这里采用矩阵法建立了转台各个支路的位姿变换关系，提出了求解转台误差的数值方法，通过实例对该方法进行了验证。
The matrix approach is used to establish each branch's position and pose transformation relation, and a numeric method to solve the platform's error is presented, which is tested by an instance.
基于连接规则和节点融合的快速拓扑分析算法，根据原始拓扑关系确定各支路与母线的连接情况。
With fast topology analysis algorithm based on connection rules and node merging, the connection conditions of branches and buses are determined according to the primary topology.
并用故障树表示故障原因及其传播逻辑关系，从故障树的顶事件至底事件形成故障分析支路，获取的知识以链表的结构存于知识库。
The fault analysis branch was formed from top-event to bottom event of fault tree. The knowledge was saved in repository with chain table structure.
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