Lot scheduling problem with idle time transfer between processes to minimize mean flow time is very important because to minimize mean flow time is to minimize work in process. But the problem is NP hard and no polyn...Lot scheduling problem with idle time transfer between processes to minimize mean flow time is very important because to minimize mean flow time is to minimize work in process. But the problem is NP hard and no polynomial algorithm exists to guarantee optimal solution. Based the analysis the mathematical structure of the problem, the paper presents a new heuristic algorithm. Computer simulation shows that the proposed heuristic algorithm performs well in terms of both quality of solution and execution speed.展开更多
Implementation of simultaneous execution phases in the concurrent engineering (CE) needs careful planning when the downstream phase could be activated as the upstream phase developed to a certain point. The determinat...Implementation of simultaneous execution phases in the concurrent engineering (CE) needs careful planning when the downstream phase could be activated as the upstream phase developed to a certain point. The determination of startup time of overlapping jobs in CE has long been a disturbance in manufacturing industry implementing CE programs. A novel model based on both fuzzy logic and neural network is proposed to mathematically formulate the inter-connective information between the two coupled phases in CE projects, and to determine the startup time of downstream phases in real time. The information transferring between the two coupled phases is quantified by using the negative Shannon entropy. Based on this algorithm, a PDM-based framework is proposed to narrow the gap between pro-duct design and manufacture, in which five modules are built to monitor, reshuffle and implement the simultaneous executing processes. Finally, an example is given to illustrate applications of the algorithm in the real world.展开更多
The paper sheds light on the factors enabling sustainable development of Medicinal and Aromatic Plants (MAPs) of Albania; socio-economic, legal and regulatory aspects and institutional capacity related to the MAP se...The paper sheds light on the factors enabling sustainable development of Medicinal and Aromatic Plants (MAPs) of Albania; socio-economic, legal and regulatory aspects and institutional capacity related to the MAP sector in the country; sector dynamics, challenges and opportunities; and Albania's positioning in the world markets. Stewardship of MAPs natural base in the country remains a challenge as approximately 95% of the MAPs are collected from the wild. Albania continues to be the leader in Sage exports to the US market accounting for 49% of its market share. Statistical data and direct communication with MAP relevant stakeholders reveal that there is a great demand for the Albanian MAPs from the EU and US markets. However, as clearly indicated in this paper, increased competitiveness of this sector in the world markets should be preceded by sustainable management of the MAPs which can be achieved through (1) continuous training and education of the MAP value chain members prior to harvesting season, (2) organic production and (3) commercial cultivation of MAPs. This paper highlights that sustainable management and sector development require combined efforts of all sector stakeholders in an attempt of all respecting Mother Nature's generosity, and if harvesting as living forever.展开更多
A novel anaerobic reactor, jet biogas inter-loop anaerobic fluidized bed (JBILAFB), was designed and constructed. The start-up and performance of the reactor was investigated in the Process. of .artificial glucose w...A novel anaerobic reactor, jet biogas inter-loop anaerobic fluidized bed (JBILAFB), was designed and constructed. The start-up and performance of the reactor was investigated in the Process. of .artificial glucose wastewater treatment. With the wastewater recycle ratio of 2.5 : 1, the recycled wastewater with biogas could mix sludge and wastewater in the JBILAFB reactor completely. The start-up of the JBILAFB reactor could be completed in less than 70 d through maintenance of hydraulic retention time (HR^I") and stepwise increase of feed total organic carbon (TOC) concentration. After the start-up, with the volumetric TOC loadings of 14.3 kg·m ^-3·d^-1, the TOC removal ratio, the effluent pH, and the volatile fatty acids (VFA)/alkalinity of the JBILAFB reactor were more than 80%, close to 7.0 and less than 0.4, respectively. Moreover, CH4 was produced at more than 70% of the theoretical value, The reactor exhibited high stability under the condition of high volumetric TOC loading. Sludge granules in the JBILAFB reactor were developed during the start-up and their sizes were enlarged with the stepwise increase of volumetric TOC loadings from 0.8 kg.m^-3.d ^-1 to 14.3 kg.m^-3.d^-1. Granules, an offwhite color and a similar spherical shape, were mainly comprised of global-like bacteria. These had good methanogenic activity and settleability, which were formed probably through adhesion of the bacteria. Some inorganic metal compounds such as Fe, Ca, Mg, Al, etc. were advantageous to the formation of the granules.展开更多
