According to the dynamical equation and the theory of closed loop feedback, the angle scheme of signal detector and discrete exciter in circumferential direction is deduced.

根据半球谐振陀螺的动力学方程和闭环反馈理论，推导出离散激励器和信号检测器在壳体环向的角度配置；

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Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.

基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。

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The paper investigates the principle of position feedback transducer of Nihon Kohden and derived a output equation.

本文对日本光电公司记录器中的位置反馈传感器原理进行了论述和探讨，并得到了输出方程。

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But while praise should be delivered with conviction or an emotional connection, emotions should be taken out of the equation when giving negative feedback, Zenger says.

CNN: Can you cope with criticism at work?