a real-time path planning approach without the computation of cspace obstacles

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.

土地利用总体规划环境影响评价指标体系研究——以邛崃市土地利用总体规划为例

土地利用是人类根据土地质量特性来开发利用土地，创造财富，满足人类生产和生活的需要，同时改善环境，满足人类生存需要的过程。土地利用总体规划是对未来各类用地在空间上、时间上作出总体的协调的预先安排，不仅受到一定历史背景的制约，同时也受影响于当前的社会经济发展情况。但是，国内传统的土地利用总体规划往往从狭窄的技术经济观点出发，对远期的生态环境问题、社会问题缺少考虑，将新的用地尽量安排在最便捷、最经济的地方。 由于土地利用总体规划对环境影响具有长期性、复杂性、综合性、有时还有不可逆转性等特点，迫切需要在编制土地利用总体规划时对规划区与土地利用有关的环境影响进行科学研究，把环境保护纳入土地利用活动的计划、决策和规划实施中，促进土地资源持续、协调的利用。为更好地进行土地利用总体规划环境影响评价必须首先建立相应的评价指标体系，而目前国内关于该项研究的理论和实践的相关报道都较少。 本论文在综述国内外土地利用总体规划环境影响评价的理论与实践的基础上，在国内第一批开展了相关领域的案例研究，采用理论研究和案例分析相结合的研究方法对土地利用总体规划环境影响评价方法和指标体系进行了研究，对邛崃市土地利用总体规划进行了环境影响评价，其研究的主要内容和论点如下: (1)第一次根据FAO 确定的五大原则，引入了生态用地的概念并按照价值模型构建了以土地资源可持续利用为目标的县级土地利用总体规划环境影响评价的指标体系。以生产性、稳定性、保护性、经济活力、社会可接受性五个方面作为指标层来度量土地利用总体规划的环境影响，并选取了土地利用率、土地整理率、水面指数、生态用地面积比例、耕地转化率、建设用地产值指数、公众满意度等21 个元指标作为具体的评价指标。该指标体系强调了规划方案的公众参与，便于充分吸收公众的意见和建议；并且评价指标获取容易，实用性较强。 (2)在土地利用总体规划环境影响评价方法上进行了有益的探索和尝试，由于土地利用总体规划环境影响评价的主要对象是几个拟定的规划方案，所以采用综合评分法（包括特尔斐法和层次分析法）和公众参与相结合的评价方法。应用上述指标体系和评价方法对邛崃市土地利用总体规划的三个方案进行了评价筛选，高方案最终得分为92.049；中方案最终得分为91.028；而低方案最终得分为95.541，为最优方案。 （3）开展了对土地利用总体规划替代方案和公众参与机制的研究，对公众参与的方式、程序及主要内容从理论和实践两方面进行了有益的尝试，收到了良好的效果。 （4）对邛崃市土地利用总体规划进行了环境影响评价，根据邛崃市的具体情况，对规划实施后可能造成的环境正、负面影响进行了分析和预测，提出了预防或者减轻不良环境影响的对策和措施。 Land use is a process, which is to develop land according to its mass property. Bycreating the wealth and improving the environment, it can meet the need of production,life and human survival. Land use planning, as a planning form to guide land use, issubject to the historical background, and influenced by development of economic andsociety. The land use planning in the past, from narrow economic technology view,lacking of concerning ecologic environmentand social problem, arranged new land in the most convenient and economic place. Because of complexity, comprehensive and sometimes irreversible characteristicsof environmental impact caused by land use planning which has been implemented, it isneed to carry on scientific research on environmental impact related to land use as theland use planning is forming, to bring environmental protection within the plan, policymaking and implementing of land use activity, promoting the sustainment, harmonious use of land resource. This paper, taking the readjustment of land use planning in Qionglai as an example,assessed its environmental impact of land use planning. The main contents and results arepresented as follows: (1) On the basis of the five criterions of AFO, for the first time propose county classoverall planning of land uses SEA index by inducting ecological land use andestablishing the Value factor system, according to Productivity criterion，Stabilitycriterion，Sheltered criterion，Economic livingness criterion，Social acceptabilitycriterion，the environmental impact of land use system was assessed by using Valuemodel. Through identifying the factors of environmental impact of land use planning, thepaper established the factor system of SEA of land use planning. From the land usefactors, 21 factors was chosen to assess the environmental impact degree of land useplanning, such as, index of land use degree, the rate of land collating, index of watersurface, the rate of ecological use land, cultivated land conversion ratio, forest landconversion ratio, public satisfaction degree and so on. These indexes make a point thatpublic participation of plan project fully absorb public idea and propose and the index easily get, better utility. (2) Attempt useful assessment method system of SEA of land use planning. In viewof there are no or almost no inevitable contact among the factors of SEA of land useplanning，we use AHP （Analytic Hierarchy Process） as the main assess method . Thereare three plans are compared in this paper apply the foregoing index and assessmentmethod. The high plan finally score is 92.049，while the middle plan is 91.028. The lowplan score is 95.541，is the best one，as the selected plan. (3) Carry on the research of the alternative scheme of overall planing of land useand public participation，to the fashion ，procedure and object matter carry out helpfulattempt from theory to practice，the results is good. （4）Took place SEA of Qionglai County overall planing of land use，according to thecircumstance of Qionglai，we analyze and forecast the positive and negative affect afterthe plan implement，and put forward the countermeasure and means to prevent or abatebad environmental impact.