Most of the traditional taxi path planning studies assume that the aircraft is in uniform speed,and the optimization goal is the shortest taxi time.Although it is easy to solve,it does not consider the changes in the ...Most of the traditional taxi path planning studies assume that the aircraft is in uniform speed,and the optimization goal is the shortest taxi time.Although it is easy to solve,it does not consider the changes in the speed profile of the aircraft when turning,and the shortest taxi time does not necessarily bring the best taxi fuel consumption.In this paper,the number of turns is considered,and the improved A*algorithm is used to obtain the P static paths with the shortest sum of the straight-line distance and the turning distance of the aircraft as the feasible taxi paths.By balancing taxi time and fuel consumption,a set of Pareto optimal speed profiles are generated for each preselected path to predict the 4-D trajectory of the aircraft.Based on the 4-D trajectory prediction results,the conflict by the occupied time window in the taxiing area is detected.For the conflict aircraft,based on the priority comparison,the waiting or changing path is selected to solve the taxiing conflict.Finally,the conflict free aircraft taxiing path is generated and the area occupation time window on the path is updated.The experimental results show that the total taxi distance and turn time of the aircraft are reduced,and the fuel consumption is reduced.The proposed method has high practical application value and is expected to be applied in real-time air traffic control decision-making in the future.展开更多
Objectives: To describe and analyze HIV/AIDS/STD-related high risk behaviors and affecting factors of men who have sex with men (MSM) in China's Mainland~ Methods: 426 self-administered or interview-based question...Objectives: To describe and analyze HIV/AIDS/STD-related high risk behaviors and affecting factors of men who have sex with men (MSM) in China's Mainland~ Methods: 426 self-administered or interview-based questionnaires collected from MSM were analyzed with SPSS or SAS Systems. Results: Of the MSM, four-fifths had engaged in oral-genital intercourse, about half had engaged in anal intercourse, and in the past year more than two-fifths had casual sexual partner(s).Very few maintained monogamous sexual relationships, and nearly half also had intercourse with women. One fourth had previously been diagnosed with a venereal diseases. One HIV+individual was found among the 40 who reported having been tested for HIV. Only two men consistently used condoms among the one-third who had ever used condoms, despite almost universal knowledge of HIV and its transmission. Conclusions: MSM in China's Mainland are very sexually active, highlighting the possibility of a serious HIV epidemic that may be directly spread to the female population. However,AIDS interventions targeting MSM face severe obstructions resulting from cultural bias and other factors.展开更多
As it is impossible to assume complete rationality in a social dilemma situation, the assumption of bounded rationality is appropriate. Under the bounded rationality, it would be reasonable to assume that one behaves ...As it is impossible to assume complete rationality in a social dilemma situation, the assumption of bounded rationality is appropriate. Under the bounded rationality, it would be reasonable to assume that one behaves according to the heuristics principle. The group identity effect in a social dilemma situation might be very important in order to attain cooperation. The aim of this study was to clarify how to promote a cooperative behavior by avoiding a social dilemma situation. The group heuristics was taken into account, and it was explored how the group heuristics promotes a cooperative behavior in a social dilemma situation. As a result of a two-person game theory experiment, the group heuristics was found to play an important role in a social dilemma situation, and enhance a cooperative behavior. For the following three cases, the higher cooperation rate was attained at the latter half of the experiment: (a) mutual in-group condition, (b) one-way in-group condition, and (f) one-way unknown condition (in-group). In conclusion, the consciousness of in-group membership might help to promote actively mutual cooperation.展开更多
As the startup phase of HL-2A operation and the first divertor tokamak device in China, it is important to identify the species of impurity, estimate the concentration of impurities and compare the different behaviors...As the startup phase of HL-2A operation and the first divertor tokamak device in China, it is important to identify the species of impurity, estimate the concentration of impurities and compare the different behaviors of radiation in limiter and divertor configurationt. In startup phase of HL-2A, glowing discharge cleaning (GDC) is used as a conventional wall conditioning technology and titanium gettering is used occasionally in closed divertor chamber during SN configuration discharges phase.展开更多
The cumulative prospect theory(CPT) is applied to study travelers' route choice behavior in a degradable transport network. A cumulative prospect theory-based user equilibrium(CPT-UE) model considering stochastic ...The cumulative prospect theory(CPT) is applied to study travelers' route choice behavior in a degradable transport network. A cumulative prospect theory-based user equilibrium(CPT-UE) model considering stochastic perception error(SPE) within travelers' route choice decision process is developed. The SPE is conditionally dependent on the actual travel time distribution, which is different from the deterministic perception error used in the traditional logit-based stochastic user equilibrium. The CPT-UE model is formulated as a variational inequality problem and solved by a heuristic solution algorithm. Numerical examples are provided to illustrate the application of the proposed model and efficiency of the solution algorithm. The effects of SPE on the reference point determination, cumulative prospect value estimation, route choice decision and network performance evaluation are investigated.展开更多
