METHODS: It was a randomized, double blind, doublemodel, parallel controlled clinical trial.
方法：采用随机、双盲双模拟、平行对照方法。
2
For the shortage of fuzzy controller, the doublemodel controller was adopted, optimizing fuzzy controller through traditional PID controller.
针对模糊控制算法的不足，建立了双模控制器，用传统的PID算法优化模糊控制器。
3
The theory and composing of ARBS based on the doublemodel tracker were introduced. The key parameters of operating distance and angle speed precision were analysed.