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Automated Path Planning for Mobile Crane Lifts 总被引:1,自引:0,他引:1
H. Raghunatha Reddy & Koshy Varghese 《Computer-Aided Civil and Infrastructure Engineering》2002,17(6):439-448
Planning the lift path of a crane is an important subtask within the heavy–lift planning process. This paper reports the work done toward applying configuration space (C–space) and search concepts to develop a tool to identify lift paths that satisfies the planning requirements. The C–space is generated using an interference detection technique. Two levels of heuristic search are performed within the C–space. The first search is a heuristic depth search to determine the obstacle–free lift paths. The second search performs a more detailed optimization of the path within a constrained search space. The tool can be used within the AutoCad environment and is based on program modules developed using AutoLisp and external programs. The system was tested on a number of problems. It was found that the system was capable of generating good paths in complex situations. 相似文献
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移动式起重机的吊装路径规划(Path Planning of Mobile Crane,PPMC)是吊装活动的重要支撑,而当前吊装规划通常依据项目经理或吊车操作员的经验,难以适应施工现场环境的动态性和复杂性。为了提高移动式起重机的吊装规划成效,对其路径规划问题进行了重新定义与建模,提出了基于 RRT(Rapidly-exploring Random Tree)寻径算法的智能规划方法,即 C(Configuration)空间预优化—RRT 算法改进—路径后处理的优化框架和对应的具体优化策略。并通过案例测试验证了优化策略的可行性和有效性。这有利于移动式起重机路径规划改善效果,提高效率。 相似文献
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A. Maslowski P. Szynkarczyk A. Czerniewska–Majewska A. Andrzejuk & L. Szumilas 《Computer-Aided Civil and Infrastructure Engineering》1997,12(1):5-14
The aim of this paper is to present the simulation system for analysis of specialized mobile robots, which is equipped with a supporting human operator (on–board or teleoperator) computer system. Simulation is performed in real time, using a computer system and a mobile robot. Visualization of the environment simulation, movements of the vehicle, and behavior of the human operator are done by computer animation and partly by a mobile robot and its physical environment. The performance of the control unit in different environmental conditions, including detection of obstacles using different sensors, can be observed using a mobile robot moving in a simulated environment configured according to experimental requirements. 相似文献
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《Planning》2014,(26)
提出一种无人机初始侦察航迹规划空间建模方法,将探测威胁和火力威胁分别建模,根据两者性质不同,将探测威胁转化为火力威胁,通过引入可穿越系数来描述威胁对航迹的影响,符合战场实际环境。 相似文献
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《China City Planning Review》2021,(1)
In recent years,with the profound changes of "promoting the modernization of the national governance system and capacity," the reform of state institutions has become an important measure and step.In the field of planning management,the establishment of the Ministry of Natural Resources plays a crucial role in the institutional reform over the years.This paper discusses the reform of planning management from the perspective of the public management and urban planning discipline,and tries to explore the internal logic between "institutional reform" and "governance modernization." It demonstrates the interweaving and transforming process between the adjustment of planning agencies and national governance,discussing whether the establishment of the Ministry of Natural Resources has responded to the path selection of governance modernization.The paper makes a diachronic analysis on the 13 state institutional reforms since the founding of People’s Republic of China,especially on the adjustment process of planning management agencies.It builds an "institution-governance" analysis framework with the three elements including institution,function,and management as its core and with the institutional strength and governance effectiveness as the entry and exit,and analyzes the parallel transitions of planning management agencies and spatial governance logic as well as the necessary undertaking mechanisms,with the aim to provide reference for the establishment of a new pattern of spatial governance. 相似文献
