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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。

He glanced about him at the well-bred, well-dressed men and women, and breathed into his lungs the atmosphere of culture and refinement, and at the same moment the ghost of his early youth, in stiff-rim and square-cut, with swagger and toughness, stalked across the room.

现在他满眼是衣冠楚楚、门第高贵的红男绿女，肺里吸进的是教养与风雅的空气，而同时他早年那个戴硬边帽、穿方襟短外衣、神气十足、粗鲁野蛮的青年的幻影也在这屋里出没。

The results showed: when TLC solvent system was: chloroform - methanol - diethyl amine = 90:9:1, alkaloids from lotus leaves were well isolated, and five components were isolated and identified by spraying Dragendorff reagent. The optimal conditions of HPLC solvent system were: methanol- water - diethyl amine = 75:25:0.0125. Under the conditions, components of alkaloids from lotus leaves were separated very well, and ideal RP-HPLC peaks were obtained.5、Methods of High Speed Counter Current Chromatography and preparative High Performance Liquid Chromatography applied to identify and purify alkaloids from lotus leaves were set up. When solvent system of HSCCC was: chloroform - methanol - water (pH=4.00)= 4:3:2, speed of chromatogram was 700rpm, flow speed of the mobile phase was 2mL/min, four pure components relatively were attained by isolation and purification.

结果表明：薄层层析溶剂系统为氯仿：甲醇：二乙胺=90：9：1，使荷叶中的生物碱达到了较好的分离效果，并用改良的碘化铋钾试剂喷雾显色，共分离鉴别出了5种荷叶生物碱；分析型HPLC分析检测的较优溶剂系统为甲醇：水：二乙胺=75：25：0.0125，使荷叶生物碱的各个组分达到了基线分离，并获得了较好的峰形。5、建立了高速逆流色谱和制备型HPLC技术分离纯化荷叶生物碱的具体方法。H(来源：ABC46论文网www.abclunwen.com)SCCC法在溶剂系统为氯仿：甲醇：pH4.00的水=4：3：2，色谱仪转速为700rpm，流动相流速为2mL／min的条件下，分离纯化得到了4个纯度较高的化合物。

The company is located in the world-renowned International Kite - all of Weifang, Shandong, the company convenient transportation, communications smooth, location, the company has four branch, as well as a number of warehouse, now the main production electric cars, bicycles, the streets, child cars, motorcycles, farm vehicles, as well as internal and external fetal trolleys, flatbed truck, warehouse trucks, spoke plastics and other products, products are sold throughout the country and exported to the United States, Canada, the Middle East and some African countries and regions, at home and abroad by the broad masses users praise.

公司位于闻名与世的国际风筝都----山东潍坊，公司交通便捷，通讯畅通，地理位置优越，公司下设四个分厂多个仓库，现主要生产电动车、自行车、力车、童车、摩托车、农用车内外胎以及手推车、平板车、货仓车、轮辐塑料制品等产品，产品主要销往全国各地并远销美国、加拿大、中东及非洲一些国家和地区，深受国内外广大用户的赞誉。

He has published over 10 papers and awarded the Excellent Design prize of Beijing 2000's Beautify-Home Design. From 1984 to 1992, Mr. Zhao has taken the consultation work for designing of Sri Lanka Superior Court, Nepal International Conference Mansion, Algeria Hotel, Western Building Office of Burkina Faso, and Gambian Court, which includes scheme comparison and optimization, middle inspections, project completion acceptance and etc., and all of these was well received by China Ministry of Foreign Trade and Economic Cooperation as well as recipient country.

曾发表论文十余篇。2000年获得北京市美化家居优秀设计奖。1984年1992年曾为斯里兰卡高等法院、尼泊尔国际会议大厦、阿尔及利亚旅馆、布基纳法索西部办公楼、冈比亚法院等的设计做咨询工作，包括方案论证及优化、中间检查、工程竣工验收等，均受到外经贸部及受援国的好评。

Glass powder plug porcelain glaze, sealant, connector sealant, fine grained alundum powder, glass-ceramics and ceramics for electrostatic precipitator (ceramic rotating shaft, vibrating bar, wall bushing, porcelain insulation seat). Apart form being supplied to Sanle General Electric Corporation as the accessories of the military supplies, these products sell well in more than 20 provinces, cities and autonomous regions in China, and are exported to many countries and regions in Europe and North America, being well received by the users.