Consideration of the travel time variation for rescue vehicles is significant in the field of emergency management research.Because of uncertain factors,such as the weather or OD(origin-destination)variations caused b...Consideration of the travel time variation for rescue vehicles is significant in the field of emergency management research.Because of uncertain factors,such as the weather or OD(origin-destination)variations caused by traffic accidents,travel time is a random variable.In emergency situations,it is particularly necessary to determine the optimal reliable route of rescue vehicles from the perspective of uncertainty.This paper first proposes an optimal reliable path finding(ORPF)model for rescue vehicles,which considers the uncertainties of travel time,and link correlations.On this basis,it investigates how to optimize rescue vehicle allocation to minimize rescue time,taking into account travel time reliability under uncertain conditions.Because of the non-additive property of the objective function,this paper adopts a heuristic algorithm based on the K-shortest path algorithm,and inequality techniques to tackle the proposed modified integer programming model.Finally,the numerical experiments are presented to verify the accuracy and effectiveness of the proposed model and algorithm.The results show that ignoring travel time reliability may lead to an over-or under-estimation of the effective travel time of rescue vehicles on a particular path,and thereby an incorrect allocation scheme.展开更多
In this paper, operation characteristic of condensate polishing system is studied during startup, based on generator blowdown limit, given limit ion concentration in condensate during condenser leakage. Further give c...In this paper, operation characteristic of condensate polishing system is studied during startup, based on generator blowdown limit, given limit ion concentration in condensate during condenser leakage. Further give conclusion about condensate polishing system configuration and operation requirement: full flow condensate polishing system (CPS) is necessary to the units cooled by sea water, and it is better that one or two series put in service during normal operation other than all of them in hot standby. While continuous condensate tube leakage is 256 L/h, the units cooled by fresh water will be shutdown immediately, for this level leakage, whichever condensate polishing system capacity is 50% (30%) or 100%, action level 2 will be preformed, so 50% (30%) is enough for fresh water cooled units.展开更多
The United States is unique in terms of health insurance, supplemented by commercial health insurance, supplemented by government medical care and medical assistance, and the United States has been criticized for bein...The United States is unique in terms of health insurance, supplemented by commercial health insurance, supplemented by government medical care and medical assistance, and the United States has been criticized for being the only developed country that has failed to achieve universal health insurance. Although the United States in the health insurance operation also encountered a variety of problems, but its health insurance operation mechanism in the commercial insurance model and legislation first, democratic participation and other experience, it is worth in China's medical insurance management in the modernization of learning to learn from.展开更多
Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level ...Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level and the mechanism level of conceptual design.The principle of computer coding and storing have been built to give a fast and broad selection of mechanisms that meets the requirements of basic motion characters.Then on the basis of mentioned above,the heuristic matching propagation principle (HMPP) of kinematic behaviors and its true table serves as a guide to perform mechanism types selection.Finally an application is given to indicate its practicability and effectiveness.展开更多
The task assignment problem of robots in a smart warehouse environment (TARSWE) based on cargo-to-person is investigated. Firstly, the sites of warehouse robots and the order picking tasks are given and the task ass...The task assignment problem of robots in a smart warehouse environment (TARSWE) based on cargo-to-person is investigated. Firstly, the sites of warehouse robots and the order picking tasks are given and the task assignment problem for picking one order is formulated into a mathematical model to minimize the total operation cost. Then a heuristic algorithm is designed to solve the task assignment problem for picking multiple orders. Finally, simulations are done by using the orders data of online bookstore A. The results show that using the heuristic algorithm of this paper to assign robots, the cost was reduced by 2% and it can effectively avoid far route and unbalanced workload of robots. The feasibility and validity of the model and algorithm are verified. The model and algorithm in this paper provide a theoretical basis to solve the TARSWE.展开更多
文摘Lot scheduling problem with idle time transfer between processes to minimize mean flow time is very important because to minimize mean flow time is to minimize work in process. But the problem is NP hard and no polynomial algorithm exists to guarantee optimal solution. Based the analysis the mathematical structure of the problem, the paper presents a new heuristic algorithm. Computer simulation shows that the proposed heuristic algorithm performs well in terms of both quality of solution and execution speed.
