动态规划

The relationship between transient response and shape design variables is highly non-linear, and the behavior of feasible domains is often not good, which may cause convergence difficulties. In order to improve convergence speed of iteration process, some algorithms the feasible domains adjusting, the adaptive move limit, the approximate line search and the approximate reanalysis, are adopted.

采用基于Newmark积分的直接求导法计算瞬态响应灵敏度，在序列二次规划算法中采用了可行域调整、近似—维搜索、自适应运动极限等改进技术，提高求解效率和收敛稳定性，以解决结构动态响应与设计变量的关系复杂、高度非线性，优化可行区域的性态不良等问题。

The objective of this study is to obtain dynamic stable cycle gait for underactuated biped robot.

以欠驱动双足机器人为对象研究其周期稳定的动态步态规划方法。

The model provides a dynamic material plan decision-making model, in view of material distribution, material shipment time, and suppliers capacity decision factors for inventory level and service level influence.

模型提供一个动态物料规划决策模型，针对营运总部在物料分配高低，物料运送时间长短，供应商群的产能是否满足与稳定等决策因子，对供应链存货水准与服务水准所产生的影响。

People and things, static or dynamic, in effect, have long been brought into the center of a circle, and everybody or everything can only make a curvy movement along a seemingly direct line.

无论是静态或动态式的人或物，其实早已被某圆心所规划，最后只能在看似一条直线的路上在做一个曲线运动。

The system consists of four parts such as Data Management of Product Model,Finite Element Analysis, Optimal Design and Graphics Drawing; and its main work is searching for an optimal scheme of chief axis with Sequential Quadratic Programming Method by finite element static and dynamic characteristical analysis of the axis and saving the results of design as documents or outputing them.

系统出产品模型数据管理、有限元分析、优化设计和图形绘制四部分组成。通过对车床主轴二维垂直剖面力学模型的有限元静、动态特性分析，采用序列二次规划的优化设计方法寻求主轴设计的优化方案，并将优化设计结果形成文档或输出。提出产品设计模型的概念，通过它可自动生成有限元分析模型、优化设计模型和图形模型三个子模型，将有限元分析、优化设计、图形绘制三部分结合在一起。

Then, according to Radau collocation method, the dynamic optimization problem is converted to a nonlinear programming one that contains continuous and discrete variables.

根据Radau配置法将动态优化问题转化为连续变量与离散变量并存的非线性规划问题。

According to Radau collocation method,the dynamic optimization problem can be converted to a nonlinear programming problem which contains both continuous and discrete variables.

根据Radau配置法将动态优化问题转化为连续变量与离散变量并存的非线性规划问题。

Based on Advanced Public Transportation System, the paper studies the vehicle dynamic dispatching problem of singular bus line. A real-time operational control model is developed to deal with the problem, which proves to be a convex programming.

基于先进公共交通系统环境，研究了城市公共汽车单线路运行系统的动态调度问题，建立了公交车辆运行的实时控制模型，证明其为凸规划问题。

Second, it models and simulates dynamically the parallel, asynchronous, distributed and concurrent workflow of machinery of cluster with intuitionistic and visual figure, and give the effective controlling strategy of optimal collocating and dynamic attemperation, be dead against the asynchronism and concurrent character of machinery of cluster, which result from that MAS loosens the restricting for centrality, programming and gradation controlling and offers the mechanism of separated controlling, meeting an emergency and parallel disposing.

由于多智能主体技术放松了对集中式、规划、顺序控制的限制，提供了分散控制、应急和并行处理，本文针对基于多智能主体的机群工作流的异步性和并发性采用Petri网技术通过直观、形象的图形，对并行、异步、分布、并发的机群工作流进行了建模分析和动态模拟，并提出了机群的优化配置和动态调度的控制策略。3。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

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。