Finally this paper discusses the implementation of this model and analyses in detail its primary components such as action control module, session service module and status control module.
最后给出具体模型框架的实现方法，并对模型中的动作控制、会晤服务和状态控制等关键组件进行详细阐述。
The docking process of the module was analyzed. When the uncertainty about control and geometry occurs, the basic geometric condition is analyzed to finish the docking action.
根据该模块的几何特点，分析了模块的对接过程和相邻两模块对接的几何约束关系，给出了当存在几何及控制不确定性时，完成对接最基本的几何约束条件。
The decision module was constructed by condition analysis, up level strategy, knowledge base, bottom level strategy, action control strategy base module and so on.
决策模块则由态势分析、上层策略、知识库、底层策略和动作控制策略库等子模块组成。
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