听力真题1Part AThe following is an interview with Emma Richards, one of Britain' s most successful sailors and the youngest person to complete the Around Alone Race in May 2003. As you listen, answer Questions 1 to 10 by circling TRUE or FALSE. You will hear the interview only once.1、Emma grew up in a family with a sailing tradition.2、Emma enj oys the sense of being free on the sea.3、Sailing on the west coast of Scotland is a peaceful experience because Emma has a good knowledge of the area.4、Emma' s second cruise around New Zealand impressed her a great deal.5、Most of the time Emma did not feel lonely sailing on her own.6 、The worst thing that happened to Emma during the Around Alone race was that she broke one leg.7、Replacing one of the ropes at the top of the mast gave Emma a very hard time.8、The thought of death never occurred to her during the entire race.9、During the race Emma could never get enough sleep as she was only able to doze off at intervals.10、Her successful completion of the Around Alone race encouraged Emma to do a few more suchtrips in the future.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. You will hear each recording only once,11、What is happening in Australia' s agricultural industry?A.Many people are disqualified.B.Few senior positions are offered.C.Aging staff is posing a threat to its future.D.Senior staff leave for overseas employment.12 、What is Professor Gordan' s concern?ck of interest in agriculture.B.Shortage of agricultural talents.C.Existence of the generation gap.D.Reluctance to teach agricultural economy.13、What problem does Mr. Kerin point out?A.Environmental pollution caused by agriculture.B.Insufficient investment in higher education.C.Diminishing number of agricultural institutions.D.Imbalance between research and production.14 、What is the problem with consultants?A.They do not have a middleman.B.They do not have sufficient capital.C.They are too humble to their clients.D.They focus on a six-figure salary.15、What does Weiss say about self-esteem?A.Self-esteem matters a lot when one works in a company.B.Self-esteem enables people to confront someone s uperior.C.Self-esteem is built up on a support system.D.Self-esteem plays a bigger role for the self-employed.16 、What does "bill on value" mean?A.Helping a company improve its market share by 10 percent.B.Knowing what the company is planning to achieve.C.A consultant' s income depends on how much he helps a company make or save.D.A consultant should have a clear idea about who has the final say on expenses.17、How many people lost their lives worldwide in emergencies in 2008?A. 11, 000.B. 16, 000.C. 250, 000.D. 11, 000, 000.18、Which is one of the best practices WHO is advocating?A.To train doctors and nurses.B.To recruit v olunteers.C.To equip hospitals with advanced facilities.D.To do drills in preparation for emergencies.19、Which of the following is suggested by the two officials?A.To spend 80 percent of the total health budget on hospitals.B.To make use of the existing facilities in emergencies.C.To increase the original budget for hospital construction.D.To rebuild the hospitals that have been destroyed.20 、What causes hospitals to lose their normal functions?A.Inadequate investment.rge-scale outbreaks of diseases.ck of experienced surgeons.D.Outdated health facilities.Part CYou will hear an interview with Mike Rowe, host of the American TV show Dirty Jobs. As you listen, answer the questions or complete the notes in your test booklet for Questions 21 to 30 by writing no more than three words in the space provided on the right. You will hear the interview twice.21、Rowe thinks a civilized life is made possible by people doing .22、The show is about j obs that most people try very hard to .23、To many Americans living a clean and suburban life, the j obs introduced in the show are .24、Before the show was televised on a network, it was on the air in .25、In making the show, Rowe learns that the interest of the audience is in both .26、Rowe was at the end of his wits when the number of his programs totaled .27、Where does Rowe get the inspirations for his programs now?28、Though not well-educated, Rowe' s grandfather had a natural gift in the fields of .29、At the age of 18, Rowe decided not to follow .30、What does Rowe think the people doing clean j obs lack in their lives?