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40results about How to "Realize optimal scheduling" patented technology

Virtualized resource scheduling method and system

The invention discloses a virtualized resource scheduling method and a system. A request from an external management user is received, or a scheduling request is triggered according to a preset strategy; according to the resource requirement information of a virtual machine and a physical server in the current system, a virtualized resource scheduling scheme is calculated and obtained; according to physical server resource flowing information contained in the received resource scheduling scheme, the resource of the relevant physical server is scheduled; according to the volume information contained in the virtualized resource scheduling scheme, the resource channel of the volume is built with the corresponding physical server; and scheduling resource is obtained from a mapping physical server to provide scheduled virtual resource for an external business entity. According to the virtualized resource scheduling method and the system, the resource scheduling efficiency can be improved, and the resource can be optimally scheduled in the whole situation.
Owner:CHINA MOBILE COMM GRP CO LTD

Layered optimization method of regional distribution network comprising micro-grid

The invention relates to an optimization method in the field of power system automation, in particular to a layered optimization method of a regional distribution network comprising a micro-grid. The method includes the following steps: (1) building a micro-grid and distribution network combined dispatching model; (2) building an efficiency-maximizing secondary dispatching model of the micro-grid; (3) optimizing the two dispatching models. According to the method, the micro-grid is taken as a controllable unit capable of dispatching independently; through coordinated dispatching of a controllable distributed power supply on the distribution network side, the micro-grid and the distribution network and bi-layer dispatching control of economic dispatch of distributed energy resources inside the micro-grid, the distributed energy resources are used in a maximized manner internally, the regional distribution network power supply and loads are dispatched optimally externally, and acceptance capability of the distraction network to the distributed power supply can be effectively improved.
Owner:STATE GRID CORP OF CHINA +2

Control method and system for 10kV and lower distribution grid no power voltage optimized operation

The utility model discloses a control method for optimal operation of reactive power and voltage in distribution network below 10kV, which is characterized in that a distribution network reactive compensating comprehensive control device is arranged on the distribution network to collect the parameters such as voltage, current, active power and reactive power of all nodes in the distribution network and send the parameters to a main control server; at the same time, the main control server receives the parameters such as voltage, current, active power and reactive power of the transformers in the transformer substation transmitted by the reactive optimal server of regional power networks through an SCADA interface server, and conducts reactive voltage optimal calculation, switching the changer through up regulating the main transformer on-load tap changer of the transformer substation or down regulating the distribution network reactive compensating comprehensive control device. The utility model changes the voltage optimal control goal from ensuring a qualified 10kV bus voltage in the transformer station to ensuring a qualified voltage of final user terminals in the distribution network, realizes the optical control of combining distribution network reactive voltage and transmission network, and realizes reactive hierarchical spot balance in the real sense.
Owner:STATE GRID CORP OF CHINA +3

An SDN-based container network resource scheduling method

Aiming at the problem that resource segmentation and guarantee cannot be carried out according to requirements of a container network in the prior art, the invention provides an SDN-based container network resource scheduling method, which comprises the following steps of: 1, carrying out unified abstraction and description on network software and hardware resources based on an SDN / NFV technology;2, implementing resource allocation and recovery on the container network, integrating resources into a resource pool, establishing and managing a network address resource pool and a network equipment resource pool, providing network equipment resources as required, and recovering the network equipment resources in time when the network is destroyed; And step 3, based on the idea of SDN centralized control, deploying a centralized control server in the container network, and implementing network situation awareness and routing integration. The container network resource scheduling method integrates networking, routing and monitoring by intensively sensing the network situation and reasonably segmenting and recovering the container network resources in combination with the requirements oftasks, thereby realizing the optimal scheduling of the container network resources.
Owner:NAT UNIV OF DEFENSE TECH

