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    The forth part, the authority to set up an initial model for the ESO as well as a comprehensive case design.

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    Based on the analytical hierarchy process (AHP) and the synthetic weighted mark, a quantitative model for the evaluation of human factors is built.

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    The comprehensive model of performance management holds human and object at the same time as the research object as well as result and course behavior.

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    Puromycin aminonucleoside-induced nephrosis is a well-described model of human idiopathic nephrotic syndrome, suppressing expression of integrin expression in cultured glomerular epithelial cells.

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  • 描述机器辅助腹腔介入治疗中的手术规划模型虚拟夹具VF方法,研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制综合控制策略。

    In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.

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  • 描述机器辅助腹腔介入治疗中的手术规划模型虚拟夹具VF方法,研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制综合控制策略。

    In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.

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