As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作為該項(xiàng)目研究的一部分，本論文以移動(dòng)機(jī)器人導(dǎo)航中的定位問(wèn)題為研究?jī)?nèi)容97豆奶视频盒子，利用自行研制的裝配有二維激光雷達(dá)環(huán)境感知系統(tǒng)235影院理论片在线观看，并通過(guò)里程計(jì)、陀螺儀等內(nèi)部傳感器來(lái)實(shí)現(xiàn)航跡推測(cè)的移動(dòng)機(jī)器人"中南移動(dòng)1號(hào)MORCS-1"性欧美熟妇XXXXX，重點(diǎn)圍繞影響移動(dòng)機(jī)器人系統(tǒng)定位的四類(lèi)不確定性處理展開(kāi)研究：通過(guò)移動(dòng)機(jī)器人定位傳感器的誤差分析及校準(zhǔn)欧美亚操逼，旨在消除傳感器噪聲所帶來(lái)的測(cè)量誤差；通過(guò)建立移動(dòng)機(jī)器人的三維運(yùn)動(dòng)學(xué)模型進(jìn)行航跡推測(cè)国产一级婬片A片免费丝袜，以期實(shí)現(xiàn)復(fù)雜地形下精確的移動(dòng)機(jī)器人本體姿態(tài)感受91人妻系列绿帽；通過(guò)基于激光雷達(dá)的動(dòng)靜態(tài)障礙的自主檢測(cè)等相關(guān)研究，盡量消除環(huán)境的不確定因素影響進(jìn)而實(shí)現(xiàn)可靠的移動(dòng)機(jī)器人絕對(duì)定位黄色网站/在线；通過(guò)以上研究无修正小视频在线观看视频，針對(duì)未知數(shù)據(jù)關(guān)聯(lián)下移動(dòng)機(jī)器人增量式環(huán)境建圖與自定位的研究提出一種魯棒的濾波算法，改善未知環(huán)境中移動(dòng)機(jī)器人自定位的性能色色色色色婷婷。

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Following that, we implement the algorithms of FOC, space vector pulse-width modulation, and speed control using the digital signal processor. Regarding to the influence of controller parameters on dynamic response of the motor speed, this thesis proposes the speed control of PMSM using self-tuning fuzzy technique. By the self-tuning technique, the on-line fuzzy logic controller output can give better speed response under the load disturbances or variable speed commands.

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Similarly, in our study, only is not enough self-confidence, self-confidence and efforts should be combined organically.

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Self-incompatibility is a widespread mechanism in flowering plants that prevents self-fertilization and promotes outcrossing. It has great influence on maintenance of germplasm purification and increasing in seed yield.

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Self-incompatibility SI is a widespread mechanism in flowering plants , which prevents self-fertilization and promotes outcrossing .

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Results:① there was significant difference in all personality traits except stableness and shrewdness among the three groups,(p 05). compared to the standardization samples, military pentathlon athletes were more outgoing, more dominant, more happy go lucky, bolder, tenser, but less suspicious, less apprehensive, and less self sufficient.② there was significant difference in the personality traits of outgoingness, happy go lucky and self sufficiency among the three grades of athletes (p 05). but the international master athletes scores of the personality traits varied little.

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The inclination of self-preoccupation appears strong; in creation, the authors are inclined to pursue the unconventional and fanciful poetic style; the fantasies tend to manifest the psychology of overcompensation and perfectionism; and the description of the images of lyric heroes possess the characteristics of self-adornment.

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