Numerically controlled workshop automatic delivery vehicle scheduling method

ActiveCN103279857ADelivery route optimizationIncrease productivityLogisticsDelivery vehicleGenetic algorithm
A numerically controlled workshop automatic delivery vehicle scheduling method is characterized in that firstly, on the basis that constraint analysis and mathematical modeling are conducted on the vehicle scheduling problem in a numerically controlled workshop, an original matrix scanning method is adopted to distribute distribution tasks to vehicles, initial population of a subsequent genetic algorithm is obviously optimized, then, an optimal distribution sequence of a single vehicle is solved through the genetic algorithm, aiming at driving characteristics of distribution vehicles in the numerically controlled workshop, practical driving distances of the vehicles are calculated through an original coordinate addition-subtraction method with directions, optimal distribution time of the vehicles are obtained through a golden section method based on the prior fact, local convergence of the algorithm are avoided through an elitism retention strategy, and therefore an ideal vehicle scheduling optimizing scheme is obtained. According to the numerically controlled workshop automatic delivery vehicle scheduling method, the problem that an existing vehicle scheduling algorithm is low in efficiency due to specific distribution of user points and the special distribution process in the numerically controlled workshop is solved, and the algorithm is efficient and feasible.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

Intelligent building elevator dispatching platform system and working method thereof

The invention discloses an intelligent building elevator dispatching platform system. The system comprises a client, a cloud server, a communication gateway, a data collection terminal, a ZigBee coordinator, an intelligent gateway, a general control system and a control system of intelligent building elevator group control dispatching, wherein the client is connected with the cloud server througha wireless network, the data collection terminal is connected with the cloud server through the ZigBee coordinator and the intelligent gateway, the cloud server is used for monitoring and analyzing operation data of an elevator through big data analysis and cloud computing on the data uploaded by the intelligent gateway, and the cloud server establishes a communication connection with the intelligent building elevator group control dispatching general control system through the communication gateway. The intelligent building elevator group control dispatching general control system analyzes the optimal stopping time and running time and reasonably plans the elevator taking times, the optimized dispatching for the elevator is achieved through the control system, so that the energy consumption can be reduced, the higher-efficiency operation of the elevator can be achieved, and the safety and elevator taking experience feeling of people can be improved.
Owner:SUZHOU CHIEN SHIUNG INST OF TECH

Multi-energy resource ship micro-grid real-time energy optimal scheduling method

The invention aims to provide a multi-energy resource ship micro-grid real-time energy optimal scheduling method, which comprises the steps of S1, constructing an output power prediction model of a support vector machine ship solar power generation unit based on simulated annealing; S2, acquiring energy storage state of charge (SOC) in real time on the basis of predicting the photovoltaic real-time output power when a load is stable, dividing an operating mode of the system into a plurality of modes under two indexes MinSOCbat and MaxSCObat of energy storage, then establishing a system model and stable operation boundary conditions of each power generation unit, establishing a multi-objective function and a constraint condition function which take the system operation stability and maximum energy saving as an optimization objective, and realizing optimal distribution of the output power of different power generation units at the various different operating modes by adopting a genetic algorithm and a particle swarm algorithm; and S3, constructing a virtual inertia element following inertia properties of a diesel generator when the load suddenly changes.
Owner:JIMEI UNIV

Passenger guiding system and method for station of urban rail transit

The invention relates to a passenger guiding system and method for a station of urban rail transit. The system comprises a ticket card provided with an electronic label, a terminal station information obtaining device, a get-on reading device, an information transmission system, a data management center and a passenger flow guiding device; the terminal station information obtaining device is provided with a man-machine interaction panel which displays station information of the urban rail transit, terminal station information is obtained by input or selection by a passenger, the get-on reading device reads ticket card information of the passenger, and the terminal station information obtaining device, the get-on reading device and the passenger flow guiding device are connected with the data management center via the information transmission system. According to the system and method, passenger flow information of compartments of a train which is approaching can be counted effective and displayed, so that passengers in the platform can select proper waiting positions, the carrying capacities of the compartments matches the amount of waiting passengers reasonably, and the operation safety of the train is improved.
Owner:CISDI ENG CO LTD

Multi-satellite coordinated real-time tracking method for spatial dynamic target

The invention discloses a multi-satellite coordinated real-time tracking method for a spatial dynamic target. The method comprises the steps of firstly establishing a low earth orbit satellite and staring detector model, a tracking task model and a visible time window model; then introducing a rolling time domain concept when real-time tracking is performed on the spatial dynamic target, taking the forward-looking fixed time length T as the rolling time domain to obtain a tracking task of a ballistic missile in the rolling time domain, and establishing a single-layer to-be-tracked task set with the single rolling time domain as a reference, and splitting each to-be-tracked task into a plurality of atomic tasks in the rolling time domain by use of a reverse tree structure to obtain a set ofdetector resources corresponding to each atomic task; and finally, constructing a fitness function based on constraints and objective functions of resource scheduling, and then solving the optimal particle individual based on the fitness value of the particle individual through an evolutionary particle swarm optimization algorithm with crossover and mutation operations, and performing resource scheduling of the detector resources on the single-layer atomic task set according to the optimal particle individual.
Owner:CENT SOUTH UNIV +1