听力真题2Part AYou will hear an interview with Gail Jarvis, head of Australian Broadcasting Corporation(ABC. about the TV series Quantum. As you listen, answer Questions I to 10 by circling TRUE or FALSE. You will hear the interview only once. You now have 1 minute to read Question 1 to 10.1、Quantum w ill s till b e o n a ir a s t he l ast p rograms o f i t a re s till i n t he m aking a nd a re t o b e s hownas scheduled.2、Quantum has been presented in many different forms for the past 16 years.3、Quantum is losing its appeal because the content is out of date.4、Jarvis revealed what ABC plans to do with the timeslot of Quantum.5、Science programs shown on ABC TV are made by ABC production tea，msnot independent producers.6、ABC programs are made also for other TV organizations through distributors.7、ABC will reserve the fund for Quantum in order to make quality science programs.8、Some members will be transferred to current news programs.9、An ABC executive producer will work with independent producers to ensure that guidelines are followed.10、ABC will try to get more government support to enhance its commitment to science.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. You will hear each recording only once. Questions11 to 13 are based on the following interview with George Schaller, a world famous biologist, about his painstaking studies of mammals all over the world. You now have 15 seconds to read Questions 11 to 13.11、When did Mr. Schaller become interested in animals?A.In his childhood.B.In his university days.C.In his postgraduate studies.D.In his expedition into the wild.12、When does Mr. Schaller feel scared of wild animals?A.When the contact is not well-planned.B.When the animals are irritated.C.When he recalls the contact afterwards.D.When he is reminded of the danger.13、What is one of the mistakes in the recent conservation movement?A.To add moral values to conservation.B.To regard nature only as resources.C.To attach spiritual values to nature.D.To regard nature only as the wilderness.Questions14 to 16 are based on the following interview with Andy Serkis, a British actor on his role as King Kong. You now have 15 seconds to read Questions 14 to 16.14 、How does Serkis' version differ from the original one?A.Serkis does a more realistic portrayal of the gorilla.B.Kong is humanized in Serkis' version.C.The original version was based on the observations of gorillas.D.The original version was a Disney product.15 、What mistake did Serkis find in the original version?A.Kong does not eat humans.B.Kong walks on his feet and knuckles.C.Kong beats his chest with fists.D.Kong lives on plants.16 、How does Serkis feel about his observation of gorillas?A. Excited.B. Terrified.C. Nervous.D. Comforted.Questions17 to 20 are based on an interview about the retail revolution in Canada. You now have 20 seconds to read Questions 17 to 20.17、What is lacking in North America's retail industry?A.Speedy delivery of products.B.Independent shopping channels.C.V ariety in retail offering.D.New and young customers.18、What do young customers expect the shopping channels to be like?A. Multiplied.B. Integrated.C. Efficient.D. Convenient.19 、How should the retailers face the challenge?A. Have a clear self-positioning strategy.B. Focus more on pricing strategies.C. Look for more marketing options.D. Specialize in customer service.20、What is the major feature of the new retail programs?A.Customer-centered.B.Reward-motivating.C.Customer data-collecting.D.Loyalty-building.Part CYou will hear an interview with Steven Casey, on humanfactors in design. As you listen, answer the questions or complete the notes in your test booklet for Questions 21 to 30 by writing no more than three words in the space provided on the right. You will hear the interview twice. You now have 1 minute to read Questions 21 to 30.21、According to Casey, what do designers often forget in designing a system or a product?22、The more sophisticated a system is, the easier it is for people to .23、When talking about human errors, what term does Casey prefer to use?24、In his book, the stories he selected concern systems that could have been .25、In one example, why did the operators and supervisors decide not to use the system?26、Either before or after something goes wrong, Casey will receive a call from .27、In his opinion, regardless of the types of machinery, either aircraft or agricultural equipment, the issuesare28 、In Casey's opinion, designers should also involve human-factor experts in their work in addition to.29、According to Casey, the likelihood of human error can be .30、How does Casey feel when he has trouble operating a machine?