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.

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.

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。

港西地区河流相砂岩油藏剩余油分布研究

The Gangxi oil field has reached a stage of high water production. The reservoir parameters, such as reservoir physical characteristics, pore structure, fluid, have obviously changed. This thesis therefore carries out a study of these parameters that control reservoir characteristics, physical and chemical actions that have taken place within the reservoirs due to fluid injection, subsequent variations of reservoir macroscopic physical features, microscopic pore structures, seepages, and formation fluid properties. This study rebuilds a geologic model for this oil field, establishes a log-interpreting model, proposes a methodology for dealing with large pore channels and remnant oil distribution, and offers a basis for effective excavation of potential oil, recovery planning, and improvement of water-injection techniques. To resolve some concurrent key problems in the process of exploration of the Gangxi area, this thesis carries out a multidisciplinary research into reservoir geology, physical geography, reservoir engineering, and oil-water well testing. Taking sandstone and flow unit as objects, this study establishes a fine geologic model by a quantificational or semi-quantificational approach in order to understand the remnant oil distribution and the reservoir potential, and accordingly proposes a plan for further exploration. By rebuilding a geological model and applying reservoir-engineering methods, such as numerical simulation, this thesis studies the oil-water movement patterns and remnant-oil distribution, and further advances a deployment plan for the necessary adjustments and increase of recoverable reserves. Main achievements of this study are as follows: 1. The Minghazhen Formation in the Gangxi area is featured by medium-sinuosity river deposits, manifesting themselves as a transitional type between typical meandering and braided rivers. The main microfacies are products of main and branch channels, levee, inter-channel overflows and crevasse-splay floodplains. The Guantao Group is dominantly braided river deposit, and microfacies are mainly formed in channel bar, braided channel and overbank. Main lithofacies include conglomerate, sandstone, siltstone and shale, with sandstone facies being the principal type of the reservoir. 2. The reservoir flow unit of the Gangxi area can be divided into three types: Type I is a high-quality heterogeneous seepage unit, mainly distributed in main channel; Type II is a moderate-quality semi-heterogeneous seepage unit, mainly distributed in both main and branch channels, and partly seen within inter-channel overflow microfacies; Type III is a low-quality, relatively strong heterogeneous seepage unit, mainly distributed in inter-channel overflow microfacies and channel flanks. 3. Flow units and sedimentary microfacies have exerted relatively strong controls on the flowing of underground oil-water: (1) injection-production is often effective in the float units of Type I and II, whilst in the same group of injection-production wells, impellent velocity depends on flow unit types and injection-production spacing; (2) The injection-production of Type III flow unit between the injection-production wells of Type I and II flow units, however, are little effective; (3) there can form a seepage shield in composite channels between channels, leading to inefficient injection and production. 4. Mainly types of large-scale remnant-oil distribution are as follows: (1) remnant oil reservoir of Type III flow unit; (2) injection-production well group of remnant oil area of Type III flow unit; (3) remnant oil reservoirs that cannot be controlled by well network, including reservoir featured by injection without production, reservoir characterized by production without injection, and oil reservoir at which no well can arrive; (4) remnant oil area where injection-production system is not complete. 5. Utilizing different methods to deal with different sedimentary types, sub-dividing the columns of up to 900 wells into 76 chronostratigraphic units. Four transitional sandstone types are recognized, and contrast modes of different sandstone facies are summarized Analyzing in details the reservoirs of different quality by deciphering densely spaced well patterns, dividing microscopic facies and flow units, analyzing remnant oil distribution and its effect on injection-production pattern, and the heterogeneity. Theory foundation is therefore provided for further excavation of remnant oil. Re-evaluating well-log data. The understanding of water-flood layers and conductive formations in the Gangxi area have been considerably improved, and the original interpretations of 233 wells have changed by means of double checking. Variations of the reservoirs and the fluid and formation pressures after water injection are analyzed and summarized Studies are carried out of close elements of the reservoirs, fine reservoir types, oil-water distribution patterns, as well as factors controlling oil-gas enrichment. A static geological model and a prediction model of important tracts are established. Remaining recoverable reserves are calculated of all the oil wells and oil-sandstones. It is proposed that injection-production patterns of 348 oil-sandstones should be adjusted according to the analysis of adaptability of all kinds of sandstones in the injection-production wells.

