讨论一种基于位置内环的力控制方法，并将其应用于骨骼服的控制之中。
A force control method based on inner position loop was discussed and applied to the control of exoskeleton suit.
系统采用以滑移率环为外环、压力环为中间环和电流环为内环的三闭环控制策略。
The three closed loop strategy with slip ratio loop as the outer one, pressure loop as the middle one and current loop as the inner one is used.
该系统包含升压和逆变两个环节，均采用电压外环、电流内环的双环pwm控制方式。
The two parts both adopt double loop PWM control mode which consists of outer voltage loop and inner current loop.
前者在常规的采用电压外环、电流内环的双闭环控制基础上，搭建数字锁相环、数字滤波器。
Digital PLL and digital filter are built based on conventional double closed-loop control which contains voltage loop and current loop.
简体中文标题：滚动轴承。单列非自保持径向止推球轴承。带可分解内环的四点支承滚动轴承。
English Name:Rolling bearings - Angular contact radial ball bearings - Part 4: Single row, double-direction - not self-locking, with double-split inner ring (Four-point contact bearing)
考虑内环的快速性，外环可以采用简单的比例调节器，从而整个数字双环控制系统的设计非常简单。
Proportional controller can be adopted concerning the fast response of inner loop. Thus the design of whole system is very simple.
采用温度控制外环和电流平衡控制内环的双闭环结构实现电弧炉温度和电极三相电流平衡的智能集成控制。
The control system is made of double closed loops: the inner current loop and the outer temperature loop, and satisfies the EAF's temperature need and three phase current balance.
为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。
A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.
针对没有速度传感器的成像导引头位标器，从工程实际的角度出发，提出了一种位标器预定回路速度内环的设计方法。
From the point of actual engineering, a method about velocity-loop design of seeker coordinator predefined circuit was presented for imaging seeker coordinator without speed sensor.
然后，本文在传统双闭环控制的基础上，内环的控制算法不变，改变外环控制器的设计算法，主要采用IP控制方案。
Then, this thesis applies IP control algorithm to change controller in outer loop but not in inner loop based on basic double closed loop control system.
在基于位置内环和阻抗内环的力外环控制方式下，进行了机器人接触刚度变化较大环境(海绵、泡沫和铁块)的力跟踪实验。
Force tracking experiments of contacting various stiffness environments of sponge, foam, and iron surfaces have been performed under both position inner loop control and impedance inner loop control.
其次，本文采用直流电压外环、电流内环的双闭环控制方法，既保证了逆变器输出的静态误差为零，又保证了逆变器良好的输出波形。
Secondly, the DC voltage loop and inner current closed-loop control method, both to ensure zero static error of the inverter output, but also to ensure that the inverter output waveform.
马里兰州交美特科技公司的莫斯坎瑞斯，一位专门研究污染的科学家，说：“早在节能技术出现之前，室内环境就已经很脏了。”
"The indoor environment was dirty long before energy conservation came along," says Moschandreas, a pollution scientist at Geomet Technologies in Maryland.
通过建立能够更好地模拟体内环境的人类细胞和组织的体外模型，能防止许多这样的死亡。
Many of these deaths could be prevented through the development of in vitro models of human cells and tissues that better mimic in vivo environments.
例如，研究发现了饮食变化可以减缓炎症，或使体内环境不适于癌细胞繁殖的证据。
Studies have explored evidence that dietary changes can slow inflammation, for example, or make the body inhospitable to cancer cells.
我们的皮肤在不停地剥落——每个人每两到四周就会更换一次表层皮肤——而所有那些脱落的皮肤可以帮助减少室内环境中的某些污染物含量。
We shed skin constantly — each of us replacing our outer layer of skin every two to four weeks — and all of those skin flakes may help reduce levels of certain pollutants in indoor environments.
经过14个月的修理，这台巨型机器于周五晚上重新启动，晚上10点左右，第一束粒子波开始沿顺时针方向在隧道内环行。
After 14 months of repairs, the giant machine was restarted on Friday evening and the first beam started circulating in a clockwise direction around the tunnel about 10pm.
这座建筑玻璃和露天环境的搭配使用确保了阳光充足的室内环境，好像把孩子连接到了户外当他们在室内学习的时候。
The building’s use of glass and open air ensures a sun-drenched interior that connects children to the outdoors while they study in the interior.
这可能是因为烹饪和其他活动也同样向室内环境中释放了胆固醇，也有可能是因为建筑物中的臭氧正在吸收鲨烯。
It could also be because ozone in the buildings is sucking up squalene. This was the first study to look at skin-derived substances in indoor dust.
这一结构被夹在由导电材料制成的具有电极作用的内环和外环之间，整个结构的外围是又一层聚碳酸酯外壳。
This is sandwiched between inner and outer rings of conducting material that act like electrodes, and the whole thing is surrounded by yet another layer of polycarbonate as cladding.
通过改变屋内环境的光照频率，该设备发送数据的速度就可以超过每秒10兆，这相当于标准宽带连接的速度。
The device can send data faster than 10 megabits per second, which is the speed of a typical broadband connection, by altering the frequency of the ambient light in the room.
虽然还需要进一步的研究，但是沃尔弗顿说：这项研究已经表明，普通室内观赏植物能够清除室内环境中的某些污染物。
While more research is needed, Wolverton says the study has shown that common indoor landscaping plants can remove certain pollutants from the indoor environment.
除了已经列出的元素，关注一个公司，一个业务单元，或者一个开发项目之内环境的采用，同样也会非常重要。
In addition to the elements listed already, it is also important to be concerned about the adoption of the environment within an organization, a business unit, or a development project.
据说，暴雪中途改变主意对单位进行了升级和改造，改进了他们与游戏内环境互动的途径。
That said, Blizzard has made changes in the way units are upgraded and altered and improved the way they interact with the in game environments.
环绕北京的五条内环路，修建时间最长的，也不过只有二十年的时间。但因为这五条内环路又通向各自连接的共九条高速公路。
BEIJING — This city’s network of arterials, five ring roads that are fed by nine more freeways, is barely two decades old, but it is already sclerotic.
这种几纳米大小的药物载体颗粒可以被”量身定做“，使其只在靠近肿瘤的内环境条件下释放出携带的药物，从而减少对机体的附带性损伤。
Such particles can be tailored to release their payloads only when the surrounding environment indicates that they are near a tumour, thus reducing collateral damage.
这个严格的认证确认此数据中心在能源和水资源节约、碳减排、资源管理和室内环境质量方面都处于先进水平。
The stringent certification recognizes energy and water savings, carbon-emissions reduction, resource stewardship, and indoor environmental quality.
这个严格的认证确认此数据中心在能源和水资源节约、碳减排、资源管理和室内环境质量方面都处于先进水平。
The stringent certification recognizes energy and water savings, carbon-emissions reduction, resource stewardship, and indoor environmental quality.
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