文摘Implementation of simultaneous execution phases in the concurrent engineering (CE) needs careful planning when the downstream phase could be activated as the upstream phase developed to a certain point. The determination of startup time of overlapping jobs in CE has long been a disturbance in manufacturing industry implementing CE programs. A novel model based on both fuzzy logic and neural network is proposed to mathematically formulate the inter-connective information between the two coupled phases in CE projects, and to determine the startup time of downstream phases in real time. The information transferring between the two coupled phases is quantified by using the negative Shannon entropy. Based on this algorithm, a PDM-based framework is proposed to narrow the gap between pro-duct design and manufacture, in which five modules are built to monitor, reshuffle and implement the simultaneous executing processes. Finally, an example is given to illustrate applications of the algorithm in the real world.
文摘The paper sheds light on the factors enabling sustainable development of Medicinal and Aromatic Plants (MAPs) of Albania; socio-economic, legal and regulatory aspects and institutional capacity related to the MAP sector in the country; sector dynamics, challenges and opportunities; and Albania's positioning in the world markets. Stewardship of MAPs natural base in the country remains a challenge as approximately 95% of the MAPs are collected from the wild. Albania continues to be the leader in Sage exports to the US market accounting for 49% of its market share. Statistical data and direct communication with MAP relevant stakeholders reveal that there is a great demand for the Albanian MAPs from the EU and US markets. However, as clearly indicated in this paper, increased competitiveness of this sector in the world markets should be preceded by sustainable management of the MAPs which can be achieved through (1) continuous training and education of the MAP value chain members prior to harvesting season, (2) organic production and (3) commercial cultivation of MAPs. This paper highlights that sustainable management and sector development require combined efforts of all sector stakeholders in an attempt of all respecting Mother Nature's generosity, and if harvesting as living forever.
基金Supported by the National Natural Science Foundation of China (No.50278036), the Natural Science Foundation of Guangdong Province (No.04105951) and the National High Technology Research and Development Program of China (No.2006AA06Z378).
文摘A novel anaerobic reactor, jet biogas inter-loop anaerobic fluidized bed (JBILAFB), was designed and constructed. The start-up and performance of the reactor was investigated in the Process. of .artificial glucose wastewater treatment. With the wastewater recycle ratio of 2.5 : 1, the recycled wastewater with biogas could mix sludge and wastewater in the JBILAFB reactor completely. The start-up of the JBILAFB reactor could be completed in less than 70 d through maintenance of hydraulic retention time (HR^I") and stepwise increase of feed total organic carbon (TOC) concentration. After the start-up, with the volumetric TOC loadings of 14.3 kg·m ^-3·d^-1, the TOC removal ratio, the effluent pH, and the volatile fatty acids (VFA)/alkalinity of the JBILAFB reactor were more than 80%, close to 7.0 and less than 0.4, respectively. Moreover, CH4 was produced at more than 70% of the theoretical value, The reactor exhibited high stability under the condition of high volumetric TOC loading. Sludge granules in the JBILAFB reactor were developed during the start-up and their sizes were enlarged with the stepwise increase of volumetric TOC loadings from 0.8 kg.m^-3.d ^-1 to 14.3 kg.m^-3.d^-1. Granules, an offwhite color and a similar spherical shape, were mainly comprised of global-like bacteria. These had good methanogenic activity and settleability, which were formed probably through adhesion of the bacteria. Some inorganic metal compounds such as Fe, Ca, Mg, Al, etc. were advantageous to the formation of the granules.
