100results about How to "Accurate tracking" patented technology

The invention belongs to the field of carbon dioxide geological sequestration and oil-gas field development, and relates to a shale carbon dioxide adsorption expansion damage experiment method considering a hydration state, which comprises the following steps: processing a shale sample according to requirements; the shale is subjected to constant-humidity regulation and control pretreatment, and in the process, different relative humidity environments can be used for pretreatment, so that the influence of different clay mineral hydration interlayer spacing states on adsorption expansion is obtained; soaking the pretreated shale in supercritical carbon dioxide, adsorbing the sample when the temperature and pressure conditions reach a set value, soaking until the rock sample reaches adsorption saturation, and treating by using carbon dioxide with different pressures and temperature gradients; according to collection of sample microstructure and mechanical data, damage can be treated through crack initiation position comparison, porosity and gray scale quantitative analysis and macro-mechanical parameter evolution. The method provides an experimental method for carbon dioxide geological sequestration safety assessment and shale gas fracturing parameter optimization.

The application discloses a network-constructed photovoltaic station precise active reserve control method and system, relates to the photovoltaic power generation and power system control technical field, and the method comprises the following steps: in the MPPT mode, a global iterative search is carried out on the power-voltage curve of the photovoltaic array by using an intelligent optimization algorithm, and the maximum power point of the photovoltaic array is located; whether the intelligent optimization algorithm converges to the maximum power point is judged by using a multi-index convergence monitoring condition, and the target reserve power is calculated in the case that the intelligent optimization algorithm has converged; the network-constructed photovoltaic station enters a weighted soft switching transition period, and the duty cycle is adjusted based on a dynamic weight; after the weighted soft switching transition period ends, the network-constructed photovoltaic station is switched to an active reserve mode, and in the case that the environment mutates, the network-constructed photovoltaic station is switched back to the MPPT mode. The application realizes precise reservation, stable tracking and fast frequency modulation response of the active reserve of the network-constructed photovoltaic unit.

This invention addresses the common failure problems encountered by actuators during the flight of heavy-lift launch vehicles in disturbed environments. It studies a method for achieving rocket attitude stabilization and tracking under complex conditions, proposing an adaptive fault-tolerant backstepping attitude control design method. First, to avoid attitude singularities, a quaternion-based kinematic and dynamic model of the launch vehicle oriented towards actuator failures is established. Based on this model, an adaptive fault-tolerant backstepping attitude controller is designed to adaptively estimate and compensate for uncertainties and external disturbances, handling potential failures and ensuring the stability of the control system. The algorithm proposed in this invention is more effective and superior than traditional adaptive backstepping methods.

This invention discloses an SS-OCT resampling method and system based on undersampled clock recovery, belonging to the field of signal processing technology. It synchronously acquires a k-clock signal and an OCT interferometer signal under undersampled conditions; performs a Hilbert transform on the k-clock signal to obtain an analytic signal, from which an aliased phase sequence is extracted; performs a first-order difference operation on the aliased phase sequence; constructs several candidate frequencies for each sampling moment; and uses a dynamic programming algorithm to select the optimal frequency from the candidate frequencies to obtain the recovered instantaneous frequency sequence. The continuous phase sequence of the k-clock signal is reconstructed through cumulative integration; and the continuous phase sequence is used to perform equal-phase-interval resampling on the OCT interferometer signal to obtain an equal-wavenumber-interval OCT resampled signal. This method can accurately recover the instantaneous frequency of the k-clock signal under undersampled conditions, completing the resampling process and thus reducing system hardware costs.

The application discloses a stable domain constraint trajectory planning and control method for a modular distributed electric drive heavy load vehicle, comprising the following steps: constructing a nonlinear dynamics model of the modular distributed electric drive heavy load vehicle, fitting a tire lateral force model through a rational polynomial, and establishing a vehicle system state space expression based on the rational polynomial form; adopting a sum of squares planning method to estimate the stable domain of the vehicle under different vehicle speeds, road adhesion coefficients and front, middle and rear wheel turning angles, and analyzing the influence of each state quantity on the shape and boundary of the stable domain; embedding the stable domain constraint into a trajectory planning layer based on a quintic polynomial to generate an obstacle avoidance trajectory meeting the dynamics stability; designing a multi-axle proportional steering strategy based on a steady state assumption, and combining a nonlinear model predictive controller to realize trajectory tracking control, so that the stability and control feasibility of the vehicle in a high-speed dynamic obstacle avoidance process are ensured. Through construction of a high-speed dynamic obstacle avoidance simulation scene, the effectiveness, stability and control feasibility of the stable domain constraint trajectory planning and control framework are verified.