听力真题3Part AYou will hear a talk by Prof Wilson, a health expert, on the importance of fiber in our daily diet. As you listen, answer Questions I to 10 by circling TRUE or FALSE. You will hear the talk only once. You now have 1 minute to read Questions 1 to 10.1、Women generally need less fiber than men.2 、Studies show that fiber can help lose weight.3 、Daily intake of six kinds of fresh fruits and vegetables can help meet the minimum fiber requirement.4、People who do not get enough fiber from food should take fiber supplements.5、People suffering high blood sugar can be freed from medication if they take a fiber-rich diet.6、It is hard to find the most suitable fiber supplement on the market.7、Man-made fiber is as good as natural fiber.8、Both soluble and insoluble fibers help lower blood pressure.9、Although a fiber supplement is not medicine, instructions for taking it should be observed.10、It is advised that fiber supplements and medicine be taken at the same time.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. You will hear each recording only once. Questions 11 to 13 are based on the following radio program "Science around Us". You now have 15 seconds to read Questions 11 to 13.11、Why does Dr. Johnson suggest building a greenhouse near a power station?A.It is convenient to get electricity.B.It helps to clean the air.C.T he e xhaust f rom t he p lant c an b e m ade u se o f.D.The wasteland around the station can be made use of.12 、Which of the following can be used as fertilizer?A.Waste fuel from the power plant.B.Raw materials used to p roduce electricity.C.Waste water from the power plant.D.Carbon dioxide produced from burning fuel.13、Why does Dr. Johnson want to use a gas-burning plant?A.It generates more hot a ir.B.It produces more carbon dioxide.C.It does not dump sulfur dioxide into the air.D.It does not release pollutants into the air.Questions 14 to 16 are based on an interview between Annabel Short and Phil Wells, Chief Executive of the Fairtrade Foundation, about his role in giving Third World traders a better deal. You now have 15 seconds to read Questions 14 to 16.14、What was Mr. Wells doing when he learned about fair trade?A. Studying ecology.B. Working at a museum.C. Founding the friends of the Earth.D. Selling tradecraft products.15 、What is the next task for fair trade?A.To carry out studies on consumers.B.To involve big companies in fair trade.C.To find out more about its existing market.D.To improve the quality of fair trade products.16、What did Mr. Wells find out about the local people on his second visit to the tea estate?A.They made complaints about fair trade.B.They began to have trust in fair trade.C.T hey b ecame d ependent o n f air t rade.D.They wanted to j oin the Fairtrade Foundation.Questions 17 to 20 are based on the following interview with Lawrence Lessig, a law professor and directorof Public Library of Science (PLoS, an open-access journal publisher) about intellectual property You now have 20 seconds to read Questions 17 to 20.17、What is special about open-access journals?A. A higher frequency of citation.B. A collection of valuable data.C. Hard-won prominence.D. Established reputation.18、What does the woman say is the possible result of the new policy?A.Some magazines may close down.B.It may provoke criticism from scientists.C.More funding will be offered to scientists.D.Research results will have to be published on a new system.19 、What does Lessig think of the open-access system?A.Taxpayers have to pay as much as usual.B.The costs depend on the research results.C.T he c osts w ill b e c onsiderably r educed.D.Publishing will be made much e asier.20、What does Lessig say should be done concerning intellectual propertyexpansion?A. Revise regulations.B. Expand the restriction.C. Identify the harm.D. Make no new restrictions.Part CYou will hear a speech by Ivo Jupa, who made use of short message service to raise money for charity. As you listen, answer the questions or complete the notes in your test booklet for Questions 21 to 30 by writingno more than three words in the space provided on the right. You will hear the speech twice. You have 1 minute to read Questions 21 to 30.21、Due to historical reasons, people in the Czech Republic lacked .22、What kind of organization did Ivo Jupa work for seven years ago?23、Ivo Jupa' s j ob used to focus on collecting donations from .24、The seminar Ivo Jupa visited by accident completely .25、What was the percentage of people who did not donate because they were never asked to?26、The mobile operators agreed to charge only the running costs because they thought it was a .27、The area hit by a storm in Slovakia in 2004 was the Czech people' s .28、Ivo Jupa is now planning to spread DMS to .29、For a decade, Ivo Jupa has been in charge of .30、Ivo Jupa was moved when he heard that several men drinking in a bar sent DMSs for the disaster-stricken people in .