A revised formula for calculating the stability threshold speed of turbine-generator bearings is presented.
对现用的汽轮发电机组轴承失稳转速的计算公式进行了修正，提出了修正公式。
By means of dimensionless analysis an experimental correlation for predicting stability of system is obtained and stability threshold diagrams have been found.
采用无因次分析法得到了预测系统稳定的经验关系式，并得到了判断系统稳定性的界限图。
Simulation results show that properly selecting mass distribution of thigh, shin and trunk can increase ZMP stability threshold and walking efficiency greatly.
仿真实验结果表明，合理选择大腿、小腿和上身的质量分布可以显著增加ZMP稳定阈度和步行效率。
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