緩變切面 的英文怎麼說
中文拼音 [huǎnbiànqiēmiàn]
緩變切面
英文
gradual taper-
From a branch of a small tree to a location of a village, from a climbing hillside to a trending mountains system, from the figure of a sheep to the melodious singing of a grassland, from a flash of ripples to a long river s mighty waters, the intimate mingling of lights and shadows clearly gives a brief account of specific motion sense and subtle change in every corner of the plateau, and therefore forms the plateau s total magnificent and beautiful outline
從一棵小樹的樹丫到一個村莊的鋪陳，從一面緩坡的起伏到一個山系的走勢，從一隻綿羊的身影到一片草原的悠揚，從一道波光的閃現到一條大河的澎湃，光和影的親切交織清晰也勾勒出這高原每一處具體的動感和細微的變化，並進而組合出高原的雄渾美麗的整體輪廊。A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. utilizing the muir and newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. according to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文對兩輪差速驅動移動機器人的運動學及其本體緩沖設計進行了探討，在對平面運動物體運動分析的基礎上結合四種常用車輪的數學模型，推導出了一個通用的移動機器人堆積方程，在此基礎上分析了移動機器人的移動能力、並針對兩輪差速構型推導了速度正解與逆解；使用muir和newman的運動學建模方法，推導了移動機器人上點及連桿坐標系位姿、速度變換關系矩陣及求解方法；在移動機器人位姿識別方法中結合差速驅動構型對航位推演算法進行了分析：推導了一種理論精度較高的航位推算演算法，並使用matlab對其與傳統的推算演算法在跟蹤圓弧軌跡情況下進行了模擬；最後針對本文所研究的機器人給出了一種比較系統、可靠的緩沖結構設計思路，較好地解決了移動機器人作業過程中外界因素及本身設計中引入的各種不確定誤差問題；本論文研究成果已在本實驗室所開發的樣機上得到實現，經過應用與考核證明其中的分析與設計是切實可行的。As the result of the innovation to traditional irregular credit modes and general credit modes of formal financial institutions, microfinance possesses innovative nature in financial system, financial product and organizational system, etc. for a long time, rural financial market has developed slowly in our country, the contradiction between financial supply and demand is very outstanding, the governmental subsidized loans program for the poor has not been operated effectively, therefore it can not improve the rural financial situation once and for all
小額信貸作為對傳統的非正規信貸方式和正規金融機構通常的信貸方式進行創新的結果，其創新性表現在金融制度、金融產品和組織制度等方面。長期以來，我國農村金融市場發育遲緩，信貸資金供求矛盾突出，政府扶貧貼息貸款運行效率不高，難以從根本上改變農村金融狀況，迫切需要進行農村金融創新，以適應農村經濟進一步發展的要求。
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