听力真题4Part AYou will hear a speech by Bob Chase,President of the National Education Associatio(N n EA.to the American Associatio o n f Colleges for Teacher Education.As you listen,answer Questions1to10by circling TRUE or FALSE. You will hear the speech only once. You now have 1 minute to read Questions 1to 10.1、The speaker thinks that to be a teacher is more difficult than to be the president of the NEA.2、The speaker' s first teaching assignment happened to be his maj or at college.3、Most teachers are generally consulted in many aspects of school affairs.4、The speaker thought he did the fight thing to become a union activist.5、Practically speaking, teaching as a profession is not as developed as law and medicine.6、The speaker strongly believes that teachers can lead their students into a different life.7、Teachers fail to receive due respect from either administrators or their students.8 、There is a big gap between the experience of teachers fresh from college and the realisticteaching requirements.9 、In-service training is very helpful for older teachers.10、The speaker wants to change the composition of teachers.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. Youwill hear each recording only once. Questions 11 to 13 are based on an interview about paternity leav Sweden. You now have 15 seconds to read Questions 11 to 13.11、Which of the following is true about fathers in Sweden?A.They are under heavy pressure to do more housework.B.They are entitled to take parental leave.C.They are spending more time shopping with their young kids.D.They are celebrating the 30th anniversary of "papa leave".12、What is one feature of the parental leave in Sweden?A.Fathers can be off work for 13 months.B.The leave can be taken periodically.C.The couple may have 90 days more without pay.D.Parents may lose their salary by 80 percent.13、What is essential to equality in the labour market according to feminists?A.High rates of female involvement.B.Shared responsibility for childcare.C.Higher wages for female employees.D.Transfer of leave between partners.Questions 14 to 16 are based on the following talk about the reform of public education. You now have 15 seconds to read Questions 14 to 16.14、Why is the reform of public education unlikely to happen?A.Few people support it.B.State governments oppose it.C.The teachers unions show no interest in the proposals.D.Teachers and schools will resist the reform.15、What will the home-school co-op model be like in the future?A.Funded partly by state governments.B.Independent of public schools.C.Linked with technology and public schools.D.Primarily attended by poor kids aided by scholarships.16、How many students are now studying at home-schools?A. Two million.B. A few thousand.C. Twenty thousand.D. Three million.Questions 17 to 20 are based on the following interview with Bill Welch, an Official from the US Environmental Protection Agency, about the global warming phenomenon. You now have 20 seconds to read Questions 17 to 20.17、What can be said about the report by the National Academy of Sciences?A.It is presented in an authoritative tone.B.It is based on an obj ective analysis.C.It provides an unbiased view on global warming.D.It contains provocative remarks to skeptics.18、How much has the world temperature gone up in the past 100 years?A. By 1 degree.B. By 2 degrees.C. By 4 degrees.D. By 5 degrees.19、What is the largest energy source in the US today?A. Nuclear energy.B. Coal.C. Oil.D. Natural gas.20、What hinders the extensive use of renewable energy sources?ck of advanced storing t echnology.B.A need for joint efforts of scientists.C.A shortage of practical support from the public.D.An unreliable market demand.Part CYou will hear an interview about Galapagos Adventure Tour in Ecuador. As you listen, you must Questions 21 to 30 by writing no more than three words in the space provided on the right. You will hearthe interview twice. You now have 1 minute to read Questions 21 to 30.21、What is the first j ob the man applied for right after his university graduation?22、How did the man feel about taking a regular j ob back home in England?23 、When did the man set up his own company?24、The company employed not only British tour guides, but also .25 、What are the local politicians mostly concerned about?26、Besides introduced organisms, what is the other biggest threat to the Galapagos?27、Tourism can be a positive force if it is .28 、What age groups j oin the tour?29 、How long does his tour generally last?30 、What is the new brand name for his company?