Auto-control water source layering water taking method and system based on three-dimensional algae ecology model

The invention provides an auto-control water source layering water taking method and system based on a three-dimensional algae ecology model. The method comprises the steps that 1, water quality, hydrology and meteorology data of a water intake in a water source water body are collected through a data collecting system; 2, the obtained water quality, hydrology and meteorology data are processed through a simulation forecasting system, the pollution load of rainfall runoff entering the water body is calculated in a simulating mode through a watershed hydrologic model, the algae distribution condition in the water source water body is predicted in a simulating mode through a water quality ecology model, and vertical distribution data of algae at the water intake are obtained; 3, the vertical distribution data of the algae at the water intake are analyzed by an automatic control system to determine a lowest algae concentration water layer at the water intake, and a water taking device is controlled to take water at the lowest algae concentration water layer. According to the method, it can be scientifically guaranteed that the algae concentration of the taken water is lowest within the range of the water intake, the phenomenon that water plant production even user health are threatened due to the problem of outbreak growth of the algae is effectively avoided, and the important significance on urban safety water supply is achieved.
Owner:SHENZHEN POLYTECHNIC

Equipment distribution method for detecting equipment network on basis of particle swarm algorithm

The invention relates to an equipment distribution method for a detecting equipment network on the basis of a particle swarm algorithm. The method comprises the following steps that 1, a monitoring task model among detecting equipment, a detecting target and a deterring time interval is built, detectable monitoring task sequences of equipment are generated, and in addition, simulation parameters are initialized; 2, the corresponding relationship between each particle and the detectable monitoring task sequences of the equipment is built, and in addition, the time interval of the detecting task is regulated according to elements of each particle; 3, the fitness function of each particle is calculated according to the mapping relationship between each particle and a monitoring task, and in addition, the local optimal solution and the global optimal solution of a particle swarm are updated; 4, whether the number of iterations reaches preset conditions or not is judged, if so, the monitoring task sequence corresponding to the global optimal particle is output, if not, the parameters of the particle swarm are updated, and the second to fourth steps are repeated until the conditions are met. The equipment distribution method has the advantages that the problem of task distribution when a plurality of pieces of detecting equipment are networked for monitoring a plurality of targets is effectively solved, and the optimization of the equipment work state of the detecting equipment network is realized.
Owner:NAT ASTRONOMICAL OBSERVATORIES CHINESE ACAD OF SCI

Unified information service system for intelligent logistics tray

The invention discloses a unified information service system for an intelligent logistics tray. The system comprises a plurality of intelligent trays, a vehicle-mounted tray coordinator, a third-partycloud server, a tray supply client-side, a freight supply client-side and a freight procurement client-side; each intelligent tray communicates with the vehicle-mounted tray coordinator, the vehicle-mounted tray coordinator is connected with the third-party cloud server, the third-party cloud server respectively communicates with the tray supply client-side, the freight supply client-side and thefreight procurement client-side; the vehicle-mounted tray coordinator serves as a rendezvous point to build a wireless sensor network together with the intelligent trays, and information is publishedto the third-party cloud server; MQTT + SSL / TLS is adopted to achieve the communication between the vehicle-mounted tray coordinator, the tray supply client-side, the freight supply client-side, thefreight procurement client-side and the third-party cloud server. The system solves the rent and recovery problems of the trays, improves the flexibility of freight handling, reduces the logistics cost, it is achieved that the trays can perceive freight information in real time, and the analysis and treatment of the information can be completed by the cloud server.
Owner:GUILIN UNIV OF ELECTRONIC TECH