大城市内部商业环境满意度评价与消费区位决策研究-以北京市西城区和海淀区为例

Since 1990s, commercial conditions in China including commercial environment, retail types, scale of retail enterprises, spatial structure of retail and shopping decision making factors have changed. In order to keep up with these changes, commercial geography should set up new perspectives, theories and methods to analyze its internal mechanism and changing rules, and thus provide reasonable and practical scientific basis to commercial planning, location decision of retail enterprises and commercial environment construction. Taking Xicheng and Haidian District of Beijing as research case, which is a sector region from city center to rural region, this paper selects 12 commercial centers as most important study objects of this sector. This paper mainly makes use of the methods of Modeling, Pearson Bivaiiate Correlations Analysis, Factor Analysis and Logit model. Based on 1300 questionnaires and fieldwork, this paper focuses on modeling of Consumer Satisfaction of Commercial Environment (CSCE), evaluation of commercial environment and driving factors of consumers' shopping location decision. Firstly, this paper discusses the development of commercial geography and commercial environment evaluation, the new characteristics and trends of commercial development in Beijing and physical commercial environment of Xicheng and Haidian District of Beijing from chapter 1 to chapter 4. Secondly, this paper summarizes characteristics of residents' shopping behavior in chapter 5. Thirdly, this paper sets up an evaluative model of CSCE, and analyzes consumer satisfaction indexes of commercial environment and their spatial features in chapter 6. Fourthly, this paper infers how residents' attributes and shopping behaviors affect their preferences of shopping location and what are residents' shopping location decisions and their influencing factors in chapter 7. Fifthly, this paper constructs a significant index model and a pyramidal framework of CSCE, and further analyzes the diversity and competitive advantage of commercial environment in chapter 8. Finally, some conclusions are drawn as follows: 1. Characteristics of residents' shopping behavior mostly embody residents' time distance preference, commodity consumption preference, shopping time distribution and shopping activity characteristics. The important factors that influence shopping location choice of residents are distance, transportation, commodity price, commodity types and commodity quality. However, the important factors, which influence shopping location re-choice of residents, are commodity price, commodity quality, commodity types and transportation. 2. CSCE indexes of 12 commercial centers show us significant spatial characteristics, such as spatial differences of "Center-fringe region", spatial characteristics of axes, spatial diversity of ring roads and so on. 3. Influencing factors including factor endowments, relative establishment factor and location and transportation factor of commercial environment are of importance for CSCE. 4. Logit model 1 indicates that shopping behavior of residents is significantly and positively related to working in high-tech companies, high income and by car and positively related to high school diploma, by bus and subway. 5. Logit model 2 indicates that residents' shopping location decision is significantly and positively related to leisure establishment and relative restaurant and entertainment establishment and negatively related to commercial location, commodity price, service quality, parking site. 6. The significant index model and the pyramidal framework of CSCE indicate competitive advantages are crucial to attractive capability of commercial center, and competitive weakness limits development of commercial centers, in particular the weakness of service quality and parking site now is the chief factors restricting development of commercial centers

乡镇级人口统计数据空间化研究

Population data which collected and saved according to administrative region is a kind of statistical data. As a traditional method of spatial data expression, average distribution in every administrative region brings population data on a low spatial and temporal precision. Now, an accurate population data with high spatial resolution is becoming more and more important in regional planning, environment protection, policy making and rural-urban development. Spatial distribution of population data is becoming more important in GIS study area. In this article, the author reviewed the progress of research on spatial distribution of population. Under the support of GIS, correlative geographical theories and Grid data model, Remote Sensing data, terrain data, traffic data, river data, resident data, and social economic statistic were applied to calculate the spatial distribution of population in Fujian province, which includes following parts: (1) Simulating of boundary at township level. Based on access cost index, land use data, traffic data, river data, DEM, and correlative social economic statistic data, the access cost surface in study area was constructed. Supported by the lowest cost path query and weighted Voronoi diagram, DVT model (Demarcation of Villages and Towns) was established to simulate the boundary at township level in Fujian province. (2) Modeling of population spatial distribution. Based on the knowledge in geography, seven impact factors, such as land use, altitude, slope, residential area, railway, road, and river were chosen as the parameters in this study. Under the support of GIS, the relations of population distribution to these impact factors were analyzed quantificationally, and the coefficients of population density on pixel scale were calculated. Last, the model of population spatial distribution at township level was established through multiplicative fusion of population density coefficients and simulated boundary of towns. (3) Error test and analysis of population spatial distribution base on modeling. The author not only analyzed the numerical character of modeling error, but also its spatial distribution. The reasons of error were discussed.

Systematic Nonlinear Planning

This paper presents a simple, sound, complete, and systematic algorithm for domain independent STRIPS planning. Simplicity is achieved by starting with a ground procedure and then applying a general and independently verifiable, lifting transformation. Previous planners have been designed directly as lifted procedures. Our ground procedure is a ground version of Tate's NONLIN procedure. In Tate's procedure one is not required to determine whether a prerequisite of a step in an unfinished plan is guarnateed to hold in all linearizations. This allows Tate"s procedure to avoid the use of Chapman"s modal truth criterion. Systematicity is the property that the same plan, or partial plan, is never examined more than once. Systematicity is achieved through a simple modification of Tate's procedure.