Planning collision-free trajectories in time-varying environments: a two-level hierarchy

We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a global geometric planner that provides a coarse global trajectory (the path and velocity along it), which may be locally modified by the low-level local avoidance module if local sensors detect any obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementary aspects of the global trajectory planning approaches and the local obstacle avoidance approaches.     

油气输导体系的类型及配置关系

将输导体系划分为储集层输导体系、断裂输导体系和不整合输导体系3大类，8种类型，指出输导体系的时空配置关系是决定油气藏的重要因素；着重阐明了输导层在空间和时间上的配置关系，认为这些配置关系是影响输导体系有效性的重要因素；提出了运移级次性的概念，讨论了划分运移级次对油气运移研究的意义，指出准噶尔盆地西北缘邻近玛湖以储集层输导体系和不整合输导体系为主．边缘地区以断层输导体系为主。浅层油气成藏期主要取决于断层的活动期。     

A parametric interpolator with confined chord errors, acceleration and deceleration for NC machining

Parametric interpolation has many advantages over linear interpolation in machining curves. Real time parametric interpolation research so far has addressed achieving a uniform feed rate, confined chord errors and jerk limited trajectory planning. However, simultaneous consideration of confined chord errors that respect the acceleration and deceleration capabilities of the machine has not been attempted. In this paper, the offline detection of feed rate sensitive corners is proposed. The velocity profile in these zones is planned so that chord errors are satisfied while simultaneously accommodating the machine's acceleration and deceleration limits. Outside the zone of the feed rate sensitive corners, the feed rate is planned using the Taylor approximation. Simulation results indicate that the offline detection of feed rate sensitive corners improves parametric interpolation. For real time interpolation, the parametric curve information can be augmented with the detected feed rate sensitive corners that are stored in 2×2 matrices.     

橇装式模块化注聚合物站的设计

针对以往固定式注聚站建设和运行所存在的问题 ,成功设计了橇装式模块化注聚合物站 ,将注聚合物工艺所需的地面设备和装置均以橇装形式集中于 6～ 7个橇块 ,实现了注聚站的模块化、整体快速搬迁和现场快速连接施工 ,有利于设备运行、管理和阶段移动配注作业。对装置的基本流程和配置 ,以及基本参数的确定做了详细阐述。现场应用情况表明 ,该注聚站完全满足注聚合物工艺要求。与常规注聚站相比 ,不但造价降低 ,而且在减少现场作业量及设备再利用等方面有了明显的改善     

白云鄂博主矿开拓运输工艺转换有关问题的探讨

本文对白云鄂博主矿采场铁公路联合运输向公路运输转换位置是否确定为1638m水平以及运输工艺转换过程中相关问题进行分析论证，提出主矿采场铁路至少可向下延深一个水平，技术上可行，节约运费千万元以上。     

中国城市土地利用结构优化研究述评

城市土地利用结构的确定和优化是城市总体规划的核心内容，从土地使用制度变迁，学科交叉，数理模型方法三方面回顾了中国城市土地利用结构优化研究的发展历程，分析了中国城市土地利用结构优化研究的新气象。在此基础上，指出当前研究工作的不足和问题，并提出未来研究的方向。     

A Multi-Objective Hybrid Genetic Based Optimization for External Beam Radiation

A multi-objective hybrid genetic based optimization algorithm is proposed according to the multi-objective property of inverse planning. It is based on hybrid adaptive genetic algorithm which combines the simulated annealing, uses adaptive crossover and mutation, and adopts niched tournament selection. The result of the test calculation demonstrates that an excellent converging speed can be achieved using this approach.     

混沌优化方法在灰色非线性水环境规划中的应用

通过把灰色参数和灰色变量视为混沌变量，利用混沌运动的遍历性、随机性、规律性以及对初值敏感性的特点，尝试应用具有优秀随机搜索性能的混沌优化方法求解水环境灰色非线性规划问题。实例研究证明，该方法具有搜索速度快、求解精度高的优点，因此对目标函数的优化结果比常规数值解法、遗传算法更加有效。     

浅谈城市道路立交的概念性方案设计

通过南昌市某快速路的设计实例，认识到搞好快速路沿线各交叉口的方案设计是快速路规划设计的关键内容。道路交叉口设计应注重交通功能分析，满足路口交通需求，同时也不能忽视立交的景观要求。     

信息化在传统企业管理中的应用

就山西大同齿轮集团有限责任公司在生产管理方面进行改革的尝试 ,从企业概况、项目规划、系统组织、实施组织、应用过程、效益体会几个方面做了阐述 ,提出运用高新技术、实施信息化系统是传统企业发展之路