基于冗余思想，提出了一种具有自修复功能多电平变换器拓扑。
Based on redundancy, a multilevel converter topology with self-repair ability was proposed.
其次，基于冗余手臂的自运动，对冗余度手臂控制系统进行了控制方法的实验研究。
Then we do another experiment on self-motion of the redundant robot arm in order to testify the above presented control method.
通过对基于主动响应和基于冗余两种提高系统可生存能力方法的研究分析的基础上，提出了可生存系统的分层冗余结构模型。
The survivable system model is put forward based on heterogeneous redundancy on the basis of comparing the active response method and the method based on redundancy.
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