基于模糊决策理论建立了海底集矿车在预定路径上行走过程的避障规划算法，并根据海底障碍物的高度和大小对海底集矿车进行绕障和越障决策。
Setting-up local planning arithmetic for deep sea mining vehicle who walk in scheduled path based on fuzzy decision, and it will decide to across or get around barriers based on barriers' height.
本文简要阐述了滑坡灾害应急处理的一些基本问题，提出了不同发育阶段的工程防治滑坡和可避绕滑坡的应急对策。
In this paper, authors explain some basic problems to meet an urgent landslide treatment, and put forward the urgent countermeasures about different types of landslide in different growth stages.
前者采用经典TIPS方法，后者采用经腔静脉避绕法向门静脉分支穿刺。
Former were treated by classical TIPS methods, and others were punctured branch of portal vein via vena cava beside the mass.
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