针对带有灌溉系统并装设灯泡式机组的径流水电站，进行了计及涌浪影响的全枢纽过渡过程计算，并在稳态初值计算中使用虚拟阻抗法对流体网络进行求解；

For this reason, this paper puts forward the method of virtual resistance to calculate the initial value of this system and to calculate the transient considering the effect of the ground swell.

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利用该虚拟现实系统，结合视觉反馈和力反馈，完成了按按钮、拉抽屉、抓握灯泡等遥操作任务。

Utilizing this virtual reality system combined with vision and force feedback, some teleoperation tasks, such as pushing button, pulling drawer and grasping bulb, have been accomplished.

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