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In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

The human entire history process, has experienced approximately the primitive migration time, settles down primitively the time, competes barbarically the time, the rank smell of blood exploration time, the knowledge explosion time, the technical restriction time, the belief confused time, then is the humanity finally unifies the return time, in each time, between the humanity both cooperates mutually and opposes mutually, in which migration time, between the humanity struggles the mortality coefficient is 1%, namely in 100 individual deaths has one is because between humanity's conflict indirect or creates directly!

人类整个历史过程，大致经历了原始迁徙时代，原始定居时代，野蛮竞争时代，血腥探索时代，知识爆炸时代，科技制约时代，信仰迷茫时代，然后就是人类最后统一回归时代，在每个时代，人类之间既相互合作又相互对立，其中迁徙时代，人类之间斗争死亡系数为1％，即一百个人的死亡中有一个是由于人类之间的冲突间接或直接造成的！

Pattern of change of time of two ground time is roughly same also, sichuan at the beginning of time of ~60 of 50 time end warmer, end of time of the ~90 at the beginning of 60 time slants cold, air temperature is apparently elevatory since 90 time end and strength is greater; Chongqing end of time of ~60 of 50 time end is warmer, air temperature change and Sichuan province are basic and identical after 70 time.

两地年代际变化规律也大致相同，四川50年代末~60年代初较暖，60年代初~90年代末偏冷，90年代末以来气温明显升高且强度较大；重庆50年代末~60年代末较暖，70年代之后气温变化和四川省基本相同。

We meet in this game This is still infatuated with a network Let me be your friends one by one to leave the game To the pursuit of real-life time Then there is a fishes persist in the conviction Let me come to the so-called final Finally, we have a full class to We also become a game of a husband and wife Together to chat together to fight together to see the scenery Appear together in front of friends I have told you several times whether I would like to leave the game But do not know what I come back time and again the Now, I once again decided to leave the game I do not know how long this can leave I do not dare In fact, said to leave the game say that the discussion was not as good as you After the full level because I slowly began to weary of the game Do you have is a day I insist on the belief line Recently, I go to bed every night before you would like to But not like before, like the game's equipment But in reality you imagine how a person What kind of character, and so there We will occasionally illusion of reality can come together The game took a quarter of my college life time Reform is the time to leave As in real life too cruel I felt pressure brought about by the reality Whether in life or learning I really like this now become a regular university, said the University graduate unemployment is equivalent to That is not what I want I am not worried that I can not find a job after graduation Not because of the need to Go on like this I do not even know that after I graduated I can do what I do Looking for a job on it is an impossible dream of Do you still remember I remember a long time ago I asked you I ask you to do what - the sun - the stars - the moon I have become a game where you have the sun I hope I can become your reality stars I would also like to leave after you I hope you will be able to chat with me in the past I hope we can do Haojuhaosan The way the election is himself Life must continue

我们在这场比赛中相遇这是与网路仍痴心让我成为你的朋友们一个接一个，去游戏现实生活时间的追求然后有一个鱼类坚持信念让我谈谈所谓的决赛。最后，我们必须以一个完整的类我们也变成了一个游戏的丈夫与妻子一起，一起聊天，争取一起看风景前面的朋友在一起显示我已经告诉你几次是否我想离开游戏但不知道什麼我回来一次又一次，现在，我又一次决定离开游戏我也不知道多久这可以离开我不敢其实，说要离开讨论不是与你的一样好的游戏说后全部级别因为我慢慢开始厌倦游戏你是我坚持的信念行的一天最近，我去睡觉每天晚上之前您想要但不是象以前，像游戏装置但在现实中你就可以想像如何一人什麼样的字元，并因此有我们偶尔会现实的幻想可以走在一起这场比赛拿了我的大学生活时间的四分之一改革是离开的时候在太残酷的现实生活中的作为我觉得压力带来的现实无论是在生活或学习我真的这样现在成为一个说的正规大学，大学毕业生失业等於这是不是我想要的我不忧虑我不能毕业后找到一份工作不因为的需要这样下去我甚至不知道，我毕业后我可以做我做些什麼找一份工作就是一个不可能的梦想的你还记得吗我记得很久以前我就问你我问你做了什麼--星星-太阳月亮我已经变成一场游戏，在有阳光的地方我希望我可以成为你的现实星星我亦想在此之后你离开我希望您将能够在过去与我聊天我希望我们可以做 Haojuhaosan 选举方式是自己必须继续生活

For the first time, we investigated the possibility of using non-minimal coupled scalar field (include Real and Complex scalar fields) as the candidate of dark energy---Quintessence or Phantom. A cosmological model droved by real scalar field with accelerating and decelerating, forever cycling and expanding was constructed. Classical and quantum wormholes with Tachyon fields were discussed in detail. The entropy of sphere symmetric black holes due to arbitrary spin fields was studied, and the proportional relations between entropy and fields degeneracy was derived. For the first time, we investigated the neutrino quasinormal modes of stationary black holes in the background of de Sitter space-time, and the quasinormal modes of Schwarzschild black holes with arbitrary spin fields. We also studied the quantum teleportation in the background of curved space-time for the first time.

