124results about How to "Adapt to change" patented technology

The invention discloses a double-layer planning method based on the combination of global path planning and local rolling prediction collision avoidance planning, so as to solve the problem of path planning for a mobile robot in a dynamic environment. The method mainly comprises two parts: the global path planning and the local rolling prediction collision avoidance planning. The path planning method can better realize robot navigation, and improve intelligence of the robot. The double planning method can be utilized to prevent the blindness of planning in the beginning, and searching space of the problem is reduced; based on the uncertainty of the moving direction of a dynamic barrier and by utilizing the two collision prediction strategies and two corresponding collision avoidance strategies, the dynamic barrier can be avoided well; and particularly, in order to adapt to the change of environment better, in the second layer of planning, a Follow_wall behavior based on behavior method is added, so that when the environment changes, the mobile robot can still arrive at the target without touching the barriers safely.

The invention discloses a workflow device, a system and a configuration method based on a service-oriented architecture. The configuration of workflows is realized by adopting the service-oriented architecture, business nodes are deployed in different deployment environments in manner of loose coupling by utilizing a WEB service technology, and a user can freely change or generate new workflows in manner of modularization so as to meet new business requirements. Thereby, the compatibility and the flexibility of the workflow system can be improved so as to flexibly adapt to the change and the development of company business and reduce the risk of a company adopting a new system.

The invention discloses a mobile edge computing unloading method based on multi-agent reinforcement learning, belongs to the field of edge computing and wireless networks, and provides an intelligenttask unloading method for a multi-user multi-edge node complex scene. According to the method, a multi-agent reinforcement learning algorithm is adopted, each piece of user equipment establishes an Actor and Critic deep learning network locally, action selection and action scoring are carried out according to states and actions of the user equipment and other equipment, spectrum resources, computing resources and energy resources are comprehensively considered, and an unloading and resource allocation strategy is formulated by taking task delay optimization as a target. The method does not depend on a specific network model, each equipment can autonomously and intelligently make an optimal strategy through a learning process of exploring feedback, and the method can adapt to dynamic changeof a network environment.

The disclosed power control method for AP comprises: combining distance factor to determine the reference AP, then according to the effect on reference AP led by power adjustment, initiating the AP emission configuration, then continual dynamic controlling. This invention can reduce channel interference, and makes the WLAN more reliable.

The invention belongs to the field of presswork full-screen quality inspection and control, and provides a presswork full-screen quality and flaw inspection method, which comprises the following steps of: acquiring a standard specimen sheet and a digital image of presswork to be inspected by using an optoelectronic coupler; zoning the digital image, extracting red, green and blue (RGB) values of each pixel in each zone, and converting the RGB values into CIELAB values; calculating color differences, DeltaL*, Deltaa* and Deltab* on the CIELAB values of each pixel in the image of the presswork to be inspected and the CIELAB values of corresponding pixels in the image of the standard specimen sheet; and judging the difference and flaw of the presswork according to threshold values of the color difference, the DeltaL*, the Deltaa* and the Deltab* meeting different quality requirements. The invention provides the chromaticity-recognition-method-based presswork full-screen quality and flaw inspection method, and compared with the prior art, does not require a conventional control strip, takes variable quality inspection and variable zone division into accounts and can be more flexibly adapted to the change of printing conditions.

The invention relates to a method for multi unmanned aerial vehicle distributed formation control. N unmanned aerial vehicles are deployed in a preset area, and n is an integer not smaller than 3. The unmanned aerial vehicles can actively measure relative position information of neighbor unmanned aerial vehicles. Expected formation is set for the n unmanned aerial vehicles to determine measurement relationship and communication relationship; formation control is performed on the first unmanned aerial vehicle and the second unmanned aerial vehicle, and a first speed controller is arranged; formation control is performed on the third unmanned aerial vehicle to the n-th unmanned aerial vehicle, and a second speed controller is arranged; and by actively measuring the relative position information of the neighbor unmanned aerial vehicles in the expected formation, speed control is performed so that the mutual movement distance can be consistent with the set distance of the expected formation. The formation is performed through the distributed control of the unmanned aerial vehicles, and the formation dimension can be adjusted to keep away from an obstacle.