The invention is suitable for the technical field of image recognition, and provides a live pig breeding state monitoring method and device, and the method comprises the steps: collecting real-time video data, and recognizing a current animal body region in the real-time video data; tracking the current animal body area, and collecting a subsequent animal body area according to a preset sampling frequency; identifying the behavior state of the subsequent animal body area; wherein the behavior state comprises standing and lying; and when the behavior states corresponding to the preset number of continuous follow-up animal body areas are all lying, sending abnormal prompt information and the continuous follow-up animal body areas to the user terminal. According to the invention, automatic and intelligent monitoring of the live pig behavior state is realized, and the accuracy and real-time performance of monitoring are improved.

The present application relates to a kind of low-carbon park integrated energy system multi-agent collaborative carbon responsibility allocation method, steps include: the multi-source data of park is collected, with the minimum integrated energy system total operating cost as goal to carry out multi-energy flow optimization scheduling;With the dynamic correction model of two-way carbon flow considering the carbon flow transfer caused by energy storage charging and discharging process, dynamic carbon flow distribution matrix is constructed;Using load carbon responsibility decoupling allocation model, total load is decoupled into multiple sub-load categories, and different carbon responsibility allocation coefficients are given for each type of sub-load;With each interest party in park as the participant of game, Nash bargaining as collaborative optimization framework, maximum all participant utility gain as objective function, Shapley value as the basis for carbon responsibility allocation, multi-agent collaborative optimization is carried out, and the carbon responsibility allocation scheme of each subject is obtained in combination with user carbon responsibility allocation coefficient.Compared with prior art, the present application ensures the fairness, efficiency and operability of carbon responsibility allocation scheme.

The application relates to an FPGA prototype verification method and system of a smart meter chip, and belongs to the field of integrated circuit testing and electric power metering. The method aims to solve the problems of ASIC design transplantation to an FPGA platform, large difference between a verification environment and a real power grid, and lack of a real-time closed-loop verification mechanism. A technical scheme efficiently transplants the design to the FPGA by optimizing ASIC front-end synthesis constraints and adopting a netlist-level IP replacement strategy; a hardware-in-the-loop system is constructed, which comprises a real power grid signal source, a separation device simulation front end, an FPGA verification board, a high-precision standard electric energy meter and a host computer. The system can generate a real power grid excitation and realize synchronous collection of prototype output and the standard meter, real-time error analysis and dynamic adjustment of parameters, thereby forming a closed-loop verification. The application significantly improves code transplantation efficiency, provides a highly consistent real power grid verification environment, and greatly improves verification iteration and defect positioning speed.

The application provides an automatic selective plating method based on high-precision positioning and tracking, and belongs to the technical field of positioning. The method realizes tracking of selective plating through high-precision positioning of A-IoT. The method comprises the following steps: in the process of performing selective plating by an electroplating device, an AI oTF receives four arrival delays of an AI oT device reported by four readers respectively, a total of four arrival delays, and the four arrival delays are the time required for signals sent by the AI oT device at a first time to arrive at the four readers respectively; the AI oT device is arranged on the electroplating device and moves with the electroplating device in the process of selective plating; the AI oTF determines the position of the AI oT device according to at least three arrival delays in the four arrival delays; and the AI oTF determines the moving track of the electroplating device performing selective plating according to the position of the AI oT device.

