动态规划

An object-oriented Petri Net will be built to model a flexible manufacturing cell. This cell includes a robot, three machines and a WIP buffer. The job enters the cell once the job volume is under capacity limit, therefore adynamic scheduling system is required to schedule operations for jobs in the cell. An algorithm will be developed for the scheduling system, which considers job's makespan as criteria.

在研究中，采用物件导向裴氏图模式，架构一个阶层式之弹性制造系统，其中包含机器群组主电脑物件、机器电脑物件以及机器手臂电脑物件，并规划系统的动态进出排程，以工作总完工时间为绩效评估指标来发展演算法，接著建立eM-Plant的模拟系统，以资料库建立之工件加工档，进行动态排程及模拟。

Finally, the optimization warehousing allocation policy is achieved by digital simulation, which shows that expecting revenue is concave function of surplus capacity, and is also concave function of booking leading time, the opportunity costs is a non-increase function of surplus capacity, and is also is a non- increase function of booking leading time.

论文按照随机背包问题思路建立了考虑第三方仓储能力分配动态随机规划模型，对模型性质进行了分析，得到了基于阈值的舱位预订动态控制策略，并通过数值仿真，得知期望收益是剩余仓储能力的凹函数，是时间的凹函数；机会成本是剩余仓储能力的非增函数，是时间的非增函数。

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。

Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new hierarchical approach of coordinated path planning for mobile manipulateors, and a dynamic weighting strategy, which can avoid obstacles and get the best results of optimization.

针对移动机械手的动态不均匀性及运动冗余性，参考人类完成任务时的行为，本文提出了一种分级协调路径规划法，以及一种动态加权的优化策略，对移动机械手的路径进行离线规划，在避障的前提下保证了移动机械手性能指标最优。

Human resource training mode is a kind of training management system, in which the training management process is the core. In this system, business enterprise according to actual circumstance of every employee to program and manage the training proceeds totally. Each training item, alone item and total training programming are all organizable and mutually contacting. The choice of each training item is supported by the system; the execution and management of employee training is to be placed in an organic and dynamic circulation in the system.

人力资源培训模式是以培训管理流程为核心的一种培训管理系统，在该系统中，企业根据实际情况对员工培训进行总体规划和管理，每一个单独的培训项目之间、单独的培训项目与培训总体规划之间都是相互联系的有机体；每一个培训项目的选择都是在系统的支持下进行的，培训的实施和管理在系统中处于一个有机的、动态的循环。

Simulation shows that joints movement convergence to stable limit cycles,planned walking pattern is realized,and feasibility of the proposed method is verified.

实验表明规划步态收敛于稳定的极限环，实现了高速动态步行，该规划方法是可行的。

With the objective of the robot′s steady movement, the trajectory is sampled equably and each segment is considered as uniformly variable motion. To guarantee tracking precision, the relation between the tracking control error and the output torque of the controller is analyzed from the point of engineering.

而按照通常的规划算法所规划出的"最优"参考轨迹在实际中却难以应用，因为这一参考轨迹是基于机器人的精确动力学模型得到的，没有考虑实际系统中存在的模型不确定性，也未考虑控制器的动态特性，因而跟踪精度得不到保证。

The conclusion is:multiobjective programming and fuzzy programming are superior to the traditional Markowitz model,compart:s the dynamic models with the static models,the former can reponse more soon to the wave of the stock price,so we can adjust period by period based on the dynamic models.

本文得出的结论是：多目标规划及模糊规划等方法优于传统的马柯维茨模型，在实证检验中表现出更高的投资效率，动态的模型与静态的模型相比，能更快地对股价波动作出反应，可进行逐期调整。

The following is the research frame of this dissertation:Chapter one: Introduce background, research significance, research object, research contents and methods of this dissertation; review the history of clusters theoretical research in detail; dissertate main research dynamic status of domestic and international;Chapter two: Through explain theoretical foundation of cluster research, it defines and demarcates clusters, introduces the concept of private enterprises" cluster on this basis, and summarizes current situation of Quanzhou private enterprises" cluster;Chapter three: Propose the concept of cluster competitiveness, collect and analysis those factors which influence cluster competitiveness, and set up an appraisal system of private enterprises" cluster competitiveness;Chapter four: Define developing stages of private enterprises" cluster with clusters" dominance competitiveness, analysis characteristic and law of private enterprises" cluster in different life cycle, give out strategic countermeasures separately which promote cluster competitiveness in different stage;Chapter five: On the basis chapter three and chapter four, propose what we can use cluster strategic planning to promote Quanzhou cluster competitiveness; and recommend thought of cluster strategic planning;Chapter six: Introduce the case of Quanzhou sports shoes cluster, use competitiveness appraise system and life cycle theory for empirical analysis, and put forward detailed countermeasure that can promote cluster competitiveness;Conclusion: Summarize the research of full dissertation, and point out some weaknesses of this dissertation.

本文的研究框架如下：第一章：介绍本文选题的背景、研究意义、研究对象、内容与方法，并详细论述集群理论研究的历史回顾及当前国内外主要研究动态；第二章：通过阐述产业集群研究的理论基础，定义及界定产业集群，在此基础上引入民营企业产业集群的概念，并归纳总结了泉州市民营企业产业集群的现状；第三章：提出产业集群竞争力的概念，对影响集群竞争力的因素进行分析，初步建立一套民营企业产业集群竞争力的评价体系；第四章：应用集群显性竞争力来界定民营企业产业集群发展的生命周期阶段，并分析民营企业产业集群在各个不同生命周期阶段呈现的特征及规律，分别给出在不同阶段提升集群竞争力的战略对策；第五章：在第三、四章的基础上提出应用产业集群战略规划来提升泉州民营企业产业集群的竞争力，并介绍了集群战略规划的思路；第六章：引入泉州运动鞋产业集群的案例，应用本文构建的集群竞争力评价体系及生命周期理论进行实证分析，并提出提升该集群竞争力的详细对策；结论：总结全文的研究，并指出本论文研究的一些不足之处。

In the next chapter, Chapter 3, the framework for CD process modelling is defined and described in detailed, and O-O technique is introduced and used as analyzing and modelling method to build the systematic models.

第四章建立了以设计结构矩阵形式表示的并行设计过程的动态模型，以此为基础，探讨了并行设计过程的规划策略，研究了规划实现方法。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。