整个地

Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile.

除此之外，本作品将此机器人装置在一具二轮式自动平衡移动平台之上，它提供了机器人灵活移动和转身的能力，但碍於此一平台本身为不稳定系统，所以必须实现一自动平衡演算法去计算底座以及上半身机器人动作行为的转动力矩，利用计算转矩法以及陀螺仪、倾斜仪和加速规去即时更新系统参数，让整个系统可以即时地保持平衡，并且利用设计角度值的概念让整个系统移动。

This process can be carried out in an atomically economic way from the viewpoints of both material and energy utilization, which could significantly improve the efficiency of the process.

加氢和脱氢耦合法可将加氢反应的放热用于脱氢反应的供热，减小了过程的热效应，可有效避免反应器的局部过热或过冷；脱氢反应释放的氢可用于加氢反应，整个过程无氢消耗，具有能量和原子的经济性，显著地提高了整个过程的效率。

Along with vehement market competition, the technical request that relates to exploit banausic and advanced network resource management is put forward,How to increase the operational level of the telecommunication network everywhere, how to complete the communication guarantee responsibility given from the superior, how to keep the high level service quality, how to manage the equipments of the different manufactory in unification, moreover how to carry through the assistant decision-making that relates to feasibility and maneuverability of the preparative scheme of the emergency communication base on the network resource.

随着市场竞争的加剧，对开发实用、先进的网络资源管理技术提出了要求，如何提高各地电信网络的运营水平，完成上级赋予的通信保障职责，保持高水平的服务质量，统一管理不同制造商的设备，并在网络资源的基础上进行战备通信应急预案的可行性与可操作性的辅助决策；如何综合运用计算机科学、通信技术、地理信息系统的理论和方法对已投产运营的或将建设的网络相关信息进行有效管理，改善和提高调度、指挥效率，更加有效地管理和分配整个网络资源；如何使网络资源管理从单项的、人工的、独立的、局部的和数据的，走向综合的、智能的、统一的、整体的和可视化的，从而充分地发挥通信设备的作用，及时准确地为重要客户提供必要的通信保障；成为当前人们所关注并迫切希望得到解决的问题。

Previous vegetation investigation in Dinghushan 20ha permanent plot which was established at 2005, suggested that Castanopsis chinensis is the most important species in plot.

在2005年建立的鼎湖山20ha大样地植被调查研究中表明，样地内锥栗在样地植被中的重要值最大，是该地区森林群落构成的主要成分，其分布格局的变化可能直接影响到整个群落的格局演化。

Through comparison of energy inputs in corn fuel ethanol life cycle,fossil energy inputs of corn production and ethanol conversion processes were identified as the most important,and therefore nitrogen fertilizer,electivity and diesel used in corn farming and energy consumption of distillation and dehydration process in ethanol production could be known as the most influential factors for the energy benefit of corn fuel ethanol.

但是玉米燃料乙醇从原料的生产、乙醇的转化，一直到被燃耗的整个生命周期中的多个阶段需要直接或间接地消耗矿物能源，因而，虽然玉米燃料乙醇是可再生能源，然而是否具有可持续性及可持续性的大小则取决于其燃耗中所产生的能量与燃料乙醇整个生命周期中所消耗的能量相比是否有盈余及盈余的大小。20世纪70年代中期，玉米燃料乙醇的能量平衡问题研究首次在美国出现[2，3]，当时乙醇替代汽油的能量效益的有关研究指

CD8~+ cell is the main T lymphocyte subset in spleen, and B lymphocyte mainly is IgG~+ cell, moreover the amount of these B lymphocytes could exceed CD3~+ T lymphocyte subset after 7 days. CD8~+ cell is the main T lymphocyte subset in tonsil of appendix, and B lymphocyte is IgM~+ cell, and the amount could exceed CD3~+ T lymphocytes after 35 days. After 21 days, B lymphocytes in esophago tonsil are the main IgA~+ cells and the amount exceeds CD3~+ lymphocytes. The amount of CD4~+ lymphocytes is more than CD8+ lymphocytes.4. CD3~+、CD4~+ and CD8~+ T lymphocytes in spleen mainly distribute in periarterial lymphoid sheath. However IgM~+、IgG~+ and IgA~+ cells mainly distribute in ellipsoid periarterial lymphoid sheath and germinal center. T lymphocytes in appendix tonsil mainly distribute in middle and inferior part of mucous and the B lymphocytes mainly in middle and mucous between 4~7 days. Whereafter T, B lymphocytes equably distribute in mucous. CD4~+ cells arrange tightly and mainly occupy the central part in aggregates of T lymphocytes in esophago tonsil and CD8~+ lymphocytes mainly distribute in periphery. Meanwhile B lymphocytes encircle the periphery of aggregates of T lymphocytes. The aggregates of B lymphocytes is mainly the germinal center with lots of IgM~+、IgG~+ and IgA~+ cells. Meanwihle T lymphocytes encircle the periphery of aggregates of B lymphocytes.5. There is an intimate relationship between the development of tissue structure of peripheral immune organs and lymphcytopoiesis. The maturation of tissue structure is stimulated by the immigration of lymphocytes and the mature tissue structure provides place where lymphocytes grow mature and functionate.