The invention relates to the technical field of high-inertia energy storage type synchronous phase modifier control, and particularly discloses a transient voltage control method and device for a high-inertia energy storage type synchronous phase modifier. Control errors generated by first power coupling caused by angle deviation of a synchronous rotating coordinate system of a controller and second power coupling caused by Park inverse transformation modulation signal deviation are calculated and compensated, so that the influence of phase locking deviation on power decoupling control is effectively eliminated; the actual output power of the high-inertia energy storage type synchronous phase modifier can accurately track the control reference value; by considering rotor current constraint and rotating speed constraint, active power and reactive power which enable the voltage drop transverse component of a grid-connected point to be minimum are calculated, and voltage drop during a power grid fault period is effectively inhibited; by judging whether the phase-locking deviation is zero or not and selecting different control strategies according to the phase-locking deviation, the adaptability and reliability of the control system are improved; by accurately calculating the power control reference value, the accuracy of transient voltage control is improved.

This application relates to the field of vehicle suspension control technology, and more specifically to a fully active suspension control method, an electronic device and a computer-readable storage medium capable of implementing the method. The method includes: receiving road surface elevation information of the road ahead of the vehicle; filtering the road surface elevation information to obtain a desired vertical motion trajectory of the vehicle body; calculating a feedforward control force for controlling the fully active suspension based on the road surface elevation information and the desired vertical motion trajectory of the vehicle body; detecting the actual vertical motion state of the vehicle body and calculating a feedback control force based on the actual vertical motion state of the vehicle body; and superimposing the feedforward control force and the feedback control force to obtain a total control force, and outputting it to the actuator of the fully active suspension.

The invention relates to a dual-module intercooler type fuel cell cathode inlet temperature and humidity cooperative control method. The method comprises the steps that fuel cell cathode air inlet real-time state parameters and operation parameters are obtained, a multivariable coupling prediction model is constructed after preprocessing, and a temperature and humidity reference and an oxygen stoichiometric ratio target reference are set in combination with heat exchange characteristics of a dual-module intercooler; then the core body heat exchange distribution proportion is regulated and controlled, humidification adjustment is matched, and the core body heat exchange distribution proportion and the humidification adjustment intensity are dynamically adjusted according to the real-time working condition; comparing the deviation between the adjusted actual temperature and humidity and the target temperature and humidity reference, and correcting the heat exchange distribution proportion and the humidifying adjustment parameter through a dynamic constraint correction model; cooperative regulation and control of cathode inlet temperature and humidity are realized, dynamic change of working conditions is adapted, and stable operation of the fuel cell is guaranteed.

This invention discloses a wind vane-based drone flight control method, device, medium, and drone. The method includes: when a multi-rotor high-speed drone is cruising, acquiring the orientation of a wind vane mounted on the drone's fuselage in real time, and then determining the angle between the drone's flight speed direction and its central axis; determining whether the drone's flight speed direction and the central axis are aligned based on this angle; if so, maintaining the angle of the drone's rotatable wings unchanged; if not, adjusting the angle of the drone's rotatable wings based on the angle, and then performing a wind vane detection step. This invention solves the problem of existing multi-rotor high-speed drones being unable to quickly and accurately track targets during high-speed cruising.

The application discloses an improved model-free current prediction control method and device and system based on a forgetting factor. The method does not need to acquire system parameters in advance, only needs to collect a load current, and then approximately calculates a current increment from historical current data, and then outputs an optimal inverter switch state from a minimized current value function, and meanwhile, a forgetting factor is introduced to weaken the adverse effect of a sampling error on the system, so that the model-free current prediction control is realized. On the basis of guaranteeing the realization of the parameter-free control, the forgetting factor is introduced to weaken the adverse effect of the sampling error on the system, the current quality is improved while the response speed is faster, and the robustness of the control is improved. The application is suitable for different types of power electronic topological structures, and does not need to separately perform mathematical modeling on different types of power electronic topological structures, has a reference significance for the model-free prediction current control of the power electronic converter, and has a wide application prospect.

