Aiming at shipping movement and the time of collision avoidance in decision-making collision avoidance, a mathematical model was used for ship collision avoidance and to forecast the DCPA and TCPA.

针对船舶避碰决策系统中的船舶运动趋势和避碰时机建立数学模型，实时预估目标船相对于本船的最近会遇距离和最近会遇时间。

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Steel bars splitting control system includes the following parts: video capturing, target recognizing, on-time decision, and movement control.

分钢控制系统包括视频采集、识别处理、实时决策、运动控制几大部分。

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