动态未知环境下基于相对坐标系的移动机器人实时运动规划

提出了一种简单、新颖的在动态未知环境下的移动机器人运动规划方法．此方法基于相对坐标系，通过传感器信息实时调整机器人的行为来实现规划．在规划过程中，机器人有两种行为：向目标运动和避碰，且避碰行为具有优先权．机器人两种行为的切换是基于加速度空问的，首先解决的是避碰问题，而向目标运动是作为避碰的反问题来考虑的．仿真研究验证了此规划方法的有效性。

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

基于盆地地下水模型与山区地表水模型耦合的济源盆地地下水模拟研究

The aim of this study is to increase the precision of groundwater modeling. The way is use the distributed model calculate the mountain basin groundwater lateral discharge and the river runoff. With appropriate technique help, the groundwater model can couple the distributed model results. This paper’s study object is makeing the distributed hydrological model HEC-HMS coupled to the popular groundwater model Visual MODFLOW. The application example is Jiyuan basin which is a typical basin of North China. HEC-HMS can calculate the surface runoff and subsurface runoff at mountain-pass. The subsurface runoff can turn to recharge well straightly. The water level - runoff course and Trial method is used to back analyze the parameters of surface runoff to Visual MODFLOW. So the distributed hydrological model can coupled to the groundwater model. The research proved that base on couple the distributed surface water model the groundwater model’s results are notability improved. The example is Jiyuan basin where use the distributed model coupled to the groundwater model. On the base of the coupled model applied to Jiyuan basin groundwater modeling. The paper estimates the groundwater change in the study area. Then, by use the water resources integrated planning results, the article calculate the basin groundwater can be development and utilization quantity and potential.