双腔起搏器能够定时发送信号，来使左右心室一同收缩、舒张。
It sends carefully timed signals that make the right and left ventricle contract and relax in unison.
在实现过程中采用了双缓冲、多线程、多媒体定时器等关键技术，保证了系统的实时性和可靠性。
The system adopts key technologies such as double buffers, multithreading and multimedia timer. These key technologies assure the efficiency and stability.
以五杆四驱动的平面双足步行机器人为对象，研究了其动态步行的时不变步态规划和限定时间的非线性控制策略。
This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link, four-actuator planar biped robot to realize dynamic walking.
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