The invention relates to a single-throttling-channel pressure control drilling method and a single-throttling-channel pressure control drilling device suitable for high-flow change, and is applied to the field of well tube pressure and flow control during petroleum and natural gas drilling. The device consists of a vertical pipe measurement system, a back pressure compensation manifold and flow measurement system, a connection manifold, an automatic throttling manifold, a wellhead return flow measurement system and a signal acquisition and logic control system. The device can precisely measure the pressure at the bottom of a well, the vertical pressure at a wellhead, the sleeving pressure and pump-in and returning flow of drilling fluid; furthermore, due to the analysis of the logic control system, a working condition of the bottom of the well is judged, and a closed-loop control or block experience mode is selected according to the working condition, so that the back pressure applied by the throttling manifold to the wellhead is automatically adjusted in real time, and perfect well shaft pressure control is implemented; therefore the complicated underground problems of a narrow density window, spraying and leakage coexistence and the like are effectively solved.

The invention discloses a Wyner-Ziv video coding system controlled on the basis of a non feedback speed rate and a method, belonging to the field of a distributing type video coding technology, and mainly overcoming the defect that the existing distributing type video coding method needs a feedback information channel, has large time delay when decoding and can not accommodate the change of the bandwidth of the information channel. The system consists of a coder, a non feedback speed rate controller and a decoder. The coder is used for independently coding an inputted video frame; the non feedback speed rate controller is used for distributing an image group layer code rate according to a target code rate, distributing a frame layer code rate with the correlation among coding image frames, and controlling the speed rate of the Wyner-Ziv frame by means of non feed back bit plane; and the decoder is used for jointly decoding a received code stream. The invention reduces the complexity and the decoding time delay of the decoder, can effectively control the outputted code rate according to the target code rate, and can be used for a video communication system with simple terminal coding equipment.

The invention discloses an accurate positioning storage bin. The accurate positioning storage bin comprises a storage bin frame, workpiece lifting mechanisms and a workpiece horizontal rotary conveying mechanism; the workpiece horizontal rotary conveying mechanism comprises a first motor which is arranged on the storage bin frame, a rotary disc which is connected with a first motor rotor and workpiece loading mechanisms which are arranged along the peripheral direction of the rotary disc at equal intervals; and two sets of workpiece lifting mechanisms are arranged and are distributed opposite to the two sets of workpiece loading mechanisms, and each workpiece lifting mechanism comprises a clamping jaw for conveying workpieces on the workpiece loading mechanisms and a drive device for driving the clamping jaw to lift and descend. According to the accurate positioning storage bin, the first motor drives the rotary disc so as to drive the workpiece loading mechanisms to rotate horizontally, so that the transmission error existing in conventional storage bin chain wheel and chain transmission is eliminated, the repeat positioning precision along the horizontal direction is high, and a manipulator of processing equipment can accurately take and store materials; and moreover, a plurality of workpiece loading mechanisms can be arranged on the same rotary disc, the loading capacity of the storage bin is large and the storage bin occupies a small area.

The present invention provides a general calibration system of an automobile electronic control unit and a realizing method thereof, which relates to the field of automobile electronic control. Based on configuration technique, the present invention adopts the idea that interface design is separated from system function design. The calibration system is divided into an editing environment part, an XML (extensive makeup language) configuration project file and a running environment part. The XML configuration project file is used as the middle layer of the calibration system for describing the graphical interface of the whole calibration system with a standard tree-like structure. The editing environment part is used for building a user interface model, making a calibration system interface and producing relative XML configuration project file. An XML file analyzer, data management and kernel communication are encapsulated in the running environment. The running environment part is connected with an electronic control unit (ECU) below, and monitoring and calibration functions are realized. The present invention realizes the interface customer making and reconfiguration of the calibration system, and meets the alteration and updating project requirements of the ECU. Meanwhile, the expandable and cross-platform XML project file can be reused on different operating system platforms, and the general utilization of the calibration system is improved.

