Dual-manipulator Coordinate Motion Planning Scheme for Robot Satellite

A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main manipulator and assistant manipulator. Then, four kinds of coordination modes for dual-manipulator RS, namely,stablizing function, counterbalancing function, adjusting function and coorperative operation are presented. Motion planning algorithm for dual-manipulator is also presented.Finally, computer simulation results of the four kinds of coordination modes for a RS experimental model capturing target operation in micro-gravity environment are given.Simulation experiments show that the coordination modes and planning algorithm proposed in this paper are effective.

Motion Planning Algorithm and Simulation for Space Manipulators

The specificities of collision-free path planning of space manipulators are analyzed. Path planning strategies are presented in consideration of these specificities, and an implementation procedure is also described in detail according to these strategies.

一个基于动态模型的计划决策支持系统

将ＤＳＳ的理论和方法应用到铁路编组站调车作业系统中，构造一个用于决策的动态仿真模型，并根据调车作业中调车规则加以总结整理，抽取可用于作业计划制定和执行过程的决策规则，建立起具有数据库、规则库、模型库的作业计划决策支持系统（ＰｌａｎＤｅｃｉｓｉｏｎＳｕｐｐｏｒｔＳｙｓｔｅｍｓ，简称ＰＤＳＳ），为解决铁路运输生产中的决策问题，提供有效的帮助。

一类复杂规划问题的分层规划方法

分析了“计划编制”问题的特点，指出在ＡＩ中，此问题可归结为一类多施主（ｍｕｌｔｉ－ａｇｅｎｔ），并需对动作发生的时间、地点和动作的对象进行规划的复杂规划问题。据此，本文拓展了Ａｌｌｅｎ和Ｓ．Ａ，Ｖｅｒｅ的时间包（ｐａｃｋａｇｅ）和时间推理的某些概念，提出了时间窗口的概念及以此来求解“计划编制”问题的分层规划方法。最后给出了一个实际问题的解法。