轨迹

So we can only plan trajectory in Cartesian, but planning trajectory in Cartesian space is more complex than in joint space. Third, a new method of analyzing kinematics of space robot was described.

因此我们只能用笛卡尔空间轨迹规划方法对其进行规划，而传统的笛卡尔空间轨迹规划方法相对于关节空间轨迹规划方法要复杂的得多。

This method realizes the whole processes of autonomous path planning for free-floating space robot under Cartesian workspace, having good applicable foreground.

在已知空间机器人轨迹的条件下，采用空间机器人的逆动力学模型求解了各个关节的驱动力矩，并对真实轨迹和模拟轨迹进行了对比分析，保证误差在规定的控制范围。

Second, based on the screw theory, the'virtual joint'concept was proposed. By means of this concept, the conventional trajectory planning in Cartesian space was converted in the 'virtual joint'space, that is, the complex trajectory planning in Cartesian space was simplified by utilizing the trajectory planning in the'virtual joint'space.

第二、基于旋量理论提出了"虚拟关节"的概念，利用这一概念可以将传统的笛卡尔空间的轨迹规划转化成"虚拟关节"空间的轨迹规划，也就是说，利用简单的关节空间的轨迹规划方法实现了复杂的笛卡尔空间的轨迹规划。

Because of inappropriate operation between oncoming straight and left-turn vehicles of signalized intersections of urban areas in Taiwan the department of traffic ever offered corrigible opinions involve in right of way, center of intersections adjudging hard and indirectly encouraged to accelerate left-turn vehicles. But all still lack quantification analysis. Therefore, this problem is worth studying.This study will aim at safe passage of oncoming straight and left-turn vehicles for at-grade signalized intersections. So, this study will be based on row's theory, theory of traffic conflicts, and take many factors into consideration, such as the width of the intersections, types of the intersections, center of the intersections, the size of the vehicles, the location of the vehicles, the radius of turn, paths of operation, the speed of the vehicles, the types of collisions, the angle of road, and also deduce formulas of coordinate of paths. The main method used in this research is the simulation of different situations. By the method, the analytic model of safe passage of oncoming straight and left-turn vehicles for at-grade signalized intersections will be established, and this study will also subsume critical speed of conflict and expected number of times of safe passage. Finally involved rules of safe passage will be proffered.

鉴於台湾都市地区路口对向直行左转车辆常遭受对向车辆不当驾驶行为干扰，因而道路交通主管机关曾针对路口对向直行左转相关道路交通法规可能产生之对向直行左转路权判断不易、路口中心处不易区分、间接鼓励路口转弯车加速左转等问题提出检讨之修正意见，唯整体考量仍缺少〝量化〞分析，系一值得研究之课题，因此，本研究将针对号志化平面路口对向直行左转车辆安全通行问题於法规层面上之特殊性，以交通冲突理论、路权理论为基础，并考量路口宽度、路口型式、路口中心处、车辆尺寸、转弯半径、运行轨迹、行驶速率、行车位置、最终碰撞型态、道路交角等因素，先行推导车辆行驶轨迹座标公式，再利用情境模拟分析法，进行号志化平面路口对向直行左转车辆安全通行分析，分析过程中则纳入冲突临界速率与安全通行期望次数理念，并根据路口对向左转车辆安全通行轨迹、速率集中分布范围之分析结果及相关理论，研拟号志化路口对向左转车辆安全通行轨迹、速率，及对向直行左转车辆路权判断原则，以供驾驶者路口直行左转安全通行之参考。

Several crite- rions are presented relying on all possible instances for third-order profile planning. Based on these criteria and dynamic constraints, fast and accurate algorithm of profile planning with time-optimality by preprocessing the entire profile as a whole is described. Ac- curacy losses in discrete time implementation are considered.

这类运动对精度和效率的要求极高，甚至要求纳米级精度，而轨迹规划是超精密运动的重点和难点之一，其轨迹规划精度直接决定了运动精度和性能，因此，与此相适应的快速精确的轨迹规划算法成为了现代超精密运动系统必须解决的问题，是提高竞争力的必要手段。

The use of footscan balance test system of national high-level pistol, rifle shooters had a balance of stability tests, by analyzing the following major conclusions: First, all the athletes in men's pistol shooting athletes body posture and adjusting the balance of stability the capacity of the worst; the second, firing only state body sway eyes open area and before and after the shaking smaller decrease; and thirdly, the general balance of the stability of indicators (both before and after the body center of gravity, around shaking rate, trajectory length, shaking the area) can not accurately reflect the high level of shooting athletes balance the characteristics of stability, and derived indicators - per unit area of the track length (the total length of track and shaking the area ratio), both show the balance of stability, but also reflect the attitude adjustment ability, in the sway area certain circumstances, the greater its value, indicating that ability to regulate the more intense the frequency of shaking sooner, the better the stability of physical balance, in the actual shooting of firearms at the time of the impact of the smaller, can be used as shooting athletes evaluation and selection of indicators.

