在机械手实例中，分别采用复指数变换法和坐标矩阵变换法进行求解。
Both complex exponential form transformation and the coordinate matrix transformation are applied to the example of manipulator.
常用的适应度函数的设计方法有线性变换法、幂函数变换法、指数变换法和方差调整法等。
In designing methods of fitness function there are many ways, for examples: linear transformation, power transformation, index transformation, variance adjustment, etc.
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