On the basis of conception of zero moment, we can deduce the computational formula of the tension of cable in the different construction stage of the steel tube arch ribs.

斜拉扣挂施工中索力计算复杂，根据“零弯矩法”概念，推导出拱肋节段吊装中各施工阶段扣索索力的计算公式。

Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (Zero Moment Point) has been discussed in detail.

论文重点讨论了动态步行的算法设计和仿真，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。

Generally, people can say how they feel at a given moment, on a scale of zero to ten.

通常人们能够道出特定时刻的感觉，在0到10的范围内。

When the object is here it is again zero at this moment in time.

而当物体移动到这里时，其速度也为0，对应着这个时刻。

By programming simulation, the single-grade and multi-grade circuits are analyzed, and it is the best moment for thyristor to switch on when the voltage of capacitor to be shorted is zero.

采用编程仿真的方式，对单级电路和多级电路分析后，提出了晶闸管开关最佳接入时刻为被短接电容电压为零时；