在机器人多指操作过程中，需要判断抓取姿态是否满足力封闭条件。
An important topic of robotic multifingered manipulation process is the force closure problem of grasp configuration.
并进行区域评价，指出了封闭条件差、中等、好、极好的地区，为提高勘探效益提供了直接铱据。
In addition, the paper makes an area assessment and points out the areas of different confining conditions, providing direct basis for improving exploration benefit.
他们先把细菌封闭在凝胶内，这样，这些单细胞的细菌就会在没有水分的条件下清除盐结晶层，因为没有水分的参与，也就不会损坏壁画。
The scientists trap the bacteria in a gel.This way, the single-celled cleaning crew can destroy the salt layer with no moisture penetrating the murals.
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