Understanding and grasping the "four control" as well as their relationship are very important to reach the basic target of "low cost, short construction period, high quality, and safety".

正确认识和把握“四大控制”及其之间的关系，对实现项目施工管理“成本低、工期短、质量高、安全好”的基本目标是极其重要的。

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Three to focus on grasping the key points, difficulties, strict control of technical risk.

三要突出抓重点、难点环节，严控技改现场风险。

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To decrease the damage of grasping soft objects, an online joint torque predictive grasping control scheme is proposed based on external torque control loops.

为减少机械手抓取软物体造成的损害，提出基于关节力矩预测的力矩外环在线抓取控制方案。

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