路径

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。

In the paper, the researches and conclusions are:The basic theory and technique ofgeography information system, Introduce the history of the GIS technique developmentand it develops the trend, the GIS modernizes the meaning of the construction and thepurpose and the meaning of the topic researches to the our army artillery.The design ofartillerist numeric map, Make use of the soft strong graphics function of the SuperMapgeography information system, from how made the numerical map of artillery tocommence, carried on the processing and processed the piece to the artilleryappropriative paper quality diagram to manufacture the numerical map of artillery.Themold of choosing the position of artillerist and excavating the position of spacedata;Rules of space clustering analyzing and space relationship on the basis ofmathematics configuration;Choosing the path of positing convert;optimalpath arithmetic on the basis of chart theory and realize optimal path analyze.

论文研究内容有：地理信息系统的基本理论与技术，介绍GIS技术发展的历史及其发展趋势，GIS对我军炮兵现代化建设的意义和课题研究的目的及意义；炮兵地图数字化设计与制作，利用SuperMap地理信息系统软强大的制图功能，从如何制炮兵数字地图入手，对炮兵专用的纸质地图进行处理和加工件来制作炮兵数字地图；炮兵阵地选取分析模型、阵地空间数据挖掘模型的建立和挖掘过程，基于数学形态学的空间聚类分析法、空间关联规则法的挖掘模型；阵地转移的路径选择，对炮兵阵地转移路径进行分析，基于图论中的Dijkstra最优路径算法，实现转移最佳路径分析。

A closed path is fundamentally different from an open path: it's one continuous path and has no start or end.

闭合路径和开发路径的根本区别是：闭合路径是没有开始或结束的连续路径。

Second, we rewrite the simple path expression into SQL statements. We research the different rewriting techniques for the different mapping nodes and different condition in where clause. For the query optimizing, we propose the path index based on the notion of node equivalence which is computed by bi-simulation algorithm.

第二步把简单路径表达式通过DTD字典重写为SQL语句，主要研究了对于SPE上的结点由于其映射的结点类型不同而进行不同的重写处理，同时研究了对于带有条件的查询在各种情况下的重写过程（如返回路径和条件路径不在一条路径上、多条件查询等）。

The symbols, the path and its length of NSP are defined and the properties of NSP are studied. The dissimilitude for shortest path of general net and NSP is indicated, and a loop in the NSP shortest path is allowed. A shortest path algorithm based on NSP is proposed. An example of finding the shortest path is presented.

在定义罚转向网络模型的符号、路径及路径长度的基础上，对所建立的罚转向网络模型的性质进行了讨论，指出了该模型中的最短路径允许具有回路，提出了求解从任一节点到其他有向弧和节点的最短路径的一个算法。

The multi-routes k-opt exchange algorithm is firstly proposed, which is the extension in multi-routes of the traditional k-opt exchange algorithm, where the points exchanged are not only the ones in a single route but also in several routes.

本文首先提出了多路径 k-opt交换方法，该方法是传统k-opt交换方法用于多路径间的扩展，其进行交换的点不再局限于单一路径内部，而是多个路径的点都可以参入交换。

The thesis selects the American constitutional protection on private property law history from the establishment of the United States to the New Deal as study theme, and applies the theory of increasing returns path dependence and evolutionary path dependence from Oona A. Hathaway to normatively analyze this law history. Furthermore, it draws some useful conclusions on characteristics of increasing returns path dependence and evolutionary path dependence on the changing history of American constitutional protection on private property law in a Common Law System, and it also takes a few steps on applying path dependence theory on studying law history in a continental law system in our country.

论文选择美国独立战争后至新政这段时期私有财产权宪法保护法律变迁历史作为研究对象，应用哈撒维的递增报酬路径依赖和进化路径依赖理论对这段法律变迁历史进行了实证分析，总结出了美国私有财产权宪法保护法律在普通法环境下的递增报酬和进化路径依赖特性，并对路径依赖理论应用于我国成文法环境下的法律变迁研究进行了初步探索。

After systematically summarizing the relevant research based on object-oriented integration testing and MM path; this thesis does classification research to MM path from the reason of producing MM path, the effect scope of MM path and the structure of MM path; carries out an formalized representation of MM path to support integration testing based on MM path.

本文从程序代码出发，通过词法和语法分析获取相关分支和调用信息，实现了MM路径的自动生成；重点探讨了从UML规格说明生成MM路径的方法，利用消息响应表记录面向对象系统的交互信息，提出了一种从UML状态图自动生成原子MM路径的方法，为基于MM路径的面向对象集成测试研究奠定了基础。

First, from the angle of positive research, regional specialization may be studied from two paths, that is, regional path and industrial path. To a country, regional specialization level from the two paths should be same.

首先，从实证研究的角度看，区域分工可以从两条路径入手：一是地区路径，另一是行业路径；但是，对于一个国家的区域分工水平，现有文献从这两条路径得出的结论通常是不一致的。

Route guidance system is important application in modern transmit and troop march. Traditional route guidance algorithm, such as Dijkstra's algorithm, has very height computing complexity and search space. It's planning route is just shortest route of mathematical meaning, and don't meet navigation need.

路径诱导在现代交通和部队机动过程中具有重要应用，传统路径诱导算法（如Dijkstra算法）具有很高的计算复杂度和搜索空间，所规划路径仅仅是数学意义上的最短路径，很难满足实际道路交通导航诱导要求。

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。