Pid algorithm is the simplest compared with others and is used in the situation that the controlled target is clearer . when the controlled object is complicated and its model is not clear and definite , the fuzzy logic control algorithm can be used . the study algorithm is used when the controlled object can move repeatedly . although the every kind of algorithm application is different , they can do the same job on the tracing of a target . the only difference among them is the optimal route that the robot traces its target Pid算法比较简单，用于控制对象比较清楚的情形；当被控对象比较复杂、模型不明确时，采用模糊控制算法；学习算法则用于被控对象具有可重复性运动的情况。虽然各种算法应用的情况不同，但是它们都能够比较好的跟踪到目标，不同的是控制过程中的最优轨迹问题。
Exsiting calibration methods are classified as ( 1 ) methods using point targets and distributed targets ; ( 2 ) methods using only distributed targets and ( 3 ) methods using only point targets . then the typical algorithms of every methods are given in which those of method ( 1 ) and ( 2 ) are modified based on a quantity of literatures 然后在众多算法中挑选了三种技术的典型算法，在综合多篇文献的基础上，给出修正的混合点目标和分布目标的定标算法：对所选的分布目标算法本人进行了修正，并给出了这个修雁的算法；点目标算法则按照原文献给出。
Then the author analyzes fundamental principles of digital watermarking algorithm in detail such as the general framework , classification and the typical algorithm , puts forward two dct domain image digital watermarking algorithms based on the principles of jepg . the algorithm i is a private watermarking algorithm which need the original image in the process of extract the watermark . while the algorithm ii do n ' t need because it is a semi - private watermarking algorithm 在此基础上，论文遵循国际jepg静态图象压缩标准的原理，提出了两个“基于dct变换的数字水印算法” ，其中算法采用私有水印的设计思想，即在提取检测水印信息时需要原始图象；算法则是半私有水印算法，在提取检测水印时无需原始图象。