This utility model discloses a marine fishing rod holder, belonging to the technical field of marine accessories. The fishing rod holder includes a fixed base, a limiting platform, a lifting platform, and a fishing rod holder. The limiting platform includes a first limiting platform and a second limiting platform. The first limiting platform is disposed on the fixed base, and the opposite end faces of the first and second limiting platforms have meshing toothed grooves. The lifting platform is slidably disposed within the first limiting platform. One of the inner walls of the first limiting platform and the lifting platform has a guide limiting groove, and the other has a guide limiting protrusion, which engages and slides within the guide limiting groove. A connecting column is rotatably disposed on the lifting platform and connected to the lower end of the second limiting platform. A mounting base is disposed on the second limiting platform. An angle adjustment mechanism is disposed on the mounting base. One end of the fishing rod holder is hinged to the mounting base, and the other end is connected to the angle adjustment mechanism. This utility model specifically provides a marine fishing rod holder that facilitates adjustment of the fishing rod holder's orientation and angle.

This disclosure provides an object inspection system relating to the fields of object inspection, radiation scanning, security inspection, or other fields. The system includes: a transport device comprising a first transport mechanism and a third transport mechanism for transporting objects; a radiation scanning device comprising a second transport mechanism configured to transport objects from the first transport mechanism to a radiation scanning area and to the third transport mechanism; and a control device communicatively connected to the transport device and the radiation scanning device; wherein the transport device, the radiation scanning device, and the control device employ a unified communication protocol, and the transport device is configured to control the operation of the second transport mechanism via the control device. This disclosure also provides an object inspection method.

A system for developing and deploying virtual replicas of real-world elements into a persistent virtual world system. The development of the virtual replicas is performed in a virtual environment that enables development and configuration of the virtual replicas that mirror the behavior and appearance of the corresponding real elements. The virtual replicas are enriched through data captured by sensing mechanisms that synchronize in real-time the virtual replicas with the real-world elements. The virtual replicas are shared in a virtual world-based quality assurance system where they can be either approved or rejected for subsequent adjustments, when necessary. After approval and deployment, the replicas are shared in a deployed persistent virtual world system that is viewable to end users for management and interaction of the virtual replicas. Methods thereof are also disclosed.

The application provides a window tracking method and system suitable for real-time tracking and measurement of small targets in the air. The relative motion relationship between a measurement satellite and a small target in the air is calculated according to the dynamic data of the measurement satellite and the small target in the air within a measurement time, and the angular position change function of the target relative to the satellite measurement camera visual axis is solved. A suitable tracking window is designed within the field of view of the measurement camera. When the target moves out of the tracking window, the visual axis is quickly adjusted within a certain time, and when the visual axis adjustment is completed, the target is just moved to the center position of the field of view, and the visual axis is repeatedly kept-adjusted-kept to complete the window tracking of the cooperative target. The method is reasonable and easy to implement, and solves the problems of continuous adjustment of the tracking visual axis direction and large on-board calculation load when the measurement satellite and the target are moving at high speed in the air.

The invention discloses a frequency tracking method of an ultrasonic therapeutic apparatus based on a fuzzy PID algorithm and related equipment. The method comprises the following steps: acquiring actual current of the ultrasonic transducer; when the actual current is smaller than the resonance current of the ultrasonic transducer, the current difference between the actual current and the resonance current and the change rate of the current difference are determined; inputting the current difference and the change rate into a fuzzy algorithm to obtain an adjustment amount of each coefficient of a PID algorithm output by the fuzzy algorithm; based on the adjustment amount of each coefficient of the PID algorithm, determining the value of each coefficient of the PID algorithm; and determining the driving frequency for driving the ultrasonic transducer based on the value of each coefficient. According to the method, PID parameters are adjusted through fuzzy reasoning for the current difference and the change rate of the actual current and the resonance current, the method is suitable for the nonlinear problem, and the problem that the frequency tracking precision is low due to the fact that the PID parameters are fixed is solved.

This invention provides a monocular vision-based unmanned aerial vehicle (UAV) control system, comprising: a monocular acquisition device acquiring target images; a laser rangefinder detecting a first distance between the UAV and the ground; a flight control module detecting a second distance between the UAV and the ground and inertial data, and controlling the deployment of a servo motor based on control signals or controlling the UAV to track based on the tracking position; a visual perception module performing target detection on the target image using a deep neural network; extracting multi-scale fusion features of image features using a decoder; extracting inertial features of inertial data using a first sensor; fusing and scaling the multi-scale fusion features and inertial features to obtain a third distance; and a control module determining the target distance between the UAV and the target object based on the first, second, and third distances, determining the target position of the target object based on the target distance, target detection results, and coordinate mapping relationship, and outputting control signals or tracking positions based on the target position.

