To realize the programmable function of the FPGA, a SOPC module system of the base joint cell has been designed.

在FPGA的可编程控制功能的实现中，完成了基关节单元电机驱动控制系统SOPC模块化设计。

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At the same time, it introduces the data communication system between base joint cell and PC control system or between base joint cell and knuckle cell respectively.

同时，根据数据传输量的不同要求，分别设计并实现了基关节单元与上位机之间、基关节单元与指节单元之间的数据通信系统。

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He said that the already signed scores of important documents and three joint statements between the two countries constitute a solid base for the overall cooperation between the two countries.

他说，哈中两国间已签订了几十个重要文件和三个联合声明，构成了两国全面合作的坚实基础。

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Bales hasn't yet entered a formal plea in the pretrial proceeding at Joint Base Lewis-McChord outside Tacoma, Wash.

WSJ: U.S. Soldier to Plead Guilty in Afghan Killings

Mike Hostage, commander of Air Combat Command at Joint Base Langley-Eustis in Virginia.

NPR: Federal Budget Cuts Ground Air Force Aircraft

He was assigned to the 4th Airborne Brigade Combat Team, 25th Infantry Division, at Joint Base Elmendorf-Richardson five months later.

WSJ: SC soldier faces JBER court-martial