2012 ୍ ֻ21ज ֻ 4 ௹ ࠹ ෘ ࠏ ༢ ႋ Ⴈ æࠎႿᄉᇅᄯଆൔ֥ਬࡱ९༢ ઍᆞ (ᆄࡾתٚᆯြඌ࿐ჽđ໑ᇜ 325011) ᅋ ေğႿᇏཬఒြၛӵքࡹ৫ਬࡱ९֥ٮႨđҐႨᄉᇅᄯଆൔषؿਔਬࡱ९༢bӂඍਔᄉᇅᄯଆൔ༯ਬࡱ९֥ᄎႏଆൔđૼಒਔ༢֥ۿିbᇅᄯᄉࡏܒЇݣ؟ҪđҐႨForceඔऌଆބਆᇕඔऌۯٚൔܒࡹඔऌ९đ๙ݖڛༀఖࠢಕބඔऌ९Լᆰ్ٳൌགྷ༢ঔᅚb๙ݖX3Dᄝཌཁൕਬ҆ࡱđEAIٚൔൌགྷࢌĠၛਬࡱٳোaѓదaЧุᆀࢲކٚൔܵ؟Ⴈ֥ਬࡱሧჷbቋުषؿਔູCMoPL֥ჰྙ༢đ๙ݖൌ࠽൫ႨؿགྷđਬࡱҰᅳٚьaႨุဒਅݺb༢ॖၛϺᇹᇏཬఒြ࿆Ԯބཧ൲ਬࡱđႵ৯֥ࢆ֮ఒြྐ༏߄ࡹഡ֥ࡪb ܱՍğᄉᇅᄯĠਬࡱ९ĠX3D Part Library System Based on Cloud Manufacturing LUO Zheng-Mao (Zhejiang Dongfang College, Wenzhou 325011, China) Abstract: Thinking about small and medium enterprises cannot afford the fee of establishing parts library, developed parts library system taking cloud manufacturing mode. Describe the business mode of parts library in the mode of cloud manufacturing, determine functions of the system. The architecture Cloud manufacturing includes several layers, taking Force data mode and two ways of separating data to create database, through server assemble and data separate vertically to realize system extend. X3D was used to display parts and EAI to interact dynamic; Class, tags and ontology to organize parts. Developed a system named CMoPL, through using practically finding the system is easy