MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

Many applications above the capability of a single robot need the cooperation of multipl emobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator“ strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.     

质量技术系统的建模与运行机制研究

为解决复杂的系统级质量问题,本文将宏观质量管理工作和产品研制生产系统相结合,提出支撑企业质量师系统的质量技术系统,从系统论的角度研究产品质量形成过程、质量检测过程以及质量监督管理过程之间的关系,进而提出质量技术系统的概念、范畴和内涵,研究了质量技术系统的各个职能的运行机制,以及各个职能之间的协同运行机制。     

科技发展软环境制约因素分析及对策研究

软环境对科技创新与发展具有重大影响；剖析科技发展软环境制约因素，主要包括思想观念因素、管理体制与运行机制因素、人力资源因素、法治建设因素、配套服务因素和社会道德与诚信因素等。未来廊坊市的科技发展应着重开发人力资源，在不断创新服务的同时，注重配套服务质量与经济效益的提高。