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最后，文章利用动态规划法对油船货油装卸作业过程建立了时间-能量最优控制数学模型，用于指导货油装卸的整个过程。
At the last, using the developments programming, this article developed the best control of time-energy's numerical model, which is used to guide the whole process of cargo oil handling of tanker.
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