首先推导了基座姿态受控空间机器人系统运动学关系，得到了广义雅可比矩阵。
Kinematics of the space robot system with an attitude controlled robot is derived and the generalized Jacobian is given.
聚煤特征、含煤岩系的岩性、岩相组成及其空间组合均受控于沉积环境。
The characteristics of coal accumulating, lithology, composition of lithofacies and its spacial combination are all controlled by sedimentary environment.
一种新受控的“家庭地带”将除了必要的车辆通道外的其他空间面积最小化，从而形成一种更完善的步行空间。
A new controlled 'home zone' area minimizes all but essential vehicular access, thereby creating an improved pedestrian realm.
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