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He showed little academic interest in medicine and was revolted by the brutality of surgery being performed without pain relief. Darwin dropped out of medical school after two years of study in 1827.However, his knowledge of natural history was incidentally enriched in Edinburgh by the teaching of Robert Grant, a noted professor of anatomy and an avid marine biologist.His father, Robert, had the largest medical practice outside of London at the time and his mother, Susannah Wedgwood, was from a family of wealthy pottery manufacturers. Thereafter, he was raised mostly by his father and doting older sisters.Charles grew up in comparative luxury in a large house with servants.Most were given only enough education to efficiently manage the homes of their future husbands and raise their children.Young men were expected to go to university in order to prepare themselves to become medical doctors, military officers, or clerics in the Church of England.To realize quick and comfortable shifting, the control of gear preselector must be immediate and steady.

At his father's direction, Charles Darwin started university at 16 in Edinburgh, Scotland as a medical student.The analyses results showed that the resistance model of gear preselector could well simulate the resistance characteristics during preselection process of DCT, the proposed preselection control strategy (including coordination control strategy for reducing master-slave rotation speed difference and tracking control strategy for shifting fork target position) could realize accurate tracking of target position of shifting fork with the maximum tracking error no more than 4.67%, and the preselection process was quick and smooth, which could meet the requirement of gear preselector quality.This study provides reference for the research of DCT preselection characteristics and control.These ideas were widely considered to be a threat to the established social and political order.was born into a moderately wealthy family in Shrewsbury, England.

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Through calculating the resistance forces related with fork position during different stages, the relation between synchronizing force and synchronization time could be revealed, and the resistance model of preselection process could be established.

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