本公司主要生产：电真空玻璃制品，电真空陶瓷制品（A-75、A-95、A-94.3、A-99等）、玻璃粉（火花塞瓷釉、密封剂、接插件密封剂）、刚玉微粉、微晶玻璃及电收尘设备用陶瓷（瓷转轴、振打棒、穿墙套管、绝缘瓷座）等六大系列几十个品种的产品，产品除供三乐电气总公司军品配套外，还覆盖全国二十几个省、市、自治区，并远销欧美等多个国家和地区，深受用户欢迎。

You must except, nevertheless, Marcus Antonius, the half partner of the empire of Rome, and Appius Claudius, the decemvir and lawgiver; whereof the former was indeed a voluptuous man, and inordinate; but the latter was an austere and wise man: and therefore it seems that love can find entrance, not only into an open heart, but also into a heart well fortified, if watch be not well kept.

你可以看到，一切真正伟大的人物（无论是古人、今人，只要是其英名永铭于人类记忆中的），没有一个是因爱情而发狂的人：因为伟大的事业抑制了这种软弱的感憎。只有罗马的安东尼和克劳底亚是例外。前者本性就好色荒淫，然而后者却是严肃多谋的人。

Art Psychology briefly introduces the artistic theories of some great psychologists such as Arnheim, Freud, Adler, and Jung. Students will explore the principles of artistic creation, as well as a variety of psychological phenomena in artistic appreciation and creation. The course also teaches the relations between artistic design and consumer psychology, environment and art psychology, design ideas and designer's psychology, as well as the application of art psychology.

艺术心理学将简要介绍 Arnheim 、 Freud 、 Adler 、 Jung 等心理学大师的艺术思想和艺术理论，探讨艺术创作和设计的规律，以及艺术欣赏和设计产品使用过程中的各种心理现象，介绍设计艺术与消费者心理的关系、环境与设计艺术心理、设计思维与设计师心理、设计艺术心理学的运用等相关内容

"Build " of comparatively well-off society in the round put forward to have extremely great sense, come up from theory tell, it is thought of comparatively well-off " of traditional to ancient time " surmount, break through and adjust, the successive, development that is pair of Marxisms, Mao Zedong Thought and Deng Xiaoping theory and innovation; are told from practice, it to consolidating of the Chinese Communist be in office those who achieve the Chinese nation is position, great revive and the ascensive career of complete mankind is had coach importantly and promote action.

"全面建设小康社会"的提出具有极其重大的意义，从理论上来讲，它是对古代传统"小康"思想的超越、突破和调整，是对马克思主义、毛泽东思想和邓小平理论的继承、发展和创新；从实践上来讲，它对于巩固中国共产党的执政地位、实现中华民族的伟大复兴和全人类的进步事业都具有重要的指导和促进作用。

Let's get it started, let's start addressing this issue and open it up Let's take this shit back to bassmint And we can disscuss statements thats made on this tape And its whole origin of the music that we all know and love The music that we all enjoy the music you all accuse me of tryna destroy Let's rewind it to 89 when I was a boy on the east side of Detroit Crossin 8 Mile in the border in the hate territory I'd like to share a story, this is my story and cant no body tell it for me You will well inform me, I am well aware that I don't belong here You've made that perfectly clear, I get my ass kicked damn near everywhere From Bel-Air shopping center just for stopping in there From the black side all the way to the white side Okay there's a bright side a day that I might slide You may call it a past I call it haulin my ass

让我们拿它开始，让我们开始向这演说议题和公开它向上的让我们拿这粪回到 bassmint 而且我们能 disscuss 陈述那在这卷音带上制造了而且我们全部清楚的它的音乐的全部起源和爱音乐我们全部拥有你全部 tryna 责备我的音乐破坏让我们转回它至 89 当我是一个男孩在那之上东方底特律的边憎恨领土的边缘的 Crossin 8 里我想要到部份一个故事，这是我的故事和伪善之言没有身体告诉它为我你意志井告知我，我是井清楚的我做不属于在这里你有做完全地清楚的，我争取我的驴踢一点近的各处从对停止很正直的贝尔-空气的购物中心在那里从那黑色的边所有的路那白色的边好在那里是光明面一天我可能滑你可能呼叫它一过去我呼叫它 haulin 我的驴

Smoking cigarettes adds to the Computer Desk Computer manufacturer computer mouse Computer Computerized collar knitter machine Conduit Bodies construction board Container Bag Control Arm Cooking Thermometer general levels of air pollution as well as damaging our health.

吸烟不仅对健康有害，而且增加空气污染程度。香烟雾含有多种有害物质：不仅有致癌化学物质、有某种能阻止氧气进入血液的气体，还有引起血压增高、心速加快的被称为尼古丁的物质。

He is one of my favorite actors.

他是我最喜欢的男演员之一。