基金supported by the National Key R&D Project(No.2020YFB1600101)National Natural Science Foundations of China(Nos.U1833103,71801215)Civil Aviation Flight Wide Area Surveillance and Safety Control Technology Key Laboratory Open Fund(No.202008)。
文摘Most of the traditional taxi path planning studies assume that the aircraft is in uniform speed,and the optimization goal is the shortest taxi time.Although it is easy to solve,it does not consider the changes in the speed profile of the aircraft when turning,and the shortest taxi time does not necessarily bring the best taxi fuel consumption.In this paper,the number of turns is considered,and the improved A*algorithm is used to obtain the P static paths with the shortest sum of the straight-line distance and the turning distance of the aircraft as the feasible taxi paths.By balancing taxi time and fuel consumption,a set of Pareto optimal speed profiles are generated for each preselected path to predict the 4-D trajectory of the aircraft.Based on the 4-D trajectory prediction results,the conflict by the occupied time window in the taxiing area is detected.For the conflict aircraft,based on the priority comparison,the waiting or changing path is selected to solve the taxiing conflict.Finally,the conflict free aircraft taxiing path is generated and the area occupation time window on the path is updated.The experimental results show that the total taxi distance and turn time of the aircraft are reduced,and the fuel consumption is reduced.The proposed method has high practical application value and is expected to be applied in real-time air traffic control decision-making in the future.
文摘Objectives: To describe and analyze HIV/AIDS/STD-related high risk behaviors and affecting factors of men who have sex with men (MSM) in China's Mainland~ Methods: 426 self-administered or interview-based questionnaires collected from MSM were analyzed with SPSS or SAS Systems. Results: Of the MSM, four-fifths had engaged in oral-genital intercourse, about half had engaged in anal intercourse, and in the past year more than two-fifths had casual sexual partner(s).Very few maintained monogamous sexual relationships, and nearly half also had intercourse with women. One fourth had previously been diagnosed with a venereal diseases. One HIV+individual was found among the 40 who reported having been tested for HIV. Only two men consistently used condoms among the one-third who had ever used condoms, despite almost universal knowledge of HIV and its transmission. Conclusions: MSM in China's Mainland are very sexually active, highlighting the possibility of a serious HIV epidemic that may be directly spread to the female population. However,AIDS interventions targeting MSM face severe obstructions resulting from cultural bias and other factors.
文摘As it is impossible to assume complete rationality in a social dilemma situation, the assumption of bounded rationality is appropriate. Under the bounded rationality, it would be reasonable to assume that one behaves according to the heuristics principle. The group identity effect in a social dilemma situation might be very important in order to attain cooperation. The aim of this study was to clarify how to promote a cooperative behavior by avoiding a social dilemma situation. The group heuristics was taken into account, and it was explored how the group heuristics promotes a cooperative behavior in a social dilemma situation. As a result of a two-person game theory experiment, the group heuristics was found to play an important role in a social dilemma situation, and enhance a cooperative behavior. For the following three cases, the higher cooperation rate was attained at the latter half of the experiment: (a) mutual in-group condition, (b) one-way in-group condition, and (f) one-way unknown condition (in-group). In conclusion, the consciousness of in-group membership might help to promote actively mutual cooperation.
文摘As the startup phase of HL-2A operation and the first divertor tokamak device in China, it is important to identify the species of impurity, estimate the concentration of impurities and compare the different behaviors of radiation in limiter and divertor configurationt. In startup phase of HL-2A, glowing discharge cleaning (GDC) is used as a conventional wall conditioning technology and titanium gettering is used occasionally in closed divertor chamber during SN configuration discharges phase.
基金Project(2012CB725400)supported by the National Basic Research Program of ChinaProjects(71271023,71322102)supported by the National Science Foundation of ChinaProject(2015JBM053)supported by the Fundamental Research Funds for the Central Universities,China
文摘The cumulative prospect theory(CPT) is applied to study travelers' route choice behavior in a degradable transport network. A cumulative prospect theory-based user equilibrium(CPT-UE) model considering stochastic perception error(SPE) within travelers' route choice decision process is developed. The SPE is conditionally dependent on the actual travel time distribution, which is different from the deterministic perception error used in the traditional logit-based stochastic user equilibrium. The CPT-UE model is formulated as a variational inequality problem and solved by a heuristic solution algorithm. Numerical examples are provided to illustrate the application of the proposed model and efficiency of the solution algorithm. The effects of SPE on the reference point determination, cumulative prospect value estimation, route choice decision and network performance evaluation are investigated.