to search parts and friendly interface. The system can help enterprises to advertise and sell parts; can reduce the difficulties of enterprise information. Key words: cloud manufacturing; parts library; X3D 1 ႄ ؿਔ૫ཟ؟Ⴈ֥ਬࡱ९༢bᇏཬఒြ๙ݖሿႨ༢[1,2]ෛሢྍӁഡ࠹ᇅᄯඌ֥҂؎ؿᅚđਬࡱ֥ॢࡗܵބ࿆Ԯਬ҆ࡱđᆃဢॖၛࢫസޓ؟ٮႨbഡ࠹൝Ӕሢѓሙ߄a༢ਙ߄֥ٚཟؿᅚbϴෛሢᇅਬࡱ९ؓႿᇏཬఒြ࿆Ԯaཧ൲ఃӁႵޓնϺቆđᄯఒြٳ۽֥҂؎༥߄đఒြ෮ླ֥ਬ҆ࡱࡼႮਬࡱॖၛཁᇷิۚఒြྐ༏߄ඣb ܂ႋഅิ܂bਬࡱ९ॖఒြ๙ݖ৳ຩҰुބ༯ᄛ ෮ླ֥ਬ҆ࡱđิۚఒြ֥ഡ࠹aᇅᄯaളӁི֥ੱĠ2 ᄉᇅᄯଆൔ༯֥ਬࡱ९༢ ൈđਬࡱ܂ႋഅ္ॖ๙ݖਬࡱ९࿆Ԯބཧሱ֥࠭ᄉᇅᄯ൞၂ᇕ๙ݖൌགྷᇅᄯሧჷބᇅᄯି৯֥ੀ[1]Ӂbᇏཬఒြൌ৯Ⴕཋđޓӵքࡹਬࡱ९֥ೈ႗๙đղ֞նܿଆ൬ၭaٳሧჷ܋ཚაླྀ֥ᇅᄯ[2]ࡱٮႨbᄉᇅᄯଆൔູᇏཬఒြྐ༏߄ࡹഡิ܂ਔྍྍଆൔbᇅᄯᄉ൞ᄉᇅᄯ༢ࡏܒ֥ނྏđ൞նਈ֥ԛਫ਼bЧ໓ҐႨᄉᇅᄯଆൔđᄝᇅᄯᄉ֥ࠎԤഈष ֥ᄉڛༀοᅶ၂ק֥ܿᄵऊކᄝ၂ఏ෮ྙӮ֥ᄉ æ ࠎࣁཛଢ:ᆄࡾസྍൗࡀۚ֩࢝ტ࢝࿐ڿ۪ཛଢ(yb06142) ൬۠ൈࡗ:2011-08-04;൬֞ྩڿ۠ൈࡗ:2011-09-26 System Construction ༢ࡹഡ 41
࠹ ෘ ࠏ ༢ ႋ Ⴈ 2012 ୍ ֻ21ज ֻ 4 ௹ ڛༀᇏྏđିૼֹູႨิ܂ॖौ֥a৷ࡎ֥aο ᄉᇅᄯଆൔ༯֥ਬࡱ९༢ۿି ླႨ֥Ӂಆളଁᇛ௹ႋႨڛༀb ਬࡱ९༢൞ᄝᇅᄯᄉࠎԤഈࡹ৫֥bЧ໓෮ં ᄉᇅᄯଆൔ༯֥ਬࡱ९༢ᄎႏଆൔ ֥ࠣᇅᄯᄉЇও٤ӈپڶ֥ۿିđ҂ି၂၂ྻඍđᆺᄝᄉᇅᄯଆൔ༯đਬࡱ९҂ᄜႮն܄ඳࡹ৫đطࡼაਬࡱ९༢ཌྷܱ֥҆ٳࣉྛӂඍđॖٳູਆ۱҆൞Ⴎᄎႏഅࡹ৫đᇶေڛༀؓའ൞ᇏཬఒြbᄎႏഅٳđٳљູğ1Ďᇅᄯᄉॿࡏ֥ձࡹđ2ĎᄝՎᇅᄯᄉࡹ৫ਬࡱ९đ҂ิ܂ਬ҆ࡱሧჷĠᇏཬఒြሿႨᄎᆭഈ֥ਬࡱ९༢b ႏഅิ܂֥ਬࡱ९đ൞ਬ҆ࡱሧჷ֥ิ܂ᆀđࠧğ܂აԮਬࡱ९ཌྷбࢠđࡹ৫ᄉᇅᄯଆൔ༯֥ਬࡱႋഅđ֒ಖ္ॖၛ൞ႨᆀĠҐܓഅ๙ݖ༢Ұुਬ९߶მ֞ྍ֥໙ีbᄉᇅᄯଆൔ༯֥ਬࡱ९༢൞ູ҆ࡱѩרܓbᄝՎଆൔ༯đᇏཬఒြॖၛႵིࢆ֮ࡹඔਈᇙ؟֥ᇏཬఒြڛༀ֥đ߶ԛགྷೂ༯໙ีğ1Ď۲৫ਬࡱ९֥ࡪࠣڄགđႵིࢳथᇏཬఒြ৯ࡹ৫ᇏཬఒြิ܂֥ਬ҆ࡱଁܿᄵaٳোѓሙ҂၂ᇁĠ2Ďਬࡱ९֥b ਬ҆ࡱࡹଆ۽ऎ҂၂ᇁđ֝ᇁਬ҆ࡱ۬ൔᇕোَ؟