Resource scheduling method and device, equipment and storage medium

The invention provides a resource scheduling method and device, equipment and a storage medium, and relates to the technical field of computers, in particular to the technical field of deep learning. According to the specific implementation scheme, the method comprises the steps of obtaining a GPU topological relation of a cluster according to GPU connection information of each computing node in the cluster; and under the condition that a task request which aims at a target task and is used for applying for GPU resources is received, determining a target computing node of the target task and a target GPU in the target computing node according to the task request and the GPU topological relation so as to complete GPU resource scheduling of the target task. According to the invention, resource scheduling can be optimized.
Owner:BEIJING BAIDU NETCOM SCI & TECH CO LTD

Method and device for adjusting intercepting reference signal band width

The invention discloses a method for adjusting intercepting reference signal band width. The method for adjusting the intercepting reference band width regulates SRS resources allocated to a UE by obtaining currently allocated total SRS resource quantity in a cell according to a utilization condition of the SRS resource. Thus, when the SRS resource utilization rate is high, the SRS resources allocated to the UE are properly reduced and services are available to more UEs. When the SRS resources are surplus, more SRS resources are allocated to the UE in the cell. The UE can properly get a better communication service. Thus, the method for adjusting the intercepting reference band width can allocate the SRS resources to the UE according to the SRS resource utilization rate and provides more intelligent services by taking demands of the cells and users into account. The SRS resources are reasonably allocated. The optimal scheduling of UE upstream frequency domain resources by an eNodeB is achieved and functions of downlink beam shaping and upstream out-of-step detection are ensured.
Owner:POTEVIO INFORMATION TECH

Method and system for optimizing dispatching based on RFID (Radio Frequency Identification Device)

The invention discloses a method and a system for optimizing dispatching based on RFID, belonging to the technical field of RFID radio frequency identification. In the dispatching optimizing method, the product of the distance d between a forklift and cargos and the rated load-lifting capacity w of the forklift is used as the reference of estimating the work cost f of the forklift, the task dispatching problem of the forklift is abstracted into an appointing problem of m forklifts and n tasks and the optimal dispatching scheme is realized by calculating the lowest total work cost of all forklifts. According to the method and system for optimizing dispatching, the optimization to the traditional forklift dispatching problem is realized, the RFID technique can be positioned more real-timely and precisely, the measurement standard of the calculation method is more scientific, the forklift dispatching in a factory is more systemized, the work efficiency of the forklift is improved and the work cost of the forklift is reduced.
Owner:HUAZHONG UNIV OF SCI & TECH

Virtualized resource scheduling method and system

The invention discloses a virtualized resource scheduling method and a system. A request from an external management user is received, or a scheduling request is triggered according to a preset strategy; according to the resource requirement information of a virtual machine and a physical server in the current system, a virtualized resource scheduling scheme is calculated and obtained; according to physical server resource flowing information contained in the received resource scheduling scheme, the resource of the relevant physical server is scheduled; according to the volume information contained in the virtualized resource scheduling scheme, the resource channel of the volume is built with the corresponding physical server; and scheduling resource is obtained from a mapping physical server to provide scheduled virtual resource for an external business entity. According to the virtualized resource scheduling method and the system, the resource scheduling efficiency can be improved, and the resource can be optimally scheduled in the whole situation.
Owner:CHINA MOBILE COMM GRP CO LTD

DSP-based low-power-consumption monitoring system and method of mining rescue capsule

InactiveCN104133456ARealize optimal schedulingRealize control optimization schedulingProgramme total factory controlVideo monitoringControl system
The invention discloses a DSP-based low-power-consumption monitoring system and method of a mining rescue capsule. The low-power-consumption monitoring system of the rescue capsule comprises a DSP core controller, a lighting system, a video monitoring system, a system for monitoring gas inside and outside the capsule, a power module, a touch display screen, a water circulating system and a refrigerating system. According to the method, information of the five systems in the rescue capsule are integrated through the same DSP core controller, and then necessary display and control functions are achieved on the touch display screen; ranking is performed according to the power supply priorities of the five control systems, while normal work of the monitoring system is guaranteed, the power supply function of a power supply is optimally configured, power consumption of the rescue capsule is reduced, and the running time is prolonged. Optimized scheduling of all the modules is achieved through a control system, the working states of all the systems are reasonably and optimally configured according to an electric quantity remaining module of the power module, the energy utilization rate of an energy shortage system is greatly increased, and the using power consumption is reduced while the whole monitoring system normally works.
Owner:CHINA UNIV OF MINING & TECH

