盛頓那句曾大受贊揚的關于斧頭的老實話爭光!貝
基見父親踏著地板,跺著腳說這句話時顯得十分偉大了不起,她以前從沒見過父親是這個樣子。
The marines are interested in the virtusphere because real - life combat training facilities are expensive and often impractical, especially at temporary bases overseas
海軍陸戰隊之所以對虛擬球發生興趣,是因為真實的戰斗訓練設施相當昂貴,而且經常不可行,尤其在海外的暫時基地里更是滯礙難行。