The invention discloses a compound control method and system for a mechanical arm with a gap joint, and belongs to the technical field of engineering equipment control. Based on a six-degree-of-freedom mechanical arm nonlinear dynamic model containing a gap joint, control boundaries of a collision force feedforward module and a PD feedback module are determined by quantifying a coupling relation between a joint gap and collision force; then a composite control structure of'collision force feedforward compensation-PD feedback tracking 'is built based on the kinetic model, a feedforward module counteracts disturbance of nonlinear collision force on motion of the mechanical arm in advance by collecting joint collision force signals in real time and calculating reverse compensation torque, and a PD feedback module counteracts disturbance of nonlinear collision force on motion of the mechanical arm in advance by monitoring joint positions and posture deviation in real time; outputting a tracking torque to accurately correct a track error; the two layers of modules are nested and cooperatively work, the advantage of active disturbance suppression of feedforward control is exerted, the steady-state precision of trajectory tracking is guaranteed by means of PD feedback control, and the operation precision and reliability of the gap-containing joint mechanical arm are effectively improved.

The invention discloses a lithium battery state estimation method and system based on a PNGV model and a DEKF algorithm, and the method comprises the steps: firstly, carrying out the systematic offline test of a battery, and obtaining an open-circuit voltage-state of charge curve of the battery and the equivalent capacitance of a second-order PNGV equivalent circuit model; secondly, discretizing a continuous state equation of the model into a difference equation through bilinear transformation, and identifying other model parameters of the battery in different charge states by applying a recursive least square method; and finally, constructing a state filter and a parameter filter by adopting a double-extended Kalman filtering algorithm, and realizing collaborative estimation of the charge state and the health state through data interaction and feedback of the two filters. According to the method, through a progressive process of parameter identification and cooperative state estimation, the problems of time-varying characteristics and state coupling of battery model parameters are effectively solved, and the joint estimation precision and robustness of the state of charge and the state of health of the lithium battery under complex working conditions are remarkably improved.

The invention provides a base wine body density prediction method and device, equipment and a medium. The base wine body density prediction method comprises the steps that multi-modal sensing data influencing base wine body density changes are obtained; sequentially carrying out data preprocessing and feature engineering processing on the multi-modal sensing data to obtain multi-modal sensing features; constructing a deep learning model integrated with physical information constraints on the basis of the multi-modal sensing features; training the deep learning model through a total loss function to obtain a base wine body density prediction model; and inputting to-be-predicted data into the base wine body density prediction model to obtain target base wine body density prediction data. Compared with the prior art, non-contact, automatic and high-precision dynamic tracking and prediction of the wine body density of the base wine are achieved.

This utility model discloses a resource-based insect breeding rack, including a support frame and multiple breeding baskets stacked on the support frame. The support frame consists of a tray and four sets of legs evenly distributed at the four corners of the bottom surface of the tray. The top surface of the tray has right-angled supports at the four corners to accommodate and hold the breeding baskets. The bottom surface is provided with crisscrossing reinforcing ribs in a grid-like structure, integrally formed with the tray. A barcode scanning plate is located at the center of the grid-like reinforcing ribs, with a QR code label affixed to it. The advantages of this utility model are that it enables three-dimensional breeding of resource-based insects, not only increasing the insect carrying capacity but also significantly saving space, increasing breeding density, and ensuring breeding profitability. It facilitates quick and easy information retrieval via barcode scanning, allowing for precise tracking and management of the breeding baskets on the tray during the breeding process, achieving information-based management of resource-based insect breeding, and improving breeding efficiency and management accuracy.