Big data theory-based internet + smart power marketing optimization scheduling method

The invention relates to a big data theory-based Internet + smart power marketing optimization scheduling method, which comprises the steps of establishing an Internet + smart power marketing energy supply equipment model, and determining constraint conditions of the energy supply equipment model; analyzing optimization objectives of internal power enterprises and power customers according to thestructure of Internet + smart power marketing; and establishing a parallel big data model of Internet + smart power marketing, and performing optimal scheduling on the Internet + smart power marketing. According to the method, the optimal scheduling of the Internet and the smart power marketing is realized, the problem that multiple optimization bodies cannot be optimized respectively in the conventional optimal scheduling is effectively solved, the aims of minimizing the energy consumption cost of power customers and maximizing the energy supply income of power enterprises are fulfilled, andthe method is ingenious and has a good application prospect.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +2

Traffic optimization scheduling system and method based on smart city

The invention discloses a traffic optimization scheduling system and method based on a smart city. The system comprises a central processing unit, a database, a departure interval time recording module, a bus passenger flow statistics module, a data calling module, a vehicle configuration rationality analysis module, a vehicle configuration optimization module, a bus stop positioning module, and areal-time display terminal. The reasonability of the departure time interval and the difference between the uplink passenger flow volume and the downlink passenger flow volume in the peak period of the bus route are analyzed by calling the departure interval time record and the passenger flow volume statistical record of the bus route, the departure time of the bus route is adjusted and optimizedaccording to the analysis result, and the buses in the uplink route and the downlink route are configured. so the travel requirements of passengers are met to the greatest extent, the punctuality ofbus taking is ensured, and the overall benefit and the service quality of a public transport system are improved.
Owner:俞涛

Photon grid middleware and its control based on optical network resource allocation on demand

This invention discloses photon grid middleware which is based on optical network demand allocation and its resource control method. In the middleware, grid service terminal send the resource application to photon grid middleware; G4 application resource management carries on grid-oriented 's resource control and application resource scheduling; middleware packages optical network resource object, according to application resource attribute drive the network resource operation; optical network resource dispatcher uses optical resource scheduling interface to operate grid service-oriented optical resource scheduling, it realizes optical resource's inquiry and scheduling for the grid application and provides the control optical channel for top service; optical network resource supervisor carries on grid-oriented optical resource list management; optical control layer provides the establishment of the signaling mechanism, based on routing algorithm choose the suitable routing, and realize the optical access control through GUNI. This invention can realize dynamic bandwidth allocation of grid application data transmission based on the grid service's driving to optical network.
Owner:BEIJING UNIV OF POSTS & TELECOMM

Reliability evaluation and optimization method for multi-source complementary urban heat supply network

The invention discloses a reliability evaluation and optimization method for a multi-source complementary urban heat supply network, which is used for evaluating and optimizing a recovery strategy after a failure of a heat supply network element. To quantify the reliability, it is understood as an attribute of the heat supply network that allows it to recover from an underheat state (component failure) to a normal operating condition at a standard level, a set of evaluation metrics is defined. Multi-dimensional reliability metrics are considered, including response time elements, element failure rates, recovery elasticity, and the like. Firstly, a heat supply network model is established according to structure parameters of a heat supply network; thermal hydraulic calculation is carried out on the urban heat supply network; a reliability index is provided according to the topological structure of the network and the reliability information of each element; a weight function under a given time scale is calculated on the basis of time sequence Monte Carlo, a recovery elasticity index of the multi-heat-source urban heat supply network is defined, and finally a heat supply network multi-target reliability optimization algorithm is established according to reliability, recovery elasticity and recovery cost for guiding and realizing heat supply network optimization scheduling under amulti-energy complementary background.
Owner:ZHEJIANG UNIV

Energy management system and method suitable for grid-connected energy storage system

The invention discloses an energy management system and method suitable for a grid-connected energy storage system. The energy management system can realize the smooth new energy output, peak shavingand valley filling, output plan tracking and the like of the energy storage system through the stored energy charge-discharge power dispatching and the state of charge management. The grid-connected energy management system has a peak shaving and valley filling mode, a stable control mode, a planning mode and a manual mode according to different application scenarios, introduces fuzzy control method to its core energy management algorithm based on traditional energy storage management, corrects the real-time power of the stored energy according to the remaining capacity and the status of an energy storage battery so as to prevent overcharge and overdischarge.
Owner:TBEA XIAN ELECTRIC TECH +2

