规划

Furthermore, a multi-container port bi-level programming model under the uncertainty conditions is established, and stochastic bi-level programming model is transformed into deterministic bi-level programming model according to random programming theory.

针对本文建立的双层规划模型，采用基于灵敏度分析的启发式算法S(来源：Ad1BC65论76文网www.abclunwen.com)AB求解。同时进一步建立了不确定条件下的双层规划模型，并且根据随机规划理论转化为确定型双层规划模型。

The thesis introduces the meshwork arrangement pattern of public traffic planning, the disinterment of data of IC card and new approaches of public traffic planning, so that the rationality and maneuverability of public traffic planning can be improved.

公共交通规划的理论内涵十分丰富，涉及面比较多，鉴于此，本文把工作重点放在了对其关键技术的方法研究上，全文围绕公交规划的线网布局模式、IC卡数据的挖掘以及公交规划方法展开，目的在于提高公交规划的合理性和可操作性。

Based on emphasis of strategic environmental assessment of highway network planning, main contents of follow-up evaluation of highway network planning were proposed involving analysis of cooperation with other dominical planning and timely supervision of environment impact from highway network planning.

新颁布的《环境影响评价法》对环境影响的跟踪评价提出了明确规定，文章基于公路网规划环境影响事前评价的侧重点，提出公路网规划跟踪评价的内容主要包括两个方面：一是与相关规划的协调性分析；二是公路网规划实施过程中环境影响的实时监督，并进一步提出了跟踪评价方法。

System theory should be taken into account when drawing up the plans,such as,thinking over the externality of government planning,the entirety of state government planning,and territoriality of local government planning.

在可再生能源开发利用政府规划的制订中，应运用系统论的方法进行多层面考量，充分考虑政府规划的"外部性"、国家规划的"整体性"与"全局性"、区域规划的"地域性"与"特色性"。

Besides, these aspects show sufficiently that it is pre-requisite that a new kind of approach is need in the work of the land use planning, which the real time design can't be reflected by the way of the drawing, table and data and so on which are utilized lowly.

此外，不能实时地以图、表、数据等有说服力的形式反映规划设计情况，不能高效管理规划实施中的工作等，这些方面充分反映，土地利用规划工作需要寻求一种新的土地利用规划途径已迫在眉睫。

The first part of the paper focuses on Saddlepoint Programming . It explicates SP's origin background, classification and relationship with other mathematical programing . The optimal conditions of SP has been proven and its geometric interpretation has been made.

文中首先讨论鞍点规划原理，阐明了这种规划产生的工程背景、分类、数学表述及其与一般数学规划的关系；证明了鞍点规划最优性条件的有关定理，并给出了几何解释。

The area backgrounds and conditions of this project are analyzed,then the following principles are worked out:in order to establish a good community of habitant,the neighbor hood size,the synthesis of .

随着 2 1世纪的到来，我国住区规划面临着新的挑战，福苑东里规划恰好是对此进行探索的机遇。在规划中，对我国 2 1世纪社区环境的发展方向进行了预测，对项目的用地及环境条件进行了分析，从而制定出两项规划原则：通过以人的认知范围确定邻里规模、多种功能的综合、构筑网络结构等手法营造社区性；以带状的公共绿地与宅前绿地结合，形成网状连续的交通、生态、景观、交往、休闲复合系

Becasuse planning problem itself is a very hard problem to be solved and there are many indeterminacy factors.

虽然人们研究规划问题已经有近五十年了，而且也已经提出了各种各样的解决方案，但随着智能规划从理论研究逐渐向应用研究的发展，人们发现经典的规划根本无法满足实际应用的要求，因为规划问题本身就是一个非常难解决的问题，而在实际应用中又具有许多不确定的因素。

It also points out that to establish the perfect planning system and integrated decision methods is the tendency of environmental planning.

文章在介绍国外环境规划研究概况后分析了我国环境规划的现状及存在问题，指出建立完善的规划体系和综合决策方法是环境规划的发展趋势。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。