听力真题5Part AYou will hear a talk about French elementary schools. As you listen, answer Questions 1 to 10 by circling TRUE or FALSE. You will hear the talk only once. You now have 1 minute to read Questions 1 to 10.1、In France, all schools follow the same basic curriculum.2 、French children enter school at the age of 6.3、French s chools p ay a s m uch a ttention t o t he i ndividual n eeds o f p upils a s A merican s chools.4、French pupils begin to learn writing in script in the first year of schooling.5、French primary schools have stricter rules than American primary schools.6、French pupils show their artwork to their parents each day.7、French pupils have to line up before entering the classroom.8 、Most French pupils have their lunch at home.9、There are quite a few after-school programs after 4: 30 pm.10、Parents in France are not allowed to sit in and observe their child' s class.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. Youwill hear each recording only once. Questions 11 to 13 are based on an interview about the Scientific Exploration Society (SES) . You now have 15 seconds to read Questions 11 to 13.11、What is the minimum number of proj ects run by the SES annually?A. 45.B. 18.C. 12.D. 6.12、In which country is an SES proj ect undertaken now?A. The UK.B. Ethiopia.C. The USA.D. Nepal.13 、What does the land-based support team intend to do?A.Explore the biodiversity along the Blue Nile.B.Map the Blue Nile Valley.C.Study endangered species in the valley.D.Improve infrastructure for the locals.Questions 14 to 16 are based on the following interview with Deirdre Bair who has written a book aboutlate-life divorce. You now have 15 seconds to read Questions 14 to 16.14 、How long was Ms. Bait' s marriage?A. 20 years.B. 43 years.C. 55 years.D. 60 years.15、According to the lawyer, what was the maj or concern for women who wanted to divorce?A.Inability to face r eality.B.Inability to get legal service.C.Inability to live on their own.D.Inability to keep the house.16、How did people feel after they got their late-life divorce?A. A shamed.B. Isolated.C. U nwelcomed.D. Relieved.Questions 17 to 20 are based on the following interview with Christopher Reeve, a former film star who talksabout his feelings sincethe accident that made him paralyzed. You now have 20 seconds to read Questions 17 to 20.17 、How does Reeve feel in a crisis?A. Angry.B. Scared.C. Lost.D. Frustrated.18 、When did Reeve get his latest life-threatening infection?A.When he was taking a bike ride.B.After he got a minor inj ury on his left hip.C.W hen h e w as t akingablood t est.D.Before he shot a movie in New Orleans.19、What happened when Reeve was flying to Boston in 19857A.There was lightning on the route.B.Oil was leaking from the plane.C.The plane encountered a snowstorm.D.One engine of the plane broke down.20、Why did Reeve tell the story about his flying trip?A.To demonstrate that he was not afraid of danger.B.To highlight the importance of professional training.C.To prove that fear can be controlled by rational thinking.D.To show that he could overcome difficulties with willpower.Part CYou will hear an interview with Prof Jesse Ausubel about his optimistic attitudes towards environmental issues today. As you listen, answer the questions or complete the notes in your test booklet for Questions 21to 30 by writing no more than three words in the space provided on the right. You will hear the interview no more than three words. You now have 1 minute to read Questions 21 to 30.21、How does Ausubel feel about the scientific progress made every day?22、How much energy is wasted before it arrives to fuel a desk lamp?23、Functioning like earth-sensing instruments, the Greens' main job is to .24、Greens and engineers are different in their .25、Ausubel says that greens lack .26、Technological progress can be described as a process of technological .27 、With the development of hybrid vehicles and new fuel, the entire world may be able to accommodate.28、When it becomes destructive, any technology will be .29、Providing technical solutions to climate change might be easy, but it is hard to make .30、The speaker' s friends were furious because their report did not receive enough .