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This paper research some problem of the tracked mobile robot' s path planning and tracking. There are some points as follows: 1 Introduce the airmanship technology and presently research situation in path planning and path tracking of the mobile robot, introduce the robot' s sensor system, analyze kinematics character of the tracked mobile robot.

本文就履带式移动机器人路径规划和路径跟踪的一些问题开展了如下工作： 1、介绍了移动机器人的导航技术和目前路径规划和路径跟踪的研究状况，介绍了机器人的传感器系统，并分析了履带式移动机器人的运动学特征。

The system can receive data from the STEP-NC interpreter by using the resource model of the function block type database, then translate the receiving data into the data of function block format; the tool path generator can dynamically transfer the function block in the function block type database; it can also use the data of function block management resource to export DSP order; depending on VC to edit function database and Dynamic Linkable Library, we can connect the tool path generator with research platform, use the tool path generated from the tool path generator to drive the tool move.

结果 通过功能块类型库中的资源模型接收STEP-NC解释器解释的数据，并将接收的数据转化成功能块格式的数据；依据工艺规划好的加工工序，刀具路径生成器动态调用功能块类型库中的功能块；利用功能块处理资源提供的数据，输出DSP指令；依靠VC语言编辑函数库和动态链接库，将刀具路径生成器与实验平台建立关联，基于刀具路径生成器生成的刀具轨迹驱动机床刀具运动。

Based on image we study the tool path generation technology and problem of tool path planning. We put forward an algorithm for self-discrimination of island relation and an automatic intersected method of the region machining unit, which can judge the relationship among any plane obturate contour line effectively and swiftly. We also study the tool path generation technology of two-dimensional machining, basso-relievo machining, three-dimensional lifting-pen machining. Meanwhile, we put forward an optimize approach of tool path, which improve the efficiency of engraving.

研究了图像的刀具路径生成技术与轨迹规划问题，提出了基于射线的岛屿关系自动判断和区域加工单元的自动分割方法，有效、快速地判断了平面任意封闭轮廓线之间的关系，研究了平面任意区域填充加工、浮雕加工、三维提笔加工的刀具路径生成的技术，提出了刀具路径优化方法，提高了雕刻加工的质量和效率。

The assembly path planning method of trial disassembly based on simulation is presented with CATIA/DMU. This method is used to plan the assembly path of aircraft component and the tools. At the same time, collision detection is carried out to planned path in order to ensure the correctness of the assembly path.

提出了基于CATIA/DMU的仿真试拆卸的装配路径规划方法，采用该方法对飞机构件和工装进行装配路径规划，同时进行干涉与碰撞检查，保证了装配路径的正确性。

Path. The path isolation for a matrix card is the impedance from the HI and LO terminals of one path to the HI and LO terminals of any other path.

通路。矩阵开关卡的通路隔离是指从一条通路的HI和LO端子到另一条通路的HI和LO端子之间的阻抗。

The Noble Truth of The Path leading to the Cessation of Suffering: There is a Path our of Suffering - It is the 'Noble Eightfold Path'(or the 'Middle Path' because it avoids the two extremes of sensual pleasure and self-mortification), that leads to the Cessation of Suffering.

引领停止苦楚的高贵真理：有一条停止我们的苦楚的道路——这就是"八重道路"（八正道，或者是"中间的道路"，因为它避免了纵欲和禁欲两个极端），这引向了苦楚的停止。

Intelligent Transportation System on the core algorithm- the path that the test algorithm, the actual travel path and the path of speculation after the results were compared to assess the path that algorithm accuracy and performance.

详细说明：对智能交通系统的核心算法-路径推测算法进行测试，将实际行驶路径与经过路径推测的结果进行比较，以评估路径推测算法的准确率和性能。

A radiant energy path means comprising a first optical fiber waveguide means and a second optical fiber waveguide means; sensing means prismatically configurated so as to provide a direct reflective path from said first waveguide means, through said sensing means, to said second waveguide means, said sensing means being fabricated from material which absorbs a portion of a monochromatic radiant energy transmitted along said direct reflective path through said sensing means as a function of temperature; a monochromatic radiant energy source means optically coupled to said first optical fiber waveguide means, thereby introducing said monochromatic radiant energy into said first optical fiber waveguide means; and detecting means optically coupled to said second optical fiber waveguide means for detecting the intensity of the monochromatic radiant energy transmitted along said direct reflective path through said sensing means, the detecting means correlating the intensity of the transmitted monochromatic radiant energy with the temperature of the sensing means.

温度传感器组成一个联合：辐射能走了一首手段包括光纤波导手段和光纤波导第二手段；硒干旱prismatically手段配置以提供直接从反光路波导首次表示，次传感手段粗糙说，第二说波导手段飒传感手段伪造身份证从物质吸收了部分单色辐射能直接传送沿线说重 flective路径通过说温度传感功能为手段；一单色辐射能来源地说，就是先光光纤耦合波导手段次 ereby介绍说，首先说成单色辐射能光纤波导手段；一丁光学检测手段波导光纤耦合说二是加大检测手段的单色辐射恩顺沿说传染途径通过直接反光说传感手段，次五是加大检测手段的传播相关单色辐射能与温度传感手段。

Introduced to settle the function that path machine settle path Roll box,The analysis settles the reason of the path Roll an inside bearings damage,Put forward the method of the concrete improvement of the extension bearings service life,And take in to put into practice,Actual usage proof,Bearings service life extension,Settle the path Roll an usage effective.

介绍了定径机定径辊箱的作用，分析定径辊箱内轴承损坏的原因，提出了延长轴承使用寿命的具体改进的方法，并加以实施，实际使用证明，轴承使用寿命延长，定径辊箱使用效果很好。

Its main idea is that path planning is divided into two parts: the main path searching based on abstract road layer and the branched path searching on lower layer, which are connected as the complete path.

基本思想是把路径搜索过程分为抽象道路层的主路径搜索和分支路径搜索两个层次，并最后把两个层次获取的路径有效连接作为最终路径。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。