A real-time tracking method for space dynamic target with multi-satellite coordination

ActiveCN110412869BRealize optimal schedulingSimplified correspondenceAdaptive controlTime domainSimulation
The invention discloses a multi-satellite coordinated real-time tracking method for a spatial dynamic target. The method comprises the steps of firstly establishing a low earth orbit satellite and staring detector model, a tracking task model and a visible time window model; then introducing a rolling time domain concept when real-time tracking is performed on the spatial dynamic target, taking the forward-looking fixed time length T as the rolling time domain to obtain a tracking task of a ballistic missile in the rolling time domain, and establishing a single-layer to-be-tracked task set with the single rolling time domain as a reference, and splitting each to-be-tracked task into a plurality of atomic tasks in the rolling time domain by use of a reverse tree structure to obtain a set ofdetector resources corresponding to each atomic task; and finally, constructing a fitness function based on constraints and objective functions of resource scheduling, and then solving the optimal particle individual based on the fitness value of the particle individual through an evolutionary particle swarm optimization algorithm with crossover and mutation operations, and performing resource scheduling of the detector resources on the single-layer atomic task set according to the optimal particle individual.
Owner:CENT SOUTH UNIV +1

Method and system for equipment self-organization strategy optimization adapted to steel structure construction characteristics

The invention discloses an equipment self-organization strategy optimization method and system adapting to the characteristics of steel structure construction. The method includes: obtaining a steel structure building construction flow chart paper, generating a steel structure part model according to the steel structure building construction flow chart, and based on the obtained The steel structure part model is added with the steel structure part demand description information; the basic information of the equipment is obtained, and the steel structure part demand description information is matched with the basic equipment information, and an equipment self-organizing group is established based on the matching result; based on the equipment The self-organizing group establishes an integrated coordination platform, and coordinates, optimizes and manages the equipment at each stage according to the integrated coordination platform. This method can realize the optimal scheduling and management of equipment according to the construction requirements of steel structure buildings.
Owner:HANGXIAO STEEL STRUCTURE

A system and method for guiding passengers in an urban rail transit station

The invention relates to a passenger guiding system and method for a station of urban rail transit. The system comprises a ticket card provided with an electronic label, a terminal station information obtaining device, a get-on reading device, an information transmission system, a data management center and a passenger flow guiding device; the terminal station information obtaining device is provided with a man-machine interaction panel which displays station information of the urban rail transit, terminal station information is obtained by input or selection by a passenger, the get-on reading device reads ticket card information of the passenger, and the terminal station information obtaining device, the get-on reading device and the passenger flow guiding device are connected with the data management center via the information transmission system. According to the system and method, passenger flow information of compartments of a train which is approaching can be counted effective and displayed, so that passengers in the platform can select proper waiting positions, the carrying capacities of the compartments matches the amount of waiting passengers reasonably, and the operation safety of the train is improved.
Owner:CISDI ENG CO LTD

Scheduling method for automatic distribution vehicles in CNC workshop

A numerically controlled workshop automatic delivery vehicle scheduling method is characterized in that firstly, on the basis that constraint analysis and mathematical modeling are conducted on the vehicle scheduling problem in a numerically controlled workshop, an original matrix scanning method is adopted to distribute distribution tasks to vehicles, initial population of a subsequent genetic algorithm is obviously optimized, then, an optimal distribution sequence of a single vehicle is solved through the genetic algorithm, aiming at driving characteristics of distribution vehicles in the numerically controlled workshop, practical driving distances of the vehicles are calculated through an original coordinate addition-subtraction method with directions, optimal distribution time of the vehicles are obtained through a golden section method based on the prior fact, local convergence of the algorithm are avoided through an elitism retention strategy, and therefore an ideal vehicle scheduling optimizing scheme is obtained. According to the numerically controlled workshop automatic delivery vehicle scheduling method, the problem that an existing vehicle scheduling algorithm is low in efficiency due to specific distribution of user points and the special distribution process in the numerically controlled workshop is solved, and the algorithm is efficient and feasible.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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