针对快速随机树(Rapidly-exploring Random Trees,RRT)算法在复杂环境下规划效率低的问题,提出一种基于RRT的机械臂路径规划改进算法。首先,在初始采样时应用角度约束采样策略限制采样区域,提升采样质量。然后,在扩展节点时融合人工势...针对快速随机树(Rapidly-exploring Random Trees,RRT)算法在复杂环境下规划效率低的问题,提出一种基于RRT的机械臂路径规划改进算法。首先,在初始采样时应用角度约束采样策略限制采样区域,提升采样质量。然后,在扩展节点时融合人工势场法的思想,设定动态步长加快算法的收敛,提升算法在障碍物空间的探索效率,当算法陷入局部极小值时,采用节点拒绝策略快速脱离。最后,将规划路径进行简化处理,并利用B样条曲线平滑拐点提高路径质量。仿真结果表明,改进算法相比传统RRT算法,扩展更具导向性,收敛速度更快,可以有效避免局部极小值。展开更多
在当今新时代的大背景下,科研院所的干部管理工作需要不断创新与发展。文章通过对S所科研管理支撑团队的全面调研,综合分析制约研究所干部管理进步和发展的瓶颈问题,包括培养机制不完善、干部能力素质有待提升、激励措施不足、考核机制...在当今新时代的大背景下,科研院所的干部管理工作需要不断创新与发展。文章通过对S所科研管理支撑团队的全面调研,综合分析制约研究所干部管理进步和发展的瓶颈问题,包括培养机制不完善、干部能力素质有待提升、激励措施不足、考核机制有待加强等。通过建立后备干部培养机制、强化干部培训、完善选拔机制、激励机制以及强化监督与考核等措施,塑造一支作风过硬、结构优化的干部队伍。这样的干部队伍将成为研究所科研事业持续发展的坚强柱石,为未来的科研之路提供源源不断的人才动力和智力支持。Under the background of today’s new era, the cadre management work of scientific research institutes needs to be constantly innovated and developed. The article analyses the bottlenecks restricting the progress and development of cadre management in the institute through comprehensive research on the scientific research management support team of Institute S, including the imperfect cultivation mechanism, cadre ability and quality need to be upgraded, insufficient incentives, and the assessment mechanism needs to be strengthened, and so on. Through the establishment of a reserve cadre training mechanism, strengthening cadre training, improving the selection mechanism, incentive mechanism and strengthening the supervision and assessment measures, we will shape a cadre team with excellent style and optimized structure. Such a cadre team will become a strong pillar for the sustainable development of the institute’s scientific research career, and provide a steady stream of talent power and intellectual support for the future path of scientific research.展开更多
文摘针对快速随机树(Rapidly-exploring Random Trees,RRT)算法在复杂环境下规划效率低的问题,提出一种基于RRT的机械臂路径规划改进算法。首先,在初始采样时应用角度约束采样策略限制采样区域,提升采样质量。然后,在扩展节点时融合人工势场法的思想,设定动态步长加快算法的收敛,提升算法在障碍物空间的探索效率,当算法陷入局部极小值时,采用节点拒绝策略快速脱离。最后,将规划路径进行简化处理,并利用B样条曲线平滑拐点提高路径质量。仿真结果表明,改进算法相比传统RRT算法,扩展更具导向性,收敛速度更快,可以有效避免局部极小值。
文摘在当今新时代的大背景下,科研院所的干部管理工作需要不断创新与发展。文章通过对S所科研管理支撑团队的全面调研,综合分析制约研究所干部管理进步和发展的瓶颈问题,包括培养机制不完善、干部能力素质有待提升、激励措施不足、考核机制有待加强等。通过建立后备干部培养机制、强化干部培训、完善选拔机制、激励机制以及强化监督与考核等措施,塑造一支作风过硬、结构优化的干部队伍。这样的干部队伍将成为研究所科研事业持续发展的坚强柱石,为未来的科研之路提供源源不断的人才动力和智力支持。Under the background of today’s new era, the cadre management work of scientific research institutes needs to be constantly innovated and developed. The article analyses the bottlenecks restricting the progress and development of cadre management in the institute through comprehensive research on the scientific research management support team of Institute S, including the imperfect cultivation mechanism, cadre ability and quality need to be upgraded, insufficient incentives, and the assessment mechanism needs to be strengthened, and so on. Through the establishment of a reserve cadre training mechanism, strengthening cadre training, improving the selection mechanism, incentive mechanism and strengthening the supervision and assessment measures, we will shape a cadre team with excellent style and optimized structure. Such a cadre team will become a strong pillar for the sustainable development of the institute’s scientific research career, and provide a steady stream of talent power and intellectual support for the future path of scientific research.