基金Projects(72071202,71671184)supported by the National Natural Science Foundation of ChinaProject(22YJCZH144)supported by Humanities and Social Sciences Youth Foundation,Ministry of Education of China+3 种基金Project(2022M712680)supported by Postdoctoral Research Foundation of ChinaProject(22KJB110027)supported by Natural Science Foundation of Colleges and Universities in Jiangsu Province,ChinaProject(D2019046)supported by Initiation Foundation of Xuzhou Medical University,ChinaProject(2021SJA1079)supported by General Project of Philosophy and Social Science Research in Jiangsu Universities,China。
文摘Consideration of the travel time variation for rescue vehicles is significant in the field of emergency management research.Because of uncertain factors,such as the weather or OD(origin-destination)variations caused by traffic accidents,travel time is a random variable.In emergency situations,it is particularly necessary to determine the optimal reliable route of rescue vehicles from the perspective of uncertainty.This paper first proposes an optimal reliable path finding(ORPF)model for rescue vehicles,which considers the uncertainties of travel time,and link correlations.On this basis,it investigates how to optimize rescue vehicle allocation to minimize rescue time,taking into account travel time reliability under uncertain conditions.Because of the non-additive property of the objective function,this paper adopts a heuristic algorithm based on the K-shortest path algorithm,and inequality techniques to tackle the proposed modified integer programming model.Finally,the numerical experiments are presented to verify the accuracy and effectiveness of the proposed model and algorithm.The results show that ignoring travel time reliability may lead to an over-or under-estimation of the effective travel time of rescue vehicles on a particular path,and thereby an incorrect allocation scheme.
文摘In this paper, operation characteristic of condensate polishing system is studied during startup, based on generator blowdown limit, given limit ion concentration in condensate during condenser leakage. Further give conclusion about condensate polishing system configuration and operation requirement: full flow condensate polishing system (CPS) is necessary to the units cooled by sea water, and it is better that one or two series put in service during normal operation other than all of them in hot standby. While continuous condensate tube leakage is 256 L/h, the units cooled by fresh water will be shutdown immediately, for this level leakage, whichever condensate polishing system capacity is 50% (30%) or 100%, action level 2 will be preformed, so 50% (30%) is enough for fresh water cooled units.
文摘The United States is unique in terms of health insurance, supplemented by commercial health insurance, supplemented by government medical care and medical assistance, and the United States has been criticized for being the only developed country that has failed to achieve universal health insurance. Although the United States in the health insurance operation also encountered a variety of problems, but its health insurance operation mechanism in the commercial insurance model and legislation first, democratic participation and other experience, it is worth in China's medical insurance management in the modernization of learning to learn from.
基金Sponsored by the Chinese National Foundation of Science Na 59875058.
文摘Firstly data standardization technology and combined classification method have been applied to carry out classification of kinematic behaviors and mechanisms in the mapping field between the kinematic behavior level and the mechanism level of conceptual design.The principle of computer coding and storing have been built to give a fast and broad selection of mechanisms that meets the requirements of basic motion characters.Then on the basis of mentioned above,the heuristic matching propagation principle (HMPP) of kinematic behaviors and its true table serves as a guide to perform mechanism types selection.Finally an application is given to indicate its practicability and effectiveness.
基金Project Supported: National Natural Science Foundation of China (11131009, 71540028, F012408), Funding Project for Academic Human Resources Development in Institutions of Higher Learning Under the Jurisdiction of Beijing Municipality (CIT&TCD20130327), and major research project of Beijing Wuzi University.
文摘The task assignment problem of robots in a smart warehouse environment (TARSWE) based on cargo-to-person is investigated. Firstly, the sites of warehouse robots and the order picking tasks are given and the task assignment problem for picking one order is formulated into a mathematical model to minimize the total operation cost. Then a heuristic algorithm is designed to solve the task assignment problem for picking multiple orders. Finally, simulations are done by using the orders data of online bookstore A. The results show that using the heuristic algorithm of this paper to assign robots, the cost was reduced by 2% and it can effectively avoid far route and unbalanced workload of robots. The feasibility and validity of the model and algorithm are verified. The model and algorithm in this paper provide a theoretical basis to solve the TARSWE.