二是采用双曲线正切函数柔化输入矢量。
Another is to intenerate the input vectors by hyperbola tangent function.
对于边缘区域，用较大的码书去量化当前输入矢量以保证图像质量。
For edge areas, the input vectors are quantized with large-size codebook to maintain the image quality.
选择平台的控制输入矢量作为粒子，使得非完整约束条件自然被满足。
The control input vector of the platform was chosen as the particle, and the nonholonomic constrains can be.
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