The dual arm robot collision free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found.

在本算法中，双臂机器人无碰撞运动规划问题被归结为对从臂无碰撞状态数据库的搜索。

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It is introduced that the application of optimum process theory to flight trajectory optimization. In this paper, it has studied the method of dealing with changing parameter.

主要介绍了应用最优过程理论计算飞机最优飞行轨迹的数学模型和计算方法。

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So maneuver reentry trajectory design problem was transferred into the more complex optimum control problem with terminal constraints and inner state constraints.

这就增加了内点约束，从而使机动再入弹道设计问题成为具有内点约束和终端约束更复杂的最优控制问题。

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This time, the timing can't slip even by a few seconds, because then the SpaceX vehicle would end up in a less than optimum trajectory and lack essential fuel reserves to be able to catch up and dock with the space station.

WSJ: SpaceX's Pioneering Flight Plans