The invention discloses a train operation monitoring device based on a double 2-vote-2 safety computer structure. The train operation monitoring device comprises a host unit. The host unit comprises a primary unit and a secondary unit. The primary unit comprises a primary input plug-in group, a primary host plug-in and a primary output plug-in. The primary input plug-in group comprises at least one primary safety input plug-in based on a 2-out-of-2 structure. The secondary unit comprises a secondary input plug-in group, a secondary host plug-in and a secondary output plug-in. The secondary input plug-in group comprises at least one secondary safety input plug-in based on the 2-out-of-2 structure.

The embodiment of the invention discloses a long-term reference image selection method and device. The method includes the following steps: obtaining a target attribute value of a predetermined imageattribute of an image to be encoded, wherein the image to be encoded is an image in a target video; determining whether the target attribute value is a preset attribute value; in the case that the target attribute value is the preset attribute value, judging whether the image to be encoded meets a determination condition of a long-term reference image according to a first data relationship, wherein the first data relationship is regarded as the data relationship between the image to be encoded and similar images or the data relationship between the similar images, and the similar images are afirst preset number of frame images before the image to be encoded and / or a second preset number of frame images after the image to be encoded in an image sequence of the target video obtained according to a preset sorting mode; and if yes, generating a reconstructed image corresponding to the image to be encoded, and determining the reconstructed image as the long-term reference image. Accordingto the scheme, the video coding efficiency can be improved.

This invention provides one method to establish static LSP, which is free of dynamic order agreement and totally depends on established LSP with alignment in MPLS regulation for usage and is suitable for network topology changes. This invention also provides one method to brush the above static LSP suitable for network alignment and topology changes.

The invention discloses a method and a system for increasing the quantity of a physical layer control channel resource in mobile communication. The method comprises the steps that a base station utilizes a Z-RNTI to map a PDCCH (Physical Downlink Control Channel) of a vUE to a control area of a subframe; an expansion control area is distributed in a data area of the subframe; and the PDCCH data of the vUE contains resource distribution information for indicating the expansion control area. In the expansion control area, the base station utilizes the Z-RNTI to map the PDCCH of the vUE once again, and newly points to a new PDSCH (Physical Downlink Control Channel) area as a new expansion control area, and the like, when the N time expansion is performed, a newly distributed expansion control area is ensured to be located in an idle PDSCH area during the N-1 time expansion. The invention can increase the resource distributed in the physical layer control channel, and reduces the probability of resource conflict.

The invention provides an electric multi-leaf collimator leaf position control method and device. The method comprises the following steps: obtaining child radiation field information of at least one child radiation field from a position file, wherein the child radiation field information of each child radiation field comprises expected value of leaf position corresponding to the child radiation field, and expected value of position influence parameters corresponding to the child radiation field, and the at least one child radiation field is associated with a currently-controlled target control period; according to parameter change rate at the starting time point of the target control period, obtaining actual value of the position influence parameters corresponding to the target control period; obtaining leaf position information corresponding to the actual value according to the actual value, the child radiation field information and a variable relationship, wherein the variable relationship is quantitative relation between the leaf position information and the position influence parameters; and in the target control period, controlling leaves to execute movement corresponding to the leaf position information. Control precision of leaf position is improved obviously.