中文摘要：我们首次研究了非最小耦合标量场作为宇宙暗能量－Quintessence、Phantom的可能性；构造了一个实标量场驱动的加速－减速无限循环，永恒膨胀的宇宙模型；详尽讨论了具有Tachyon场的经典和量子虫洞；研究了一般球对称黑洞缘于任意自旋量子场的熵，给出了熵与量子场简并度之间的正比关系；首次研究了deSitter背景时空下具有中微子场的稳态黑洞的似正规模与具有任意自旋场的Schwarzschild黑洞的似正规模问题；首次研究了弯曲时空背景下的量子通讯问题。

Guide commercial banks to effectively identify, measure, monitor and control credit risk in real estate, in August 2003 we began drafting the "Guide", on the first draft of the scope for small and the relevant professional institutions and commercial banks advisory opinion, the revised and listen to the real estate lending representative of the Banking Board and various areas of commercial banks, real estate companies and the Hong Kong region of the real estate lending risk control practice some more prominent banking institutions.

为引导商业银行有效识别、衡量、监测和控制房地产贷款风险，我们于2003年8月着手起草了《指引》，并就初稿小范围征求了相关专业咨询机构和商业银行的意见，修改后，又广泛听取在房地产贷款方面有代表性地区的银监局以及各类商业银行、部分房地产公司以及香港地区房地产贷款风险管控方面做法较突出的某些银行机构的意见。

Firstly, this paper analyzed the finance conditions around real estate industry, and then discussed problems exiting in real estate business financing and abuses about current financing policies based on financing theories, studied real estate business financing instruments involving bank loan, issuance of stocks, issuance of bonds, and real estate affiance.

本文首先分析房地产业所处的金融环境，依据融资理论的指导，探讨房地产企业融资存在的一些问题和融资政策方面的弊端，研究房地产企业融资工具，考察银行贷款、发行股票、发行企业债券以及房地产信托方式，旨在寻找适合企业自身条件的融资方式，拓宽企业融资渠道，改善企业融资结构。

In Chapter Three of Real Rights,"real rights protection" declaratively regulates several types of claim of real rights which have substantial significance. From the angle of the law, it marks the establishment of the system of claim of real rights in China, which has theoretical value and practical connotation.

我国《物权法》在第三章"物权的保护"中已宣示性地规定了几种具有实质意义上的物权请求权类型，它标志着我国物权请求权制度在立法上的最终确立，极具理论价值和实践意蕴。

This paper researches the application of real estate securitization using in city renewal with the swot method, then discusses the latest development of real estate securitization——the operation pattern of exploitage real estate securitization, and puts forward some suggestions in real estate securitization promoting city renewal.

本文首先利用swot分析法研究不动产证券化在城市更新中的应用，然后探讨不动产证券化的最新发展类型——开发型不动产证券化的运作模式，最后对我国利用不动产证券化促进城市更新提出政策建议。

The attitude that we hold to the fictitious capital development should be that: the development of the real economy is the kernel of Chinese economic development, we should satisfy the needs of the development of the real economy better through expanding the quantity and categories of the fictitious capital appropriately; we should pay attention to harmonizing the dialectical relation between fictitious capital and the real economy, so that we can make use of the positive effect of the fictitious capital to the real economy, and prevent the harm that may caused by fictitiousness and capital character of the fictitious capital.

我们对虚拟资本发展的态度：以实体经济的发展作为中国经济发展的核心，通过适度发展虚拟资本的种类和数量来更好地满足实体经济发展的需要；注意协调好虚拟资本与实体经济的辨证关系，发挥虚拟资本市场促进实体经济发展的积极作用，并始终警惕虚拟资本的虚拟性和资本性可能造成的危害。

The system can be widely used in belt weighing and batching process control,etc.

介绍了基于智能模糊控制的嵌入式配料系统的设计方法，对模糊PID控制过程和系统调零作了重点的讨论，同时给出了PID控制的程序流程图和系统定长调零子程序。

"I dunno," she answered,"but if you show me aroun', I'll recognize it from the lighthouse just outside the porthole."

"我不知道，"她回答说，"如果你能带我转转，我能认出来的，因为灯塔就在舷窗外。"