--- trunk/tengDissertation/Introduction.tex	2006/06/26 13:42:53	2889
+++ trunk/tengDissertation/Introduction.tex	2006/06/26 13:43:22	2890
@@ -1312,7 +1312,7 @@ matrix,
 Using \ref{introEqaution:RBMotionPI}, one can construct a skew
 matrix,
 
-\begin{eqnarry*}
+\begin{eqnarray*}
 (\dot \Pi  - \dot \Pi ^T ){\rm{ }} = {\rm{ }}(\Pi  - \Pi ^T ){\rm{
 }}(J^{ - 1} \Pi  + \Pi J^{ - 1} ) + \sum\limits_i {[Q^T F_i
 (r,Q)X_i^T  - X_i F_i (r,Q)^T Q]}  - (\Lambda  - \Lambda ^T ).