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Xin Feng & Steven A. Velinsky 《Computer-Aided Civil and Infrastructure Engineering》1997,12(6):383-392
The development of a distributed control system for a multiple mobile robot system is described. The mobile robots considered have been termed tethered mobile robots (TMRs). The TMRs are differentially steered, wheeled mobile robots tethered to a support vehicle, and they have been designed for automating highway maintenance and construction. The control system consists of a network of a host computer and several real‐time dynamic controllers running under Windows for Workgroups and DOS operating systems, respectively. Advanced industrial embedding technology is applied to the hardware design, and the system's fault‐tolerance is achieved from a distributed architecture and overall condition monitoring. The object‐oriented and hardware‐independent software programming provides a graphic user interface and flexibility for a large number of highway maintenance and construction tasks. It also provides convenience for any other mobile robotics research applications. 相似文献
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为了拓宽建筑机器人的研究思路和推广建筑机器人的应用,对国内外建筑施工机器人的研究进展进行了详细阐述。总结了建筑机器人的发展历程和系统组成,从主体结构施工、装修施工和其他新型施工机器人系统三方面对建筑施工机器人进行分类汇总,介绍了机器人的关键技术、性能优势和发展方向等内容。最后从研发设计、管理运维和人才培养等角度提出了建筑施工机器人的发展建议。结果表明:砌砖机器人产品存在依赖人工操作、使用非常规建材等问题,其机械臂的运动轨迹和任务规划是未来的研究热点; 基于激光标定技术的混凝土地面处理机器人智能化程度不高,需开发稳定高效的自主定位导航系统; 墙地面打磨机器人关键指标为施工精度和稳定性,可通过优化算法模型和引入高精度传感器进行提升; 室内喷涂机器人多为“6+3+1”自由度结构,对比手工喷涂具有明显的技术优势,但其自主化程度需进一步加强,而外墙喷涂机器人在稳定性、安全性和可靠性方面的性能要求更高,需提高作业覆盖率和实用性; 瓷砖铺贴机器人的发展离不开结构设计、瓷砖定位技术和铺贴轨迹规划等关键技术的研究,存在适用瓷砖尺寸单一和控制复杂等问题; 3D打印机器人通过优化结构设计提升作业灵活性,将朝着轻量化、智能化和低成本方向发展,而测量机器人主要利用三维激光扫描技术实现自动化测量,但面临着数据易丢失、人员活动范围受限和成本高等问题。 相似文献
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适应农村发展诉求的村庄规划新体系与模式建构 总被引:2,自引:0,他引:2
在对村庄规划体系建设发展历程认知和村庄规划内涵深入审视的基础上,提出了村庄规划的新内涵.并基于新内涵逻辑,以覆盖乡村全域和涵盖宏观、微观双层次的要求,遵循系统和个体的准则,构架了村庄布点规划(系统)和村庄综合规划(个体)双层次模式的村庄规划新体系.并从技术路径、内容体系两方面进行了新体系模式的深入建构与阐述. 相似文献
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面向城乡统筹的空间管制规划 总被引:5,自引:0,他引:5
空间管制是城乡规划中的一项重要内容.文章调查了相关地区空间管制规划成果,通过统计分析,在归类对比的基础上提出城乡空间管制类型、结构与策略,以期使空间管制规划编制更加科学规范. 相似文献
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物流园的发展是一个动态过程,需具备一定弹性以适应市场的发展。柳州市河西物流园空间规划在空间布局上采用空间生成模型,在地块控制上采用弹性划分方式。同时,使用按需设计的单元设计思路,形成了"一心、两轴、两带、四片、多组团"的空间结构,通过规划各层面的策略对空间规划的实施进行督促和引导,促进规划弹性的实现。 相似文献
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2020年春节前后爆发的新型冠状病毒肺炎疫情对我国城市应急能力和治理水平提出了巨大的挑战。文章反思了当前公共卫生防疫在设施布局、区域联防、预警机制和治理水平等方面的痛点,指出营造健康的韧性城市迫在眉睫;随后引入韧性理论,分析了韧性城市的内涵以及国内外研究和实践进展,进而构建了健康韧性城市规划的EERR("双评估"和"双响应")模型,并提出了韧性城市构建策略:首先,通过建设有机的健康城市结构、谨慎布局卫生风险类设施,营造韧性的空间格局;其次,以平灾结合、刚弹相济的理念分区分级分类规划公共卫生设施,并对应急设施进行战略性预留;再次,对疫情期间的交通系统和应急物流实施分区分块的弹性管理方案;最后,利用互联网和大数据技术提高治理水平,并通过数据共享,跨区域联合建立风险管理体系。 相似文献
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城市轨道交通是高度城市化的特大城市必不可少的重大交通基础设施,对引导城市发展方向、实现绿色出行起到关键作用。我国正处在城市轨道交通大发展时期,由于城市轨道项目建设运营成本巨大,当前多采用土地开发支撑开展融资建设。现有模式对如何处理好城市轨道交通建设阶段的高强度资金需求、有限的运营票务收入和对城市的长远社会经济效益之间存在显著的成本效益时空差,统筹实现高造价、高运量、高成本的公益性交通基础设施系统与城市协同可持续发展问题的认识还远远不够。文章在回顾发展进程的基础上,从投融资视角切入,对当前土地综合开发支撑城市轨道交通规划建设的模式进行分析,在绿色金融、基础设施价值获取等理论及政策综述的基础上,形成可持续价值获取的基本思路,并在实证案例总结的基础上提出面向绿色发展的城市轨道交通规划建设模式总体框架。 相似文献