Based on pedagogical experience, a scheme of diagrammatic representation of fundamental dependent equations relating thermodynamic functions is suggested.

通过多年教学实践，归纳出热力学函数间基本关系式的图示法。

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A system of nonlinear constraint equations relating the position of hand having extreme distance to the positions of joints for robot are derived in rectangular co-ordinate system.

文中建立了在直角坐标系中表示的，联系机器人极限距离位置与关节位置的约束方程组。

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Then, the transformation equations relating physical parameters with admittance parameters and those relating complex modal parameters with real ones were determined.

讨论了阻抗参数与导纳参数，复模态参数与实模态参数的转比关系；

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Throughout, he includes fascinating, little-known tidbits relating to the law or lawgiver, and he provides cross-references to other laws or equations mentioned in the book.

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