听力真题6Part AYou will hear a conversation between Miss Green, an educational journalist, and Professor Wilson, an expert in educational studies, about writing in American schools. As you listen, answer Questions 1 by circling TRUE or FALSE. You will hear the conversation only once. You now have 1 minute to read Questions 1 to 10.1、Wilson wrote about the problem in the teaching of writing in the 1970s.2、Wilson got the first grant from the Ford Foundation for his study.3、In the early 1980s, great attention was paid to the teaching of writing.4 、Ronald Reagan once supported the study of writing.5 、American educators and the government have maintained their focus on curriculum designever since.6、Since the early 1990s, more attention has been paid to reading rather than writing.7 、Wilson believes that the authors of the No Child Left Behind Act do not understand therelationship between reading and writing.8 、The federal decisions advocate that students should produce ideas better than they getinformation.9、Wilson does not think children are able to send information in writing.10、Teachers should reach an agreement among themselves before they can have dialogue with administrators.Part BYou will hear 3 conversations or talks and you must answer the questions by choosing A, B, C or D. Youwill hear each recording only once. Questions 11 to 13 are based on an interview about Frederick Selous, a hunter, naturalist and conservationist. You now have 15 seconds to read Questions 11 to 13.11 、What did Selous want to be when he was young?A. A hunter.B. A poet.C. An official.D. A rugby player.12、What did Selous do with regard to the development of Zimbabwe' s gold industry?A.He opened it up.B.He took records of it.C.He provided instruments for it.D.He negotiated with local leaders about it.13 、What are kept in the British Museum today?A. His notes.B. His diaries.C. His collection.D. His records.Questions 14 to 16 are based on the following interview with Mike Owen, a former research fellow at Cancer Research UK, who is now a senior vice-president at a biopharmaceutical company. You now have 15 seconds to read Questions 14 to 16.14 、Why did Owen want to change his j ob?A.To put his research results into practice.B.To find a better working environment.C.To do something meaningful when retired.D.To set up his own pharmaceutical company.15、Which of the following can best describe the working style of academic research institutes?A.People form proj ect teams.B.People interact much with each o ther.C.People have a strong sense of collaboration.D.People depend on themselves for success.16、How does the research management in industry differ from that in institutes?A.It has more short-term goals to achieve.B.It has more proj ects based on first-class science.C.Its emphasis is on long-term planning.D.Its emphasis is on key research topics.Questions 17 to 20 are based on the following talk about Immanuel Kant, who played art important role inthe development of geographical thought. You now have 20 seconds to read Questions 17 to 20.17 、When did Kant become a professor?A. In 1740.B. In 1746.C. In 1750.D. In 1756.18 、What is one of Kant' s contributions to geography?bining physical geography with philosophy.anizing human knowledge of geography into different categories.C.Separating geography from its close ties with theology.D.Publishing many books on g eography.19、How did Kant start his lectures on geography each term?A.By stressing the importance of geography.B.By defining important geographical terms.C.By introducing the latest development in geographical studies.D.By explaining the relationship between geography and other disciplines.20 、What is Kant' s view about geography?A.There is a close relationship between human activities and geography.B.Philosophy helps to explain natural phenomena.C.History provides the basis for the study of geography.D.Philosophical writings enriched the study of geography.Part CEditor Laura talks with Mr. Brooks about his new book on robotics. As you listen, answer the questions or complete the notes in your test booklet for Questions 21 to 30 by writing no more than three words in the space provided on the right. You will hear the interview twice. You now have l minute to read Questions 21to 30.21、In his book Mr. Brooks describes the robotics present and .22、Home robots of the first generation are available in .23、The more recent development in university labs shows that robots can .24、Mr. Brooks notes that scientists will build robots as complex as .25、What issues is Mr. Brooks concerned about in building robots with consciousness?26、When Laura was visiting MIT she spent some time with two .27 、Who is Furby?28、Upon receiving the same sorts of stimulus, the toy with an emotional system can respond .29、As science develops, machine elements will be put into .30、Mr. Brooks concludes that people will be a mixture of .。
