文中先给出在正常情况下水下机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略。
A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given.
模型组解偶联蛋白2蛋白表达随脂肪肝程度的加重，其表达逐渐增强，而正常对照组几乎阴性表达。
The expression of UCP-2 enhanced gradually with the exacerbation of fatty liver in the model group, while it was negative in the normal control group.
通过在线重新设置解耦矩阵，能保证在一个或几个驱动器失效时，闭合回路仍能继续正常工作。
By reconfiguring the decoupling matrix, closed - loop system operation can be maintained should one or several actuators fail.
用大家熟知的方法设计正常状态空间系统的观测器，从而得到广义系统的输入解耦观测器。
An observer of standard state space systems is designed by using well-known techniques, so the input decoupled observer of the singular linear systems is obtained.
其次，我们给出了扩散引起正常数平衡解失稳的条件。
Then, for the positive constant equilibrium, we give a sufficient condition for diffusion-driven instability occurring.
用大家熟知的方法设计正常状态离散系统的观测器，从而得到广义离散系统的输入解耦观测器。
First, an observer of discrete-time standard state system was designed using well-known techniques, then the inputdecoupled observer of the singular discrete-time systems was obtained.
研究了一类奇异线性系统初值问题可解的充要条件及通解公式，给出了奇异线性系统的化简方法及其简单形式，所得结果统一和推广了正常线性系统的相应结。
The formulas of general solutions and sufficient and necessary conditions of solutions of the initial value problems for a class of singular linear system are studied.
粘连松解后伞端正常、输卵管通畅者妊娠率4 7 4 % ，若行腹腔镜下输卵管造口术，2 6例无一例妊娠。
The pregnancy rate of normal fimbria and unobstructed tube after lysis of periadnexal adhesion was 47.4%, 26 cases of laparoscopic salpingostomy had no pregnancy.
实践证明利用碱解氧化可降低浓废水中的氨氮、磷化物及盐浓度，对保证后续生物处理系统正常运行有重要作用。
The operation results show that the basic oxidation is effect to decrease the contents of ammonia nitrogen, phosphide and salt. This is very favorable to the following biological treatment.
实验证明酵母在添加了大豆蛋白酶解液中的发酵液里可以正常发酵，所得啤酒各项指标均符合国家标准。
Results confirmed that beer yeast growth well in the broth, in which soybean hydrolytic product was added. And the indexes for the achieved beer were according with the national standards.
一般健康正常的人，并不确切地瞭解高龄者或身体活动不方便者的行为状况；
Normal person generally and healthily, don't tangibly understand the behavior condition of the advanced age or the body activity inconvenient;
一般健康正常的人，并不确切地瞭解高龄者或身体活动不方便者的行为状况；
Normal person generally and healthily, don't tangibly understand the behavior condition of the advanced age or the body activity inconvenient;
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