Ġ3Ď ෛሢႨඔਈ֥҂؎ᄹ؟طջট֥٠໙৯ᄹն໙ ีđླေऎႵঔᅚྟĠ4Ď؟ࡅఒြ܋ཚ၂ ࠣඔऌ९đඔऌνಆ٤ӈᇗေbᆌؓഈඍ໙ีđЧ໓ ิ܂ਔѓదࠣЧุট၂ਬ҆ࡱ֥ଁࠣٳোđ๙ݖ ඔऌ۬ൔሇ߄ൌགྷඔऌ۬ൔ֥၂đҐႨڛༀఖࠢಕ ބඔऌ९Լᆰ్ٳඌൌགྷঔᅚđҐႨਆᇕඔऌ ۯٚൔЌᆣඔऌνಆb 1 ᄉᇅᄯଆൔ 2 ༢ࡏܒ ਬࡱ९ြༀੀӱೂ2෮ൕđᇶေЇও۽ӱഽ ؟Ҫࡏܒ Ґܓഅa܂ႋഅaႏᄎഅඹᇕ࢘b۽ӱഽ๙ݖෆ෬Ч໓൞ᄝᇅᄯᄉࠎԤഈൌགྷਬࡱ९༢֥đھਬႄౣᄝਬࡱ९ᇏླေކൡ֥ਬ҆ࡱଆđಖު༯ᄛھࡱ९༢ҐႨ؟Ҫࡏܒൌགྷđೂ3෮ൕbቋָҪ൞ਬ҆ࡱଆѩࡆೆ֞ሱ֥࠭ഡ࠹ᇏđၛࡨഒഡ࠹ൈࡗđሧჷҪđھҪ֥ሧჷᇶေ൞Ⴎ܂ႋഅิ܂ĠቋפҪ൞ᄝളӁࢨ؍߶ཟҐܓഅิԛרܓ౨Ġ܂ႋഅሱദྐࢸ૫Ҫđᇶေ൞ູҐܓഅิ܂ྐ༏ൻೆൻԛࢸ૫Ġᇏ༏ࣼܒӮਔ“܂ႋഅྐ༏”९đิ܂֥ਬ҆ࡱሧჷࣼቆࡗ҆ٳ൞ᇅᄯᄉđھҪႮᄎႏഅڵᄳܵބົbᇅӮਔ“ਬࡱ९”đაҐܓഅᆭࡗ֥רֆࣼ൞ਔ“רֆ”९ĠᄯᄉႻٳູҪđٳљ൞આࠠҪaڛༀҪaඔऌҪbҐܓഅ۴ऌ۽ӱഽ֥౨ࣉྛҐܓĠᄎႏഅؓᆜ۱ਬᇏࡗҪߎЇݣ၂۱бࢠ৫֥҆ٳđࠧğᄎႏڛༀđࡱ९ࣉྛܵބົb ᇶေႨটؓᆜ۱ᇅᄯᄉࠣਬࡱ९༢ࣉྛܵބࡓ॥ ֥bᇅᄯᄉิ܂֥ۿିپڶđم၂၂ӂඍđھࡏܒ ᆺࡼЧ໓ਬࡱ९༢෮ട֥ࠣ҆ٳіൕԛটđఃჅ ҆ٳസb ༢ඔऌ९ [5] Ч໓ҐႨForceඔऌଆđೂ4෮ൕbႮႿ ሧჷᇕোَ؟đطᄍྸႨקᇅڛༀđ෮ླඔऌ сྶऎႵྟaঔᅚྟbႨ၂༢ਙჭඔऌa ඔऌіބᇠіđᄝླေൈҌֹളӮႨඔऌb ᄝ1ᇏđؓའჭඔऌіႨটթԥႨקᇅؓའ ྐ༏đЇওؓའѓ്ObjIDaؓའӫObjName֩b ሳ؍ჭඔऌႨটթԥקᇅሳ؍čܱ༢ඔऌіᇏ֥ਙࠇ2 ਬࡱ९ြༀੀӱ උྟĎđЇওື၂ѓ്FieldIDa෮උؓའѓ്ObjID42༢ ࡹഡ System Construction
2012 ୍ ֻ21ज ֻ 4 ௹ ࠹ ෘ ࠏ ༢ ႋ Ⴈ ֩bඔऌіթԥࢲܒ߄ބ٤ࢲܒ߄ඔऌđႨॖၛᆰ܂ႋഅđቋު໊൞ਬࡱؿ҃ఒြ֥ሱщݼbႨᄝࢤ٠໙đᆃུඔऌ๙ݖObjectsބFields႘ഝ֞෮Ⴕ֥ਬࡱ९ᇏෆ෬ކൡ֥ਬࡱđಖު๙ݖPartListіᇏ֥קᇅؓའ֥ሳ؍ഈbห൹ᇠіᇏ֥IndexesЇও఼োPartsNameሳ؍ট෬ႄਬࡱଆđൈ๙ݖPartListі֥෬ႄਙđႨটק໊ཌྷႋඔऌোሳ؍֥ඔऌĠᇏ֥PartsFatherID෬ႄਬࡱ܂ႋഅbਬࡱଁܿᄵaUniqueFieldsᇠіᄍྸᆷקؓའ֥ଖਙ൞ڎऎႵື၂PartListіބProviderListі֥ܱ༢ೂ5෮ൕb