该方法将原参数非定常欧拉方程组重新组合成以广义黎曼变量表示的欧拉方程组，再用二点二步迎风格式离散求解。

Euler equations of generalized Riemann variable are derived from unsteady primitive variable Euler equations and solved by using two - a point-two-step upwind finite difference method.

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最后，应用近似化方法和黎曼度量方法，研究了机器人最优轨迹规划的问题。

In the end, the problem of robot trajectory planning is investigated by the linearization method and Riemannian metric.

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利用柯西黎曼条件和偏微分方程理论，得到了一类非线性RH问题的求解方法，并通过实例表明该方法是可行的。

In this paper, we get a method to solve a non-linear RH problem by the Cauchy-Riemann conditions and the theories of partial differential equation.

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