初步的IMP重离子治疗计划系统；A Preliminary Version of Heavy Ion Treatment Planning System at IMP

中国科学院近代物理研究所基于兰州重离子研究装置(HIRFL/HIRFL-CSR),在被动型束流配送系统下采用二维分层适形照射治疗技术开展重离子治癌临床试验研究。为了更好地利用重离子束在肿瘤放射治疗中的生物物理优势并保障重离子临床治疗试验的顺利实施,一个初级版本的重离子治疗计划系统已经设计完成。此计划系统是针对被动型束流配送系统下的二维分层适形照射治疗方式来进行设计的。介绍了此系统的设计框架、可提供的功能以及利用宽束算法进行剂量计算在此系统中的实现。通过人体仿真体模实验证实由该治疗计划系统给出的靶区计划剂量与实测剂量的偏差在5%之内。最后讨论了设计较为完备的重离子治疗计划系统仍需解决的问题。

Linking territorial and coastal planning: the Venezuelan experience

Venezuela is located in central northern South America, with some 4 000 km of coastline and near 700 000 km2 of marine and submarine areas. The Venezuelan coastal zone is characterized by serious problems of land use and utilisation of its natural resources, caused by a generally anarchical spatial occupation and lack of sufficient legal and administrative means for control. In this paper, a synthesis of the Venezuelan approach to attaining a sustainable development of its marine and coastal zones is presented. This means the accomplishment of the social and economic development of the Venezuelan population in general, and specifically the coastal inhabitants, taking into account the legal and administrative patterns that govern land use planning and the utilisation of natural resources, particularly in marine and coastal areas. The paper is organised in three parts: (1) the diagnosis of the current situation; (2) the presentation of a hypothesis based on present trends (trend scenario); and (3) the statement and application of a sound and adequate solution (desirable and possible scenario).

The integration of coastal zone management into national development planning

The broad acceptance and collective commitment of countries to the tasks involved in the implementation of Agenda 21, Chapter 17, have profound implications vis-à-vis the interplay between coastal zone management (CZM) and national development planning (NDP). It appears that in many countries, CZM has evolved in isolation from the mainstream of national development processes. The paper examines various forms and elements for the effective integration of CZM into NDP.

Land use and water quality response in the northern region of Changxing County

In this paper, taking the northern region of Changxing County for example, with ammonia nitrogen as a pollution assessment index, we used an improved export coefficient method for estimate polluting load of non-point source pollution (NSP) and the social pollution survey data in the study area to estimate point source pollution. By comparing the total pollution output and the national surface water environmental quality standards find that the whole study area achieves the second water quality standard. However, Jiapu Township exceeds the water quality standards seriously because of the superfluous point source pollution. The water quality of other Townships is good. Further analysis showed that different types of land use and proportions in the northern region of Changxing County have a significant impact on the non-point source pollution, the general law is farmland contributes the largest share of the non-point source pollution output, followed by residential area and bare land, besides, with the increase in the proportion of forest and the decrease of farmland and residential area, the non-point source pollution reduces gradually. © 2010 IEEE.

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。