@jangsunny1030,
Having (went) on a picnic yesterday, we picked wild flowers in the park.
gone. You will hear 'went' a lot in casual everyday speech. There is a strong tendency towards leveling some of the more common irregular verbs.
We heard that our friend (won) the dean's award for excellence in contributions to the educational program.
'won' is fine.
The players try to make as (few) contact as possible with the opposing team to avoid penalties.
little
Ellen's accustomed to interpreting for her foreign students when they have problems (understanding , with understanding, in understanding) the grammar and vocabulary.
Depending on the social register, I'd say that all could be used.
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