ྟĠRelationshipsᄍྸᄝႋႨؓའᆭࡗലૼҕᅶປᆜ ྟჿඏܱ༢ĠNameDenormіႨႿթԥૄ۱ؓའൌ২ ֥ObjIDބNameᆴđॖၛ๙ݖ၂۱ࡥֆ֥Ұ࿘ࣼି ࠆ౼ૄ۱ФႄႨ֥ؓའൌ২֥Nameᆴb 5 ਬࡱଁܿᄵࠣඔऌіܱ৳ ਬࡱົଆᄝཌཁൕ ඔऌ۬ൔሇߐ 3 ਬࡱ९༢ࡏܒ ႨႨົࡹଆೈࡱࡹ৫ਬ҆ࡱଆđ၂Ϯ ົೈࡱᆺൻԛVRML໓ࡱđ൞VRML໓ࡱնđ҂ ьႿຩԮൻđླေࡼVRML໓ࡱሇ߄ӮX3D໓ࡱ Ҍିൌགྷᄝ৳ຩॹ֥ࢌbЧ໓ҐႨNIST čNational Institute of Standards and TechnologyĎ֥ष [4]ؿЇቔູނྏଆॶđটԩ Ⴈົࡹଆೈࡱൻԛ֥.wrl໓ࡱb VRML97ToX3D൞၂۱৫ೈࡱЇđᄝႨھೈ ࡱЇൈᆺླေοᅶေщཿ၂۱ԩ໓ࡱđটטႨ ૫֥Їbऎุ֥ჷೂ༯ğ @ /ԩ໓ࡱ @echo/षሇ߄ call model/ model/ /טႨ 4 ඔऌ९ഡ࠹ echo /ሇ߄ၘࣜປӮ /ԩ໓ࡱ set CLASSPATH= /ഡᇂਫ਼ࣥ 3 ਬࡱ९༢ java %1%2 /षؿሇ߄ ਬࡱଁܿᄵࠣඔऌіܱ৳ ਬࡱ໓ࡱ܋Їݣ15໊ඔሳđఃᇏభ7໊ඔሳؓ ਬ҆ࡱົଆཁൕࠣࢌ ູ۷ݺ֥ᅚൕਬࡱđ༢ҐႨॖঔᅚѓ࠺ეႋਬࡱ֥ࠩљđၛՎѓૼਬࡱᇕোĠ8-12ѓૼھਬࡱ System Construction ༢ࡹഡ 43
࠹ ෘ ࠏ ༢ ႋ Ⴈ 2012 ୍ ֻ21ज ֻ 4 ௹ ——X3DčeXtensible 3Dđॖঔᅚ3DĎൌགྷਬࡱົࢠඵϰđ҂ିෛሢਬࡱ֥҂؎ᄹ؟ބႨྖ౿֥ׄሇଆᅚൕࠣࢌđႨॖ๙ݖᛍফఖؓਬࡱࣉྛ၍طڿэb ࿈ሇބ෪٢bX3D൞Web3D৳ૐԛ֥ྍ၂սຩѓదႻӫնᇙٳোمđᆷҐႨၩሱႮՍؓྐ༏[6][8]3Dეѓሙđၛݓ࠽ѓሙVRML97ູࠎԤđࢲކሧჷࣉྛѓᇿطྙӮ֥ٳোՍіb܂ႋഅᄝเࡆਬਔXMLđJavaބੀඌđऎႵٚь֥ঔᅚۿିb ࡱൈॖၛൻೆ၂۱ࠇ؟۱іᆘھਬࡱหᆘ֥ѓదđೂğX3D໓ࡱᇏ֥ࠎЧࢫׄčNodeĎ൞ႮთčFieldĎ45#ۑaྊa34ჭbҐܓഅॖၛ๙ݖ၂۱ࠇ؟۱ѓބ൙ࡱčEventĎቆӮ֥đთЌթඔऌđ൙ࡱൌགྷაຓద෬ླေ֥ਬࡱbູЌᆣѓద֥ႵྟބႵིྟđࢸ֥ࢌbX3DႵ؟ᇕࢌٚൔđႵࣇཋႿX3D۲ࢫ༢࠺ૄՑෆ෬֥ൻೆཛaൻԛཛđࡼᆃུෆ෬౦ׄࡗ֥ଽ҆ࢌٚൔđߎႵEAIčExternal Authoring ঃࣉྛ࠹aஆđࡼႨՑඔ؟֥ѓదࡩ۳܂ႋInterfaceđຓ҆щӱࢤ१ĎބSAIčScript Authoring അބҐܓഅbᄝ܂ႋഅเࡆѓదൈđࡩఃႨஆInterfaceđЧщӱࢤ१Ďਆᇕຓ҆ࢌٚൔđЧ໓Ґौభ֥ѓదĠؓႿҐܓഅđࡹၰҐႨႨՑඔ؟