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Firstly,subgoal choosing is optimized by using heuristic function according to the window's information,it is local environment's information,which is obtained by camera.Then navigation behavior is divided into GO TO TARGET behavior and OBSTACLE AVOIDANCE behavior,their behaviorial states and behaviorial modes dynamics models are established,and then one autonomous local path planning online is implemented using navigation behavior dynamics model in a single window.Connecting a series of local paths according to continuity,the robot accomplishes one global planning ultimately.

首先根据所获得的窗口信息，采用启发式函数进行局部子目标优化选择；然后将路径规划问题即导航行为分解为趋于目标行为和避障行为，并对这两种行为分别建立了行为状态和行为模式动力学模型；在此基础上，以窗口为单位，利用导航行为动力学模型进行在线自主路径规划；将一系列窗口中的规划轨迹按照连续性条件首尾相接，最终完成了一条全局规划任务。

And that which rises is the great luminary, and is so named according to its appearance, according as the Lord commanded.

46这是太阳的律法和进展，以奇怪的种类而命名，正如上帝所命令的。

According to the special actuality of our country, this paper proposes a new mode: more manner mode based on market. This paper also constructs a selective index system of magistral industry according to the defined principle and goal.

根据我国城镇化建设中的特殊现状，提出了一种新的模式：以市场为导向的多元城镇化模式，并且确立了区域发展的主导产业选择原则和目标。

The magnetic flux linkage equations and voltage equation are established according to the magnetic circuits and the magnetic conductance equation is listed according to the relations among magnetic flux, current and magnetic circuit.

模型从三相五芯柱变压器磁路出发，建立了磁链方程、电压方程，并根据铁芯和铁轭的磁通和电流关系及磁路关系列出磁导计算方程；给出了仿真模型的参数确定方法，其中参数确定与变压器的结构紧密相关。

korfball provides sufficient exercise loads for athletes from all ages, korfball players should be trained according to competition demands which includes high tolerance of Bla and the exercise intensity must exeed 70% Hrmax, In order to gain maximal training effect, drills should be organized according to this specialty.

合球能够提供运动参与者足够的有氧运动负荷，适合各年龄层运动同好参与，若针对训练时，合球运动员必须拥有高度耐乳酸能力，并以70%HRmax以上强度来拟定训练处方，在讲求全方位发展的合球运动中男、女合球员应同时针对比赛需求来强化特定的运动技能。

The ratio of stock right calculated according to venture investment experiential principles is sound and easy to accept. It can give quantitative analysis support to the venture investment practice.(6)According to the theory of the real option, the author derived value formula of the real option fixed price and investment criterion. Based on above, the paper further research for optimal investment strategy of real option in monopolizing and competition under asymmetry information, and built the value model of real option for the investor and administrator by using the theory of the principle trust-agent Meanwhile, the solution of real option optimal investment and the shift value are derived applying the maximal principle .

针对高新技术企业发展的特点：研制周期长、投资费用高、每阶段风险水平特征差别大，运用实物期权理论与计算方法，通过研究建立嵌入期权现金流量图深入分析计算了企业发展中风险投资的最优策略、股权占有比例问题，对不确定性问题由于采用了有关实物期权计算公式，所以计算结果比基于传统的现金流量图的NPV方法更加客观、科学，同时按照风险投资经验法则计算出的股权占有比例合理易于接受，可为企业风险投资实践活动提供数量分析支持。

Based on the dual-beam interference principle and white light interference feature, this dissertation designs the SWLI surface 3D topography measuring system and analyzes the principle and characters different from that of traditional monochromatic light interference. According to different descriptions of the white light interference feature, the optimal interference point extracting algorithms are classified, analyzed and compared in detail. In the light of the design rule of improving measuring precision and speed simultaneously, two new types of algorithms, named Feature Matching algorithm and Intensity Contrast Moving Window algorithm, are designed to acquire good results according to practical conditions.

基于双光束干涉原理及白光干涉特性，本文设计了扫描白光干涉法表面三维形貌测量系统，分析了该方法区别于传统单色光干涉测量的测量原理及特点，根据对白光干涉特征不同的描述方式对最佳干涉点提取算法进行了分类、分析与比较，并在提高测量精度与测量速度设计原则的指导下，根据测量系统的实际条件设计了两种新的算法：特征匹配法和对比度移窗法，在实际测量中达到了比较好的测量效果。

The resilience detailed list valuation is the contractor establishes based on the contract award person according to the unification project, the unification measurement rule and the Measuring unit the project resilience detailed list which in kind provides according to the prescribed form, the union project are practical, the market is practical and the enterprise reality, considered fully after each kind of risk, proposes including the cost, the profit and the tax money comprehensive unit price, from this forms the project price.

工程量清单计价是承包人依据发包人按统一项目设置，统一计量规则和计量单位按规定格式提供的项目实物工程量清单，结合工程实际、市场实际和企业实际，充分考虑各种风险后，提出的包括成本、利润和税金在内的综合单价，由此形成工程价格。本文选自《改革与开放》 2009年第7期，您可以通过多种购买方式获得本刊的内容为帐户充值，可以更方便的在龙源期刊网购买文章

It configures VLAN for message dynamically according to relative information in message, and it can realize to transfer message according to distributed VLAN.

通过获取报文中的相关信息，为用户报文动态配置VLAN，根据动态分配的VLAN，便可以实现动态灵活的报文转发。

The 14th article Chinese People's Liberation Army, the Chinese people armed police army and the militiaman organize according to according to the text the law and other relevant laws, the administrative rules and regulations, the military laws and regulations stipulation as well as the State Council, the Central Military Committee's order, the participation arise suddenly the event the emergency recovery and the handling work.

第十四条中国人民解放军、中国人民武装警察部队和民兵组织依照本法和其他有关法律、行政法规、军事法规的规定以及国务院、中央军事委员会的命令，参加突发事件的应急救援和处置工作。

Putt your way through 36 fun-filled holes of minigolf on 3D designed courses with elevated greens, bunkers, bridges and water hazards, among other crazy obstacles.

您的推杆方式，通过36个有趣的填孔迷你的三维设计的课程，以提升绿党，掩体，桥梁和水的危害，除其他疯狂的障碍。

Some participles can be used either as attributes or as predicatives.

有些分词既可当定语用，也可当表语用。