规划

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。

This paper based on reviewing ecological planning and discussing briefly six ecologi-cal planning modes puts forward that the best lodestar of ecological planning is landscape ecology,and the ultimate goal of ecological planning is sustainable devel-opment.

通过对生态规划的产生及发展过程的回顾和对6种生态规划典型模式的初步探讨，揭示出生态规划的最佳指导思想是景观生态学；生态规划的最终目标是可持续发展。

A robot motion control architecture is studied in this paper as an example of distributed system. A guided global planning method including nonholonomic constraint is proposed. The method brings the flexibility and quickness of the local method into the reliable frame of global method.

本文以一个机器人运动控制系统为例进行分布式系统结构的研究，提出了一种有指导的全局规划方法，该方法集局部规划的灵活敏捷与全局规划的完整可靠于一体，可以嵌入多种全局规划框架下运行。

Firstly,the mixed-integer bi-level programming is transformed into a single level continuous optimization problem by virtue of penalty function concept and optimal value function tool.

利用罚函数思想和最优值函数的概念将混合整数双层规划转化为连续变量的单层非线性规划，然后用事先确定步长的凸组合算法迭代求解此单层非线性规划，进而得到原双层规划的局部最优解

Chapter 1, introduction, which summarizes the literature and the development about the theory and application of stochastic DP and multiobjective DP, views the two basic concepts of DP which are optimality principle and Markvian.

第一章导言，综述了动态规划主要是随机动态规划和多目标动态规划的发展及现状，评述了动态规划中两个基本概念"无后效性"和"最优化原理"。

XEX ~ Arg min{FIy E ~2} where the upper level is about topological structure optimization(a~ is a topological structure varable), and the lower level is a constrained programming about continuous variable y. 2 Apply graph, the action of permutation group on a graph, equiva- lent class, orbit etc.

取得的主要成果有： 1 依点到集的映射、集值映射、二元映射和分离定理等理论首次建立了具有拓扑结构双层规划的数学模型 min F s.t.x∈X y∈Arg min｛F|y∈Ω｝其上层规划为关于离散变量x的拓扑结构优化，下层规划是关于连续变量的约束规划。

Dynamic planning of polder region levee and flood preventing buildings, statistics of planning work, the output of design results can be partially done automatically so as to meet to the requirements of polder region planning. The GIS technique is applied to this system for the first time.

本系统结合圩区水系规划设计的具体要求，可完成圩堤、河道、防洪排涝建筑物等的实时规划布置，工程统计，规划成果的输出等工作，可完成水系规划的部分功能。

After possessing planning knowledge and experience, we immediately give advice of the planning demand, construction, security, cost, tools, and the environmental characteristic of an enterprise to prepose the high level decision support structure of the wireless local area network and to set up DSS and offer a platform of planning knowledge and wiser decision to the enterprises and planners to work smart by supplying the systematised procedure of the whole planning way and decision.

在具备规划知识和专家经验后，接著归纳无线区域网路在规划需求、建置、安全、成本、工具和企业环境特性方面分析建议。并提出无线区域网路高阶决策支援架构，程序化整个规划模式和决策流程，再以此为基础，建立决策支援系统，提供企业或规划者所需的规划知识和决策支援平台。

Some statistical properties of product assembly are obtained on the basis of industrial investigation of assembly procedure and analysis of assembly operations of typical products; concept of fuzzy quotient set is introduced to the study of assembly sequence planning and a theoretical frame and algorithm for assembly sequence planning based on product fuzzy quotient set is presented; theory and method of fuzzy automata and fuzzy decision are used in the investigation of sensor based assembly sequence planning and a theoretical frame and algorithm for assembly sequence planning based on information sensing of assembly process are presented; an assembly model for product is put forward; study of product disassemblability is carried on.

论文通过对产品装配工艺的工厂调研及典型产品的装配作业分析得到了有关产品装配的一些统计特征；将模糊商集合的概念引入装配顺序规划的研究中，提出了基于产品模糊商集合的装配顺序规划的理论框架和算法；将模糊自动机及模糊决策的理论和方法应用到基于感知的装配顺序规划的研究中，提出了基于装配过程信息感知的装配顺序规划的理论框架和算法；提出了一种产品装配模型；进行了产品可拆卸性的研究。

A standard expected value model for multi-objective multi-stage transmission planning is presented to realize the transmission optimal planning with the control of line overloading risks. In this model, a constraint of overloading risks is built with expected value and standard deviation of random line active power and two objectives are given as expected value of the average power loss and discount value of the investment cost. By modeling uncertain informations with probability theory, the probabilistic DC power flow is adopted for the correlated calculations among random variables in the planning model.4 A novel multi-objective transmission planning approach that considers transmission investment profit is proposed. Requests for transmission investment profit and social welfare are involved in the proposed planning approach.

以方案总投资费用贴现值和平均网损期望值为目标函数，建立多目标多阶段输电网规划的期望值模型，以线路有功潮流过负荷随机变量的期望值和标准差构建过负荷风险约束，考虑了风险发生概率和严重程度两方面的特征，通过对不确定性信息的概率建模，利用概率直流潮流进行各随机变量的相关计算，实现了控制过负荷风险条件下的输电网优化规划。4提出考虑输电投资收益的多目标输电网规划方法，综合考虑市场参与者对输电投资收益和社会总福利的要求加热管及其对输电网规划的影响。

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％。