֥ѓႨEAIٚൔൌགྷࢌb దࣉྛ෬bᄝෆ෬Ցඔղ֞၂קඔਈࠩުđѓద֥[7]EAI൞X3Dิ܂֥ຓ҆щӱࢤ१đ൞აX3Dᛍஆࣼᇯࡶ໗ק༯টb ফఖҬࡱཌྷ৳༢֥JavaЇđEAIЇݣႿຓ҆HTML်ҐႨაܵѓదোර֥ٚمܵЧุ९bؓႿ ૫ᇏ֥JavaApplet๙ྐ֥ࢤ१đ০Ⴈ၂༢ਙJavaোট ൌགྷؓX3Dࢌb ࡼX3DބJava AppletᇂႿ၂۱ຩ်ᇏđJava AppletࡼႨ֥ࢌྐ༏Ԯ־۳X3DӆࣟđX3Dቔԛ ཌྷႋّঌቔbႋႨEAIٚൔൌགྷࢌݖӱೂ 6෮ൕđࠎЧٚمೂ༯ğ ๙ݖGetBrowserčĎٚمࠆ֤Browserྐ༏đࠧğ Ⴈ֥ࢌྐ༏đؓBrowserؓའႨGetNode čĎٚمࠆ֤ࢫׄྐ༏Ġᄝࢫׄಒקުđࠧॖ๙ݖ GetEventInčĎཟࢫ֥ׄEventInთؿԛᆷđႨ GetEventOutčĎՖࢫ֥ׄEventOutთࠆ౼ّঌྐ༏đ ࠧൌགྷࢌb 6 EAIࢌݖӱ ਬࡱቆᆮაܵ Ч໓ҐႨਬ҆ࡱٳোaѓదaЧุཌྷࢲކٚൔট ࣉྛਬ҆ࡱ֥ቆᆮაܵđਬ҆ࡱሧჷႵ߄b ਬࡱٳোࢲܒ܋Ⴕູ5۱ࠩљbᆃ5۱ࠩљ൞ᄝ षؿਬࡱ९ൈಒק֥đ൞ଖࠩљ༯֥ሰࠩљ۱ඔ߶ ෛሢྍਬࡱ֥҂؎ԛགྷطෛᆭᄹࡆbਬࡱ܂ႋഅᄝเ ࡆਬࡱൈđླေ࿊ᄴਬࡱ෮උᇕোbᆃᇕٳোٚمб7 ਬࡱ९ᄎྛࢸ૫ 44༢ ࡹഡ System Construction
2012 ୍ ֻ21ज ֻ 4 ௹ ࠹ ෘ ࠏ ༢ ႋ Ⴈ ၂۱ਬࡱđ҂܂ႋഅॖି۳ԛ҂֥ӫĠൈđࡱ֥ቆᆮაܵb ၂۱ӫॖିؓႋ҂֥ਬ҆ࡱbҐႨഈඍ“ෆ෬—ᇏཬఒြ๙ݖሿႨটႨЧ༢đھਬࡱ९ॖၛஆ”ٚൔটܵЧุ९đࡼႨՑඔ؟֥ቔູھਬࡱႵིϺᇹᇏཬఒြ࿆ԮӁđؓႿิۚఒြྐ༏߄ඣ֥ЧุđࡼఃჅ֥ӫࠇਬࡱቔູھЧุ֥ऎุൌ২đႵޓնϺᇹb ӵھЧุ֥෮Ⴕඋྟb ҕॉ໓ང 1 ྷཟ.ࠎႿWebڛༀ֥ٳ҃ൔਬࡱ९༢षؿაႋႨ4 ൌ২ ࣮.ݳᇜ:ᆄࡾն࿐,2006. Ч໓ᄝᇅᄯᄉ֥ࠎԤഈषؿਔູCMoPL2 ්Џ,ݓୡ,ܤྍࡹ,֩.ਬࡱ९֥ࠎЧჰࠣఃᄝӁčCloud Manufacturing oriented Parts Libraryđ૫ཟᄉᇅഡ࠹ᇏ֥ႋႨ.۽ӱഡ࠹,1998,(4). ᄯ֥ਬࡱ९Ď֥ਬࡱ९༢b༢ᄎྛࢸ૫ೂ7෮3 ᅦਡ,અႥਊ,ศ٣,֩.ᇅᄯᄉܒࡹܱඌ࣮.࠹ෘࠏࠢൕđቐҧູਬࡱٳোࢲܒඎđႷഈ҆ٳູѓదਙіđӮᇅᄯ༢,2010,16(11):2511–2520. Ⴗ༯ູٚਬࡱਙіbႨ๙ݖᛍফఖࠧॖᄝཌҰुਬ4 ѵ,ᅦਡ,ൈ,֩.