This invention discloses a multi-target real-time tracking method based on deep learning, comprising: Step 1, acquiring a real-time image sequence through a video acquisition device and standardizing the image sequence; Step 2, inputting the standardized image sequence into a neural network model to output target bounding boxes containing human features; Step 3, inputting the target bounding boxes into a tracker, wherein the tracker calculates the feature vector of each human based on the OSNet appearance feature extraction network, and uses the Hungarian algorithm to solve for the optimal association, assigning a unique identifier to each tracked human, and forming and updating a dynamic tracking list of multiple targets.

This invention discloses a method for suppressing current imbalance and power oscillations based on a virtual synchronous generator (VSG). First, a traditional VSG loop model is established and its parameters are tuned. Then, the positive and negative sequence components of the grid-connected voltage, filter capacitor terminal voltage, and grid-connected current are extracted using a time-delay cancellation method and transformed to a synchronous rotating coordinate system. An equivalent VSG grid-connected loop model is added to the traditional VSG model. The traditional active power and extended reactive power calculation methods are transformed to the synchronous rotating coordinate system, and a reference value for the grid-connected current that suppresses the second harmonic component of the power is derived. A PI controller is used to make the actual grid-connected current track the reference value, and the output modulated wave drives the inverter. This invention can simultaneously suppress the second harmonic oscillations of active and reactive power, improve grid-connected current imbalance and distortion problems, while retaining the active power frequency regulation, reactive power voltage regulation, and inertial support characteristics of the VSG, thus improving the stability and power quality of the new energy grid-connected system.

This invention discloses an adaptive control method and system for nebulized flow rate based on respiratory rate detection, relating to the field of medical device nebulization control technology. The method includes: acquiring and filtering upstream and downstream pressure sequences of the nebulization path; calculating a differential pressure short-circuit index and generating an event flag based on the degree of synchronization fluctuation and differential pressure amplitude of the two sequences; determining a respiratory rate estimation signal and calculating the respiratory rate based on the flag; generating a baseline nebulized flow rate based on the respiratory rate and correcting it with the differential pressure short-circuit index to obtain the target nebulized flow rate; and finally determining the nebulization execution amount. This invention enables adaptive and conservative adjustment of the nebulized flow rate, improving delivery stability.

This invention belongs to the fields of biomedicine and fluorescent probe technology, and relates to a biheaded functional molecule and its application in the preparation of products for imaging cell tailpods or migration bodies. The biheaded functional molecule has the chemical structure shown in Formula I; wherein R is a hydrophilic positive ionic fluorescent group, X is methylene or O, Y is methylene or carbonyl, and n is 1~3. The biheaded functional molecule provided by this invention can achieve long-term cell membrane anchoring and can dynamically track the migration body formation process with low phototoxicity, low background fluorescence, high photostability, and high brightness.

A merged reality system comprises servers in a cloud to edge infrastructure configured to store and process data and models of virtual replicas of real world elements that provide self-computing capabilities and autonomous behavior to the virtual replicas. The data and models are input through a plurality of software platforms, software engines, and sensors connected to things and user devices. The server is further configured to merge the real and virtual data and models in order to augment the real data with the virtual data. A method thereof comprises mapping the real world into a virtual world, generating virtual replicas of the real world; adding models and data of the virtual replicas; connecting the virtual replicas to corresponding real elements in order to enrich and synchronize the virtual replicas with the real-world elements; merging the real and virtual data; and augmenting the real data with the virtual data.

This invention discloses a method and system for risk assessment and graded early warning of offshore wind farm vessels. The method involves collecting and fusing multi-source sensing data; performing spatiotemporal alignment and fusion processing on the fused multi-source sensing data to generate a bird's-eye view feature representation containing spatiotemporal characteristic information of the vessel; based on the bird's-eye view feature representation, employing a fusion prediction model combining a vessel motion physics model and a time series prediction algorithm, calculating the motion reachability set of the target vessel within the predicted time period; conducting a risk assessment based on the spatial relationship between the motion reachability set and a preset safe area of ​​the wind farm, and triggering graded early warnings based on the assessment results. This invention solves the problems of blind spots in single-source monitoring and high false alarm rates in traditional early warning systems, achieving accurate and dynamic assessment and proactive early warning of vessel collision risks in offshore wind farm waters, significantly improving regulatory safety and efficiency.