脾脏在21日龄时达到稳定，食管扁桃体和盲肠扁桃体均在35日龄时达到稳定；脾脏中T淋巴细胞亚群以CD8~+细胞为主，B淋巴细胞则以IgG~+细胞为主，并在7日龄后数量超过CD3~+T淋巴细胞；盲肠扁桃体中T淋巴细胞亚群以CD8~+细胞为主，B淋巴细胞以IgM~+细胞为主，并在35日龄后数量超过CD3~+T淋巴细胞；21日龄后，食管扁桃体中B淋巴细胞以IgA~+细胞为主，数量超过CD3~+细胞，CD4~+细胞的数量多于CD8~+细胞。4、在T、B淋巴细胞组织定位方面，脾脏中CD3~+、CD4~+和CD8~+T淋巴细胞主要分布在动脉周围淋巴鞘中，而IgM~+、IgG~+和IgA~+细胞主要分布在椭球周围淋巴鞘和生发中心中；4～7日龄时，盲肠扁桃体中T淋巴细胞主要分布在粘膜固有层的中下部区域，而B淋巴细胞则主要分布在中上部区域，随后各日龄T、B淋巴细胞均匀地分布在粘膜固有层中；在食管扁桃体的T淋巴细胞聚集物中，CD4~+细胞紧密排列，主要占据中央部位，CD8~+细胞主要散布在外周，同时B淋巴细胞又环绕在整个T淋巴细胞聚集物的外周；B淋巴细胞聚集物主要为生发中心，其中存在大量IgM~+、IgG~+和IgA~+细胞，同时T淋巴细胞又环绕在整个B淋巴细胞聚集物的外周。5、外周免疫器官的组织结构发育和淋巴细胞发生之间存在密切的关系，淋巴细胞迁入淋巴器官刺激组织结构的发育成熟，同时成熟的组织结构又为淋巴细胞发育成熟并行使功能活动提供场所。

His thought has a strong impact not just on the development of Chinese philosophy, but also on the entire feudalistic ideology.

老子不但创立了我国三大宗教之一的道教，而且他的思想可以说影响了后来整个中国哲学史的发展，深深地影响了整个封建社会的意识形态。

After the performance, we go shopping and have the lunch outside and go home, Iris and I go to my colleage Ken's wedding dinner. Iris wearing Cheong-sam this time with the balance make-up in the morning, which is very fit the cloth. our foreign colleages request her to kiss them, but today Iris is old enough and know to refuse, shaked her head and goggled at them, listening somethin, though she can't understand. then I am start to think her future life, her boyfriend, who is her Mr.

演出结束后，我们在外面优闲地逛了一阵子就回家了，然后晚上去参加同事KEN的婚礼，小雪这次是穿旗袍去的，带着上午残留的妆，人整个的感觉倒是很符合衣服，婚礼上我们几个老外让她亲亲他们，这次小雪真的长大了，不再傻傻地迎上去让他们亲，这次一听是直摇头抽身就走，要不就瞪着她的大眼睛，很专注地听他们讲什么，虽然什么也听不懂，于是我就忍不住想她的以后，她的男朋友，她的老公会是什么样子的呢？

In view of the political situation of Chu state,Chapter Fouris a general examination on the whole process from contacts tointegration as an areal cultural structure---Chu kulturkreis,between the cultures of the Mang people,the Pu people,the Yuepeople,the Pa people,the Xuyi people,the Huaxia people andChu culture,followed by a brief explanation of the fundamentalcourse,the ways and features,of the cultural reintegration.Theauthor strives to be comprehensive in recovering the traits com-plex of Chu kulturkreis.

第四章结合楚国政治扩张状况，全面地考察楚文化与长江中游的群蛮、濮、越、巴、徐夷、华夏等民族文化的由接触而整合为一体化区域文化结构一楚文化圈的过程，扼要地分析了这次文化重整的基本线索、方式、特点等，力求全面地复原了楚文化圈的文化特质丛的概貌，具体来说，这次文化重整是从文化接触到文化整合的过程，其间包括适应、调整、再适应、新的综合四个阶段，其实现方式是新文化元素的采借和抗阻、旧文化元素的保持和抛弃、整个重整过程具有开放性、非平衡性、涨落、非线性四个特点。

For someone who claims to be so disinterested in regards to the romantic elements of the series and rather put the emphasis on the story, the nonromantic relationships built on trust, faith, caring and truth, you're quick to ignore the elements of a deep understanding and intimate relationship between Ichigo and Rukia's characters, one that posseses all of the aforementioned characteristics and has developed throughout the course of the series and will undoubtedly continue to do so as Bleach moves on.

对于某些声称自己对于故事里的爱情元素的看待是公正无私的人--比起故事本身，那些不是爱情关系的感情是建立在信任、信赖、关心和真实上的，你是那样迅速地忽视了在一露之间那种&能够深深地互相理解&且是亲密同伴的关系--这是在整个故事中已经发展了很久的关系，并且毫无疑问地，会随着BLEACH的前进脚步继续发展。

Results showed that 0.01g/mL extract of Oxalis corniculata L. had obvious antimicrobial effect on S. aureus, but all extract of Oxalis corniculata L has not any antimicrobial effect on E.

结果表明，0.01g/ml的提取物对摇床培养的金黄色葡萄球菌生长具有明显的抑制作用；但各种浓度的提取物对摇床培养的大肠杆菌生长均无抑制作用。

This will be totally different from Zaro's texture mod, it will be desaturated, dirty etc.

这会和Zaro的那个材质补丁有很大不同，这边是更多的不饱和色，整个都灰扑扑的。