专题30 语法填空公众健康与中医文化话题练名校精选练1.（2023·全国·模拟预测）阅读下面短文，在空白处填入1个适当的单词或括号内单词的正确形式。
Robots are highly beneficial to healthcare. Statistics show that around 16 million patients in China are 1 need of orthopedic (矫形外科的) surgery. Surgical robots help surgeons figure out the problem, 2 carry the risk of exposing both surgeons and patients to radiation damage. The all-in-one orthopedic robot (AIOOR) solves this problem. Developed by orthopedic 3 (special) Zhang Yuanzhi and his team, AIOOR is the first of its kind in China. Its cutting-edge imaging system and software 4 (short) the time needed for complex operations, such as those for spinal injuries, and also makes such surgeries much 5 (safe).Advanced robotics, moreover, considerably eases patients’ discomfort created by the traditional gastroscopy (胃镜), 6 requires that the physician put a tube down the patient’s mouth to the stomach. The discomfort is unbearable to many patients, 7 (make) some avoid checkups and consequently miss the best time for treatment. The NaviCam, a system developed by ANKON Medical Technologies in Shanghai, enables 8 (entire) painless stomach visualization instead. Patients only need to “eat” 9 capsule-sized robot, and the examination is completed within 15 minutes. After the procedure, the robot is removed from pa tients’ body. So far, these robots 10 (employ) in about 1,000 medical centers across China.【答案】1．in 2．but 3．specialist 4．shortens 5．safer 6．which 7．making8．entirely 9．a 10．have been employed【导语】本文是一篇说明文。
Inverse ManipulatorKinematicsAlgebraic solution by reduction to polynomialOutline2 Introduction IntroductionIntroductionThe Inverse kinematic is the basis of robot trajectory planning and control.5IntroductionExample :6Algebraic solution by reduction to polynomialOutline7SolvabilitySolvabilityFor the 6 DOF Puma 560 manipulator,we have:How to find the 6 joint variablesHere we might have 12 equations to solve for 6 independent variables. Constraints should be utilized.6 equations for 6 unknown variables9SolvabilityDifficulty: these 6 equations are nonlinear and transcendental equations.obtain the solution.whereSolvability11SolvabilitySolvabilityThe dexterous workspace is only one point(the origin). The There is no dexterous workspace. The reachable SolvabilityFor most industry robots, there is limitation for the joint variable range, thus the workspace is reduced.Only one attainable orientationIf a manipulator has less than 6 DOF, it can’t attain general goal position and orientation in 3D space.Workspace also depends on the tool-frame transformation.Solvability15There might be multiple solution in solving kinematic equations.Two possible solution for the same position and orientation.How to choose possible solution?Solvability” solution.The number of solutions depends on the number of and the allowable ranges of motion of the joints, also, it can be a function of other link parameters (link length, link twist, link offset, joint angle).Solvability2. Multiple solutions17The PUMA 560 can reach certain goals with 8different solutions.+Due to the limits of joints range, some of these 8 solutions could be inaccessible.SolvabilitySolvabilityAlgebraic solution by reduction to polynomial Outline20Manipulator Subspace21workspace is a portion of an n‐DOF subspacesubspace : planeworkspace : a subset of the plane{workspace} ⊂{subspace} ⊂{space}Manipulator Subspaceof a manipulator?Giving an expression for a manipulator’s wrist frame {w}to be free to take on all possible values.Manipulator SubspaceThe subspace of is given by:233R planar manipulatorAs are allowed to take on arbitrary values, the subspace is generatedNOTE : Link lengths and joints limits restrict the workspace of the manipulator to be a subset of this subspace.Algebraic solution by reduction to polynomial Outline24Algebraic vs. GeometricGiven the transformation matrix, solved for25Algebraic vs. GeometricD-H TableAlgebraic vs. GeometricThe transformation matrix can be computed viaand we haveAlgebraic vs. GeometricSpecification of the goal points can be accomplished by specifying three parameters: ..The transformation is assumed to have the following structurewhereThe above four nonlinear equations are used to solve for (unknown)Algebraic vs. GeometricThe parameters is How to solve for according thefollowing equations:Algebraic vs. Geometric1.Algebraic solution 