Task Planning For A Mobile Robot In An Indoor Environment Using Object-oriented Domain Information

For a mobile robot to be practical, it needs to navigate in dynamically changing environments and manipulate objects in the environment with operating ease. The main challenges to satisfying these requirements in mobile robot research include the collection of robot environment information, storage and organization of this information, and fast task planning based on available information. Conventional approaches to these problems are far from satisfactory due to their requirement of high computation time. In this paper, we specifically address the problems of storage and organization of the environment information and fast task planning in the area of robotic research. We propose an special object-oriented data model (OODM) for information storage and management in order to solve the first problem. This model explicitly represents domain knowledge and abstracts a global perspective about the robot's dynamically changing environment. To solve the second problem, we introduce a fast task planning algorithm that fully uses domain knowledge related to robot applications and to the given environment. Our OODM based task planning method presents a general frame work and representation, into which domain specific information, domain decomposition methods and specific path planners can be tailored for different task planning problems. This method unifies and integrates the salient features from various areas such as database, artificial intelligence, and robot path planning, thus increasing the planning speed significantly     

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电子膨胀阀在电子吊舱制冷系统中的应用研究

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本文介绍了一些国内原有的及近年来发展的用于石材开采的成型爆破方法,简单扼要地阐明了这些方法的原理、装药结构及主要特点,对全面认识及合理选择这些方法有一定帮助。     

A unified approach for the analysis of grating-assisted couplers

Two coupled-mode theories based on individual waveguide modes and compound system modes, respectively, are briefly reviewed with proper modification and new comments. The relation between these two theories is built and it is found that one theory is actually an efficient approximation of the other. Also, the reason why the results obtained with the first more accurate than those obtained with the second is found. The constraint on both approaches is shown     

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