基于RRT*算法的水下机器人全局路径规划方法

针对海洋环境的复杂性,考虑水下机器人能量的局限性,为减小洋流环境中作业全程水下机器人的能量消耗,以某水下机器人为研究对象,设计实现基于RRT*的路径最短和能耗最低的路径规划算法;并进行包括RRT*算法和RRT算法在复杂环境下的对比、不同洋流流速环境中水下机器人路径最短和能耗最低路径规划的仿真模拟。最后在水池中,利用实验室现有的水下机器人平台进行了真机实验。仿真测试和真机实验结果表明:所设计的基于RRT*的路径最短和能耗最低的路径规划算法可行有效。     

A method of minimum reusability estimation for automated software testing

Through reusing software test components, automated software testing generally costs less than manual software testing. There has been much research on how to develop the reusable test components, but few fall on how to estimate the reusability of test components for automated testing. The purpose of this paper is to present a method of minimum reusability estimation for automated testing based on the return on investment (ROI) model. Minimum reusability is a benchmark for the whole automated testing process. If the reusability in one test execution is less than the minimum reusability, some new strategies must be adopted in the next test execution to increase the reusability. Only by this way, we can reduce unnecessary costs and finally get a return on the investment of automated testing.     

公路建设类项目水土保持方案编制的技术要点

我国公路交通事业发展迅速,同时也带来了日益严重的环境问题。其中水土流失、生物多样性减少等公路建设过程的生态环境问题以及公路交通噪声、汽车废气、水质污染等环境质量问题已为人们日益关注。公路设计、建设中没有很好的实现工程措施与生态措施有机结合,致使建设区水土流失加剧、生态环境恶化,由此可见水土保持方案编制质量的重要性。本文就公路工程项目水土保持方案编制中的挖填平衡、坡面防护措施、设计成果精度等几个方面的技术要点和大家一同探讨。