30The is the only unknown parameter.Algebraic vs. GeometricStep1.In the solution algorithm, the above constraintshould be checked to determine whether a solution exist or not. If the constrain is not Algebraic vs. Geometric1.Algebraic solution Here, the choice of signs in the solution of corresponds to Algebraic vs. Geometric33Based on the solution of , we can get:whereAlgebraic vs. Geometricwe haveAlgebraic vs. GeometricNote:If a choice of sign is made in the solution of ,it will affect and thus affectStep5. Based on the fact that The solution of can be obtained.Algebraic vs. Geometric36solved for by using the tools of plane geometry.can utilize plane geometry directly to find a solution.Algebraic vs. Geometricconsidering the solid triangle, the “” can be applied to solve for as:37PossibleconfigurationThe other possible solution can be obtained by settingAlgebraic vs. Geometric2. Geometric solutionTo solve for , we find the express for angleand .38and can be solved via:then can be solved as:Algebraic vs. Geometric39the solution of can Algebraic solution by reduction to polynomial Outline40Algebraic solution by reduction to polynomialexpression in terms of a single variable.This is a very important geometric substitution used often in solving kinematic equations. These substitution convert transcendental equations into polynomial equations in Algebraic solution by reduction to polynomialGiven a transcendental equation try to solve for42Solutions:(when )Algebraic solution by reduction to polynomial Outline43Inverse manipulator kinematicsThe Unimation Puma 560 Industry Robot44Inverse manipulator kinematicsReview : D-H table45Inverse manipulator kinematicsReview : Transformation of each link.46Inverse manipulator kinematicsReview : Transformation of all link47whereInverse manipulator kinematics: Given the goal point and orientation specified by:(Known: Numerical value)Solve forInverse manipulator kinematics Separating out 1 unknown parameter How to solve ?Inverse manipulator kinematics2. Inverting to be obtain50 whereInverse manipulator kinematicsCheck the (2,4) elements on both sides ,we have Inverse manipulator kinematicsIntroduce the trigonometric(三角恒等变换) substitutions:52whereThen it can be obtained that:Inverse manipulator kinematics3. The left side of the following equation is known53Inverse manipulator kinematicsTaking square of the above two equations, and adding the results together, it can be obtained thatInverse manipulator kinematicsThe above equation depends only on , then similar steps can be followed to solve for as:4. Consider the following equationhave been solved, but is unknownInverse manipulator kinematics56Eq.(3.11) in Chapter3Check elements (1,4) and (2,4) on both sides, we haveInverse manipulator kinematics 57Inverse manipulator kinematics585. Now the left side of the following equation is knownEq.(3.11) in Chapter3Check the elements (1,3) and (3,3), it can be obtained thatInverse manipulator kinematics ca can be solved as:Case2.,The manipulator is in a singular configurationas axis 4 and 6 line up and cause the same motion of the last link of the robot. Thus is chosen arbitrarily.Inverse manipulator kinematics606. Consider the following equation again:andCheck the elements (1,3) and (3,3), it can be obtained thatInverse manipulator kinematics 61Hence, we can solve for as7. Applying the same method one more time, we havewhereCheck the elements (3,1) and (1,1), it can be obtained thatInverse manipulator kinematics62Thus we can solve for aswe can obtain eight sets of possible solutions, some of them will be discarded due to the joint angle limitsInverse manipulator kinematics63Summary1、原则：等号两端的矩阵中对应元素相等，列出相关方）、从含变量少的左边开始，如，向右递推，直到）、选择等号左边或右边矩阵中等于常数或仅含有一个变量的元素，列出相应元素对应的方程或方程组。
河北省“五个一”名校联盟2023届高三年级摸底考试英语试卷命题单位：石家庄市第一中学（考试时间：120分钟试卷满分：150分）注意事项：1.答卷前，考生务必将自己的姓名、考生号等填写在答题卡上。
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第一部分听力（共两节，满分30分）第一节（共5小题；每小题1.5分，满分7.5分）听下面5段对话。
每段对话后有一个小题，从题中所给的A、B、C三个选项中选出最佳选项。
听完每段对话后，你都有10秒钟的时间来回答有关小题和阅读下一小题。
每段对话仅读一遍。
1.Where are the speakers?A.In Singapore.B.In China.C.In Russia.2.Who has probably arrived?A.The man’s dad.B.The man’s sister.C.The man’s friend.3.What does the man suggest the woman do?A.Wear warmer clothing.B.Follow him.C.Have lunch first.4.Which is the most popular job nowadays?A.A surgeon.B.A general doctor.C.A dentist.5.What are the speakers talking about?A.Weather.B.Fashion.C.Shopping.第二节（共15小题；每小题1.5分，满分22.5分）听下面5段对话或独白。
每段对话或独白后有几个小题，从题中所给的A、B、C 三个选项中选出最佳选项。
听每段对话或独白前，你将有时间阅读各个小题，每小题5秒钟；听完后，各小题将给出5秒钟的作答时间。
