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自动导航车在追随前方的目标物时,如何让自动导航车平滑且稳定的追随是最主要的目的,假使面对的是一个不断变化的目标物,在充满变化的环境中移动,自走车必须运用本身所具有的感测能力,做正确追随方向的判断与控制,使其能安全行驶于充满变化的环境中;
The objective of study is to determine how to make the automatic guided vehicle to track smoothly and steadily when it is tracking the front object. If the front object is constantly changing and moving in a changeable environment, then the automatic guided vehicle must utilize its sensing to make correct judgment for tracking direction; after that, self-control is performed to enable it to go safely in the changeable environment.
Zalila [1]提出混合模糊与传统控制器的概念,把控制器分为速度调节器与距离控制器,根据车子传感器所回传的信息,做为判断下一个车子所要控制的依据。
Zalila [1] proposes the concept of Hybrid Fuzzy and Classical Controller; according to the concept, the controller can be classified into the speed regulator and the distance controller, and the data transmitted back by the sensor in AGV can be used as the basis of next what the vehicle should control.