A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.     

Simulation of the urban climate variations in connection with the transformations of the city of Nantes since the 17th century

The paper seeks to quantify the effect of urban politics on the microclimate of the city of Nantes (France), in particular those initiated by the sanitarians in the mid-19th century to find a remedy for the insalubrity that had been developing with urban densification since the late 17th century. Intensive historical research was first carried out in order to define and date the major transformations undergone by the city, its structure (densification, then widening of the streets, filling of water courses), the lifestyle habits (heating) or the building practices (appearance of stone and paving, higher buildings, insulation). This led to the definition of 5 characteristic states of the city, in 1680, 1756, 1835, 1880 and 1945.     

Optimal haulage routing of off-road dump trucks in construction and mining sites using Google Earth and a modified least-cost path algorithm

This study presents new software, called Google Earth-based Optimal HAulage RouTing System (GEOHARTS), to improve the functionality of Google Earth for optimal haulage routing of off-road dump trucks in construction and mining sites. A modified least-cost path algorithm, which is applicable to working areas with both paved and unpaved temporary roads and can consider the effects of terrain relief and curves along a route on the route planning, was proposed and utilized for the software development. GEOHARTS can determine optimal haulage routes between loaders and dumps that ensure the least travel time or fuel consumption of off-road dump trucks and can visualize the results using an embedded 3D render window of Google Earth. The application to the Pasir open-pit coal mine in Indonesia demonstrates that GEOHARTS could provide a rational solution to support the truck haulage operations.     

网络计划技术在暖通空调工程管理中的应用

结合实际工程,介绍了该应用的具体步骤。通过对工程的分析,绘制了网络图,找到了关键线路,并对工程计划进行了优化。     

Fuzzy uncertainty modelling for project planning: application to helicopter maintenance

Maintenance is an activity of growing interest, especially for critical systems. In particular, aircraft maintenance costs are becoming an important issue in the aeronautical industry. Managing an aircraft maintenance centre is a complex activity. One of the difficulties comes from the numerous uncertainties that affect the activity and disturb the plans in the short and medium term. Based on a helicopter maintenance planning and scheduling problem, we study in this paper the integration of uncertainties into tactical and operational multi-resource, multi-project planning (respectively Rough Cut Capacity Planning and the Resource Constraint Project Scheduling Problem). Our main contributions are in modelling the periodic workload on a tactical level considering uncertainties in macro-task work content, and modelling the continuous workload on the operational level considering uncertainties in task duration. We model uncertainties using a fuzzy/possibilistic approach instead of a stochastic approach since very limited data are available. We refer to the problems as the Fuzzy Rough Cut Capacity Problem (FRCCP) and the Fuzzy Resource Constraint Project Scheduling Problem (RCPSP). We apply our models to helicopter maintenance activity within the frame of the Helimaintenance project, an industrial project approved by the French Aerospace Valley cluster that aims at building a centre for civil helicopter maintenance.     

实现我国承诺的2020年减排指标的设想

介绍气候变化的危害原因和我国能源利用效率与发达国家的差距,提出推进碳减排工作及发展低碳经济,以实现我国承诺的2020年减排指标的设想。     

浦钢搬迁工程施工准备规划与实践

结合浦钢搬迁工程,从自然条件、平面及空间布置、资源需求、施工进度控制等方面,对新建大型冶金工程项目施工准备工作总体规划和组织实施工作进行了总结。     

科学规划走城乡统筹发展的城镇之路

针对目前小城镇规划发展现状,探讨了统筹城乡发展、推进城镇化建设的一系列对策,并努力加快中心镇城市化进程,从而实现城乡经济发展和城乡面貌的巨大改善,为推动社会主义新农村建设创造了条件。     

Modes of making smart cities: Or,practices of variegated smart urbanism

The ‘actually existing’ smart city is not a monolith. It is not directed by a universal logic, nor does it develop in a standardised way. As recent research has argued, the spatial, material, and political contexts of cities have major influence over what smart urbanism looks like in practice. This paper adds analytical depth to, and broadens the geographical scope of, research on the variegated modes of making smart cities. Based on empirical research in multiple Australian cities we use three case studies to explore three different modes of smart urbanism, each one centred on the interests of a different key actor: corporate-centric, citizen-centric, and planner-centric. These different modes can, and do, co-exist in the same city. At times, they are competing logics that fight to pull the city in different directions. Yet, they can also work together to shape smart city initiatives. In describing these different modes, we pay particular attention to the ways that these projects and strategies must contend with the already existing spatial, cultural, and political contexts of each place.     

分组传送网规划策略和探讨

对现网业务的发展和未来网络的需求变化做出论述,引入分组传送网的建设必要性。从核心层、汇聚层、接入层3个层面,探讨了分组传送网网络结构。从网络收敛比设置、路由域划分方面介绍了分组网络的新变化和规划策略,从设备选型和网络配套方面得出了新建网络中需要注意的问题。最后,对新建网络的维护和定位进行探讨,得出了分组传送网和其他网络的关系。