The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

浅谈前海物流园规划构想

探讨了深圳前海物流园区的地理条件及发展的重要因素，针对其存在的交通设施不足，管理不到位等问题进行了分析，并结合功能定位从用地规模、功能布局等方面提出了规划设计构想。     

探讨低收入阶层住区建设的公共政策

探讨了低收入阶层住区建设的现状及弊端，从旧城改造、新城建设及住房政策三方面对解决低收入阶层住区建设问题的对策进行了研究，以妥善解决低收入阶层的住房问题，从而达到构建和谐社会的目的。     

基于非确定性思考下的城市规划新思维探讨

通过对城市规划编制与实施过程中的问题分析，提出非确定性城市规划思想的理念以及非确定性规划思想与确定性规划思想的差别，并在分析非确定性规划思想内涵的基础上，提出非确定性规划思想指导下的城市规划的新程式。     

Synthesizing plans that contain actions with context-dependent effects1

This paper presents a method of solving planning problems that involve actions whose effects change according to the situations in which they are performed. The approach is an extension of the conventional planning methodology in which plans are constructed through an iterative process of scanning for goals that are not yet satisfied, inserting actions to achieve them, and introducing subgoals to these actions. This methodology was originally developed under the assumption that one would be dealing exclusively with actions that produce the same effects in every situation. The extension involves introducing additional subgoals to actions above and beyond the preconditions of execution normally introduced. These additional subgoals, called secondary preconditions, ensure that the actions are performed in contexts conducive to producing the effects we desire. This paper defines and analyzes secondary preconditions from a mathematically rigorous standpoint and demonstrates how they can be derived from regression operators.     

Casual reasoning in planning1

Reasoning about actions necessarily involves tracking the truth of assertions about the world over time. The SIPE planning system retains the efficiency of the STRIPS assumption for this while enhancing expressive power by allowing the specification of a causl theory. Separation of knowledge about causality from knowledge about actions relieves operators of much of their representational burden and allows them to be applicable in a wide range of contexts. The implementation of causal theories is described, together with examples and evaluations of the system's expressive power and efficiency.     

ERP编码系统的研究与设计

提出了ERP编码的原则，介绍了常见的四种编码方法：顺序码、分类码、结构码和组合码．最后结合实例介绍了编码系统中各模块的设计。     

Application of parallelized analogical planning to engineering design

Analogical planning provides a means of solving engineering problems where other machine learning methods fail. Unlike many machine learning paradigms, analogy does not require numerous previous examples or a rich domain theory. Instead, analogical planners adapt knowledge of solved problems in similar domains to the current problem. Unfortunately, the analogical planning task is an expensive one. While the process of forming correspondences between a known problem and a new problem is complex, the problem of selecting a base case for the analogy is virtually intractable.This paper addresses the issue of efficiently forming analogical plans. The Anagram planning system is described, which takes advantage of the massively parallel architecture of the Connection Machine to perform base selection and map formation. Anagram provides a tractable solution to analogical planning, with a complexity that is sublinear in the size of the plans.This paper describes the Anagram system and its parallel algorithms. The paper also presents theoretical analyses and empirical results of testing the system on a large database of plans from the domain of automatic programming.     

Bridging the generation gap between text planning and linguistic realization

Text planning is traditionally done as a separate process, independent of linguistic realization. However, I show in this paper that it is essential for a text planner to know the linguistic consequences of its actions. The choice of how to realize an element affects how much information is conveyed (e.g., “Floyd arrived safely in Boston” vs. “Floyd landed safely at Logan”) and what other information can be added (e.g., “Peter was deciding for an hour” vs. *“Peter made a decision for an hour”). The choice of realization also affects how the relative salience of the elements being expressed will be perceived (e.g., “The green car is in the garage” vs. “The car in the garage is green”). I have defined an intermediate level of representation for text planning, called the Text Structure. It is an abstract linguistic level that reflects germane linguistic constraints while abstracting away from syntactic detail. This representation allows the text planner to have greater control over the decisions, so that it can take advantage of the expressiveness of language to convey subtleties of meaning. More importantly, the Text Structure allows the generation process overall to be incremental, since it ensures that the text plan being composed will always be expressible in the language. La planification de textes est habituellement réalisée séparément, sans tenir compte de la réalisation linguistique. Cependant, ľauteur demontre dans cet article qu'il est essentiel à un planificateur de textes de connai̊tre les conséquences linguistiques de ses actions. Le choix de la méhode de réalisation ?un élément influe sur la quantité?informations qui est transmise (par ex.: 〈〈 Floyd est arrivé sain et sauf à Boston 〉〉 et 〈〈 Floyd a atterri sain et sauf àľaéroport Logan 〉〉) et sur quelle autre information peut ětre ajoutée. Le choix de la méthode de réalisation influe également sur la façon dont les caractères saillants des ééments qui sont exprimés seront perçus (par ex.: 〈〈 la voiture verte est dans le garage 〉〉 et 〈〈 la voiture dans le garage est verte 〉〉). L'auteur a défini un niveau intérmediaire de représentation pour la planification de textes qu'il a appelé structure de texte. Il; s'agit ?'un niveau linguistique abstrait qui refléte les contraintes linguistiques appropriées tout en s'éloignant du détail syntaxique. Cette représentation permet au planificateur de textes ?avoir un meilleur contrǒle des décisions, et done de tirer profit de la force ?expression du langage afin de tenir compte des subtiliés de sens. Plus important encore, la structure de texte permet au processus de génération ?ětre incrémentiel, car elle s'assure que le plan de texte en voie de composition soit toujours exprimable dans le langage.     

求解机械装配规划的新方法

本文提出一个求解机械装配规划的算法,其计算量～O(sN~2),其中s是零件所有可能装配方向的个数,N是工件的零件数(一般s～O(N)).而现行的求机械装配规划的算法,其计算量均随N的增加按指数律增加.