ᄉᇅᄯ——૫ཟڛༀ֥ຩ߄ᇅࡱົଆb ᄯྍଆൔ.࠹ෘࠏࠢӮᇅᄯ༢,2010,16(1):1–7,16. 5 ݢဉѯ,݉ਪ,ਾӤ,֩.৳ຩ࠹ෘ֥ჰაൌ.Кࣘ:॓5 ࢲં ࿐ԛϱഠ,2010. Ⴟᇏཬఒြၛӵքࡹ৫ਬࡱ९֥ٮႨđЧ໓6 web3dܲٚຩᅟ.. ิԛҐႨᄉᇅᄯଆൔࡹ৫ਬࡱ९༢bЧ໓ؓࠎႿᄉ7 ᇫ৫ղ,ਃ৫,഼ܼ,֩.ࠎႿWeb֥ඔ॥ࠏԵٟᆇᇅᄯଆൔ֥ਬࡱ९ᄎႏଆൔࣉྛਔӂඍĠᆌؓ؟Ⴈ༢֥࣮.࠹ෘࠏࠢӮᇅᄯ༢,2009,15(5):954–958. ֥ਬࡱ९༢đิԛ؟ҪࡏܒaForceඔऌଆaඔऌ8 ߛࡹ୍,ޥݱౝ.TagٳোࠎЧ໙ีฐ࣮.౦Бંაൌ, ۯ֩ٚൔࡹ৫༢ॿࡏĠҐႨX3Dࣉྛਬ҆ࡱᄝཌ2008,31 (3):461–465. ཁൕࠣࢌđ๙ݖٳোaѓదaЧุটࣉྛਬ҆ čഈࢤֻ98်Ď 161183. 17 Zhang CG, Xi YG. A real time path planning method for 21 ғሱྖ,ޏݱ۴,ӧޞ.ໃᆩߌᇏ၍ࠏఖದ֝ݴ॥ᇅmobile robot avoiding oscillation and dead circulation. Acta ંაٚم.Кࣘ:॓࿐ԛϱഠ,2009. Automatica Sinica, 2003,29(2):197205. 22 ካѰ,ૹ.၂ᇕࠎႿྐሑ෪֥ൌൈPOMDPෘم.18 ્,ཫ,Խ,֩.ڿࣉದ۽൝ӆم֥၍ࠏఖದਫ਼॥ᇅაथҦ,2007,22(12)14171420. ࣥܿ߃࣮.࠹ෘࠏ۽ӱაഡ࠹,2008,29(6):15041506. 23 ,ᅦѯ.ࠎႿPOMDPଆ֥ࠏఖದ֝ݴ॥ᇅٚم.19 Geand SS. New potential functions for mobile robot path ᇏ॓ն࿐࿐Б,2008,36(1):1215. planning. IEEE Trans. on Robotics and Automation, 2000, 24 ਾݚม,ޠѧಶ,௲ᤍ,࿒઼.҂ಒקྟߌ༯ࠎႿࣉ߄16(4):615620. ෘم఼֥߄࿐༝.ሰ࿐Б,2006,34(7)13561360. 20 Burago D, de Rougemont M, Slissenko A. On the 25 ਾक़.ൌႨઔغॖڏथҦݖӱ.Кࣘ:ౢն࿐ԛϱഠ, complexity of partially observed Markov decision 52. processes. Theoretical Computer Science, 1996, 157(2): System Construction ༢ࡹഡ 45
