本文还给出了第一个正则解的一个求法，并讨论了退化情况。
Moreover, a method to find out the first regular solution has been given and the generating situation has been discussed in this paper.
对钙镁磷肥、过磷酸钙和部分酸化磷肥在河南郑州西岗沙土和河南西华县潮土中的退化情况进行了研究。
The phosphate degradation was studied when Fused Magnesium phosphate, Single-super phosphate and Partially Acidulated phosphate Rock were applied in two kinds of soils.
通过该方法，可以避免随机运动序列中存在的小角度运动以及纯平移一类的退化情况对标定精度的影响，得到符合手眼标定精度的要求。
By using motion selection, the bad effect of small rotations and the degenerate motions such as pure translations will be removed and the accuracy of online hand-eye calibration be improved.
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