【正文】 制、兩個(gè)萬向輪的設(shè)計(jì)，使機(jī)器人轉(zhuǎn)彎更靈活。 (6)完成了自動掃地機(jī)的硬件設(shè)計(jì)、制作工作：選擇FreeScale公司生產(chǎn)的MC9S12DG128作為系統(tǒng)的主控芯片，給出了設(shè)計(jì)的各個(gè)部分的電路圖。(7)系統(tǒng)軟件的設(shè)計(jì)：給出了軟件總體流程圖，自動尋找充電器流程圖，改進(jìn)的“井”字形遍歷法流程圖，最后給出了視覺導(dǎo)引在自動掃地機(jī)中的應(yīng)用及工作流程。參考文獻(xiàn)[1][M].合肥：.[2]譚定忠,王啟明,李金山,[J].,(6):911.[3]李金山,李琳,[J].,(5):18.[4]曾岑,陳進(jìn),[J].,46(10):6367.[5]馬平,呂鋒,[J].,13(1):4851.[6]王以倫,鄧寶林,王洪濤,[J].,(16):23.[7]張西良,Ⅱ目標(biāo)搜索研究[J]..[8]石為人,[J]., 27(6):378379.[9][M]北京：.[10]叢爽,[J]..[11]高學(xué)山,徐殿國,[J].機(jī)電工學(xué)報(bào),2008,44(3)。228233[12]王義杰,王書銼等. 壁面移動自控車驅(qū)動系統(tǒng)[J].. 1995, 19(1): 4850[13]奇正.“清洗巨人”世界上最大的機(jī)器人[J].,(5):78[14]王巍,靈巧擦窗機(jī)器人相關(guān)問題研究[J].北京航空航天大學(xué)博士論文,200008[15]李玉榕,郭智疆,[J]., 23(1): 106110[16]D C White, H H Woodson. Electromechanical Energy Conversion[M].John Wiley amp。 Sons,1959.[17]T J E Miller. Brushless PermanentMagnet and Reluctance Motor Drives[M].Clarendon Press,Oxford,1989.[18]A E Fitzgerald, C Kingsley, Jr, S D Umans. Electric Machinery[M].6th Ed. McGrawHill,2003.[19]Leonhard W. Control of Electrical Drives[M].2nd ed. SpringerVerlag,1996.[20]A Nabae, et al. An Approach to Flux Control of Induction Motor Operated with VariableFrequency Power Supply[J].IEEE vol IA16,1980.致謝本設(shè)計(jì)是在導(dǎo)師老師的悉心指導(dǎo)和關(guān)懷下完成的。無論是在選題、課題的研究還是在論文的撰寫方面，無不傾注著導(dǎo)師的心血。導(dǎo)師淵博的知識、精湛的學(xué)術(shù)造詣為本設(shè)計(jì)的研究指明了方向，導(dǎo)師敏銳的洞察力、富有創(chuàng)建的學(xué)術(shù)思想是本設(shè)計(jì)得以開展和順利完成的重要?jiǎng)右颍蠋焽?yán)謹(jǐn)?shù)膶W(xué)風(fēng)、一絲不茍的治學(xué)態(tài)度和對科學(xué)孜孜不倦的執(zhí)著追求時(shí)刻啟迪著我，她誨人不倦、刻苦奉獻(xiàn)的精神以及和平易近人的工作永遠(yuǎn)激勵(lì)著我。另外，我還要感謝安徽理工大學(xué)的各位同學(xué)朋友，他們在我撰寫論文及攻讀學(xué)士學(xué)位期間給予了大量建議和幫助。我要特別感謝我的父母和其他親友，感謝他們給予我無私的理解與莫大的關(guān)懷，他們對我的支持是我順利完成學(xué)業(yè)的最大動力。最后再次向我的導(dǎo)師衷心的感謝和崇高的敬意，也向所有在我攻讀學(xué)位及撰寫論文期間給予我?guī)椭睦蠋?、同學(xué)、親人和朋友們表示衷心的感謝。祝他們身體健康，工作順利！祝安徽理工大學(xué)，事業(yè)輝煌，蒸蒸日上！致謝人：20130604 g an employment tribunal claimEmployment tribunals sort out disagreements between employers and employees.You may need to make a claim to an employment tribunal if: you don39。t agree with the disciplinary action your employer has taken against you your employer dismisses you and you think that you have been dismissed unfairly.For more information about dismissal and unfair dismissal, seeDismissal.You can make a claim to an employment tribunal, even if you haven39。tappealedagainst the disciplinary action your employer has taken against you. However, if you win your case, the tribunal may reduce any pensation awarded to you as a result of your failure to appeal.Remember that in most cases you must make an application to an employment tribunal within three months of the date when the event you are plaining about happened. If your application is received after this time limit, the tribunal will not usually accept it.If you are worried about how the time limits apply to you, take advice from one of the organisations listed underFurther help.Employment tribunals are less formal than some other courts, but it is still a legal process and you will need to give evidence under an oath or affirmation.Most people find making a claim to an employment tribunal challenging. If you are thinking about making a claim to an employment tribunal, you should get help straight away from one of the organisations listed underFurther help.If you are being represented by a solicitor at the tribunal, they may ask you to sign an agreement where you pay their fee out of your pensation if you win the case. This is known as adamagesbased agreement. In England and Wales, your solicitor can39。