Recovery-Oriented Computing (ROC) takes the perspective that hardware faults, software bugs, and operator errors are facts to avoid coped with, not problems to avoid.
面向修复计算把硬件故障、软件错误和操作员失误当作不可避免的事实，研究的是面对事实的处理技术。
Recovery -oriented Calculation (ROC) takes the perspective that hardware faults, software bugs, and operator errors are facts to be coped with, not problems to be solved.
面向恢复的计算(ROC)认为：硬件故障、软件故障以及操作员错误仍需要人们面对，但不必作为一定要彻底解决的问题。
UC4: Notify operator of validation errors.
UC 4：通知操作员校验失败。
Due to the sensitivity of inversion operator, minute errors in the estimation can incur considerable equalization performance degradation.
由于求逆算子的敏感性，估计结果中小的误差也可能造成均衡器性能的显著损失。
Traditional mechanical calibrations require intensive operator interaction, which is prone to errors.
传统的机械校准需要密集的运营商的互动，这是容易出现的错误。
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.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（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的综合控制策略。
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.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（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的综合控制策略。
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