运用footscan balance测试系统对国家高水平手枪、步枪射击运动员进行了平衡稳定性的测试，通过分析得出以下主要结论：第一，所有射击运动员中男子手枪运动员身体姿态的平衡稳定性及调节能力最差；第二，射击训练只能使睁眼状态下身体晃动面积和前后晃动幅度减小；第三，一般平衡稳定性指标(身体重心前后、左右晃动幅度、轨迹长度、晃动面积)不能准确地反映高水平射击运动员平衡稳定性的特点，而派生指标——单位面积的轨迹长度(轨迹总长度与晃动面积的比值)，既显示平衡稳定性，又能体现姿态调节能力，在晃动面积一定的情况下，其值越大，表明调节能力越强，晃动的频率越快，身体平衡稳定性越好，在实射时对枪支的影响越小，可作为射击运动员的评价和选材指标。

First, the "autoencoder" network embeds the high-dimensional trajectories in a two-dimensional plane based on a peculiar training rule and learns a trajectory generative model by the inverse mapping.

首先，自编码网络按照一定的学习规则将高维轨迹嵌入到二维平面上，通过该网络的逆向映射得到轨迹的生成模型，由轨迹生成模型可得到一系列可行性轨迹。

A particularly investigation is carried out to the observibility of in-flight alignment using numerical simulation when the aircraft performs four kinds of basic maneuvre, namely linear acceleration, yawing, pitching and rolling. The thesis summarizes the two kinds of maneuvre. Simulation results show that the precision of transform alignment reach 5 minutes in 10 seconds if the aircraft performs two well-defined maneuvres.

首先本文采用数值分析的方法研究了直线运动、航向角运动、俯仰角运动和横滚角运动对传递对准系统可观性的影响规律；再结合飞机的实际运动，给出了空空导弹传递对准时的飞机飞行轨迹；"蛇形"飞行轨迹和摇摆运动飞行轨迹，仿真结果表明：按这两条飞行轨迹机动，在10s内传递对准精度可达到5′以下。

For existing problems in robot planning, disadvantages and difficulties in self-organization NN applied to robot track planning, and the features in self-organization rival network, a theory model of the TSPSONN is provided in order to resolve some problems producing easily fuzzy or uncertainness of track reconstruction Consequently, theory evidence and applied basis are offered for complicated track control of telerobot control system.

针对机器人轨迹规划中存在的问题，以及目前用于机器人轨迹规划的自组织神经网络存在的缺陷和困难，并结合自组织竞争网络的特点，提出一个自组织神经元网络时序处理算法的理论模型，用来解决具有重复／共享状态易于产生轨迹重构时的模糊性或不确定性问题，从而为网络远程机器人控制系统进行复杂的轨迹控制提供了理论依据和应用基础。

Based on probability theory, a method for describing and calculating the collision probability between rendezvous and docking vehicle and debris is presented, and the method involves quantitatively analyzing the collision probability using quasi maximum instantaneous collision probability and total collision probability. The method calculating the indexes is developed, and the input required to perform a calculation includes the respective state vectors, position error covariance matrices and physical sizes of objects involved.(3) Two methods to analyze relative trajectory safety between chaser and target are developed, which are 3-sigma ellipsoid based methodology and collision probability based methodology.

1分析了交会对接各阶段面临的主要轨迹安全威胁，阐述了被动和主动安全策略、目标器的交会对接控制区域等保证交会安全的措施；(2)基于概率思想发展了线性和非线性运动情况下飞行器与空间碎片的碰撞判断方法，提出采用总碰撞概率和拟最大瞬时碰撞概率来综合描述飞行器与空间碎片的碰撞危险程度，推导了通过飞行器和空间碎片各自的状态矢量、位置误差协方差矩阵以及形状尺寸来计算碰撞概率的公式；(3)提出了两种分析追踪器和目标器之间相对轨迹安全的新方法：基于3σ椭球的轨迹安全分析方法和基于碰撞概率的轨迹安全分析方法。

Methods: Five patients with parkinsonism or dystonia were assigned to general anesthesia using an modified endotracheal tube.

本实验依照人体实验之相关规定进行，五位患有帕金森氏症或肌张力异常的病人接受神经立体定位手术。

If you can benefit from this book, it is our honour.

如果您能从本书获益，这将是我们的荣幸。