t charge you more than 35% of your pensation if you win the case.If you are thinking about signing up for a damagesbased agreement, you should make sure you39。re clear about the terms of the agreement. It might be best to get advice from an experienced adviser, for example, at a Citizens Advice Bureau. To find your nearest CAB, including those that give advice by , click onnearest CAB.For more information about making a claim to an employment tribunal, seeEmployment tribunals.The (lack of) air up there Watch mCayman Islandsbased Webb, the head of Fifa39。s antiracism taskforce, is in London for the Football Association39。s 150th anniversary celebrations and will attend City39。s Premier League match at Chelsea on Sunday.I am going to be at the match tomorrow and I have asked to meet Yaya Toure, he told BBC Sport.For me it39。s about how he felt and I would like to speak to him first to find out what his experience was.Uefa hasopened disciplinary proceedings against CSKAfor the racist behaviour of their fans duringCity39。s 21 win.Michel Platini, president of European football39。s governing body, has also ordered an immediate investigation into the referee39。s actions.CSKA said they were surprised and disappointed by Toure39。s plaint. In a statement the Russian side added: We found no racist insults from fans of CSKA.Age has reached the end of the beginning of a word. May be guilty in his seems to passing a lot of different life became the appearance of the same day。 May be back in the past, to oneself the paranoid weird belief disillusionment, these days, my mind has been very messy, in my mind constantly. Always feel oneself should go to do something, or write something. Twenty years of life trajectory deeply shallow, suddenly feel something, do it.　　一字開頭的年齡已經(jīng)到了尾聲?；蛟S是愧疚于自己似乎把轉(zhuǎn)瞬即逝的很多個(gè)不同的日子過成了同一天的樣子；或許是追溯過去，對自己那些近乎偏執(zhí)的怪異信念的醒悟，這些天以來，思緒一直很凌亂，在腦海中不斷糾纏。總覺得自己自己似乎應(yīng)該去做點(diǎn)什么，或者寫點(diǎn)什么。二十年的人生軌跡深深淺淺，突然就感覺到有些事情，非做不可了。The end of our life, and can meet many things really do?　　而窮盡我們的一生，又能遇到多少事情是真正地非做不可？During my childhood, think lucky money and new clothes are necessary for New Year, but as the advance of the age, will be more and more found that those things are optional。 Junior high school, thought to have a crush on just means that the real growth, but over the past three years later, his writing of alumni in peace, suddenly found that isn39。t really grow up, it seems is not so important。 Then in high school, think don39。t want to give vent to out your inner voice can be in the high school children of the feelings in a period, but was eventually infarction when graduation party in the throat, later again