The invention discloses a method for determining a multicast server (MCS) in long-term evolution scheduling, which comprises the following steps that: 1) measuring a signal-to-noise ratio (SNR) value; 2) determining a channel quality indicator (CQI) grade CQIO according to an SNR-CQI grade mapping relation; 3) acquiring resource block (RB) pairs according to a length L of a service frame and the CQIO; 4) acquiring the minimal CQI grade under the identical RB pairs according to the RB pairs and the frame length L; 5) and determining a modulation coding way according to the minimal CQI grade. Due to the adoption of the method, the problem that the mistake block rate is high because of the variation of the channel SNR along the time can be solved, the packet loss ratio can be reduced by determining the MCS according to the frame length, the packet transmission delay can be reduced, whether a half continuous scheduling method or a dynamic scheduling method, because a modulation coding way with higher reliability is selected under the situation that the used resource quantity is identical, the SNR variation range born by each packet is correspondently enlarged, and the packet can be better suitable for the variation of the SNR. The performance of the scheduling service can be improved.

The invention discloses a light-type full-hydraulic drilling machine for underground drilling of a coal mine. The light-type full-hydraulic drilling machine comprises a stander, a drilling rod, a water braid, a guide rail, a propelling hydraulic cylinder, a hydraulic clamp and a drill power head, wherein the hydraulic clamp comprises a clamp base, a supporting seat, a clamping hydraulic cylinder and a clamp clamping tile; the water braid comprises a water braid shell, a water braid shaft, a water braid hollow shaft, two anti-abrasion ring, an isolating ring, a front end cover, a rear end cover and an anti-abrasion sealing ring; the drill power head comprises a speed reduction box body, a connection frame, a gear shaft, a hollow stepped shaft, a hydraulic motor, a spring mounting seat, a spring limiting seat, an end face check ring, a gear, a disk-type spring group, a power head clamping tile and a clamping hydraulic cylinder. The light-type full-hydraulic drilling machine is compact in structure, convenient and low in cost; the energy consumption is reduced, the power transmission efficiency is improved, and the clamping force on the drilling rod is stable and reliable; the service lives of the anti-abrasion sealing ring and the water braid shaft can be prolonged, the replacement trouble is reduced, the construction progress and safe production are guaranteed, vibration of the drilling machine is reduced, and the drilling rod is prevented from being broken.

The invention relates to the field of wireless communication and aims to provide an encoding collaborative transmission method which is low in processing complexity, adaptive to collaborative network node number dynamic change and excellent in error correction performance. The method includes the steps of data transmission of information source nodes, distributed interweaved encoding forwarding of data of relay nodes and iterative decoding of a target node. In order to achieve the purposes, the technical scheme includes that the collaborative transmission method based on distributed interweaved and group encoding includes: executing M information source nodes S={S1, S2,...,SM} on a physical layer, and enabling the M information source nodes to collaboratively transmit information to the target node D with the help of K candidate relay nodes R={R1,R2,...,Rk}, wherein the target node refers to a base station or a sink node, has a high processing function and is further responsible for inquiry of relay node receiving states and control of relay node encoding, or inquiry and control are undertaken by an optional node of the information source nodes or the relay nodes according to practical network conditions. The collaborative transmission method based on distributed interweaved and group encoding is mainly applied to wireless communication.

The invention provides a self-adaptive parameter soft measuring method on the basis of the semi-supervised local linear regression, which comprises the following steps of: firstly, on the theoretical basis of a local linear regression scatter point flatting method, transforming the local linear regression scatter point flatting method into a semi-supervised learning method by a method of introducing unlabeled samples into a target equation of the unlabeled samples; then by utilizing a method of calculating a labeled sample set to estimate a slope, carrying out self-adaptive estimation to obtain an optimal gaussian kernel width parameter of a current labeled sample set; and finally, implementing parameter selection of the semi-supervised local linear regression learning method by utilizing a self-adaptive parameter selecting method and implementing the online update of a soft measuring model on the basis of a sliding time window mode. The invention sufficiently utilizes the value of the unlabeled samples. Aiming at the characteristics of the semi-supervised local linear regression, the influence caused by the labeled sample measuring error can be effectively eliminated and the prediction accuracy is improved. The soft measuring model is updated in real time by applying the sliding time window method, so that the model can well adapt to the change of input data.

The invention discloses a method and a system for increasing the quantity of a physical layer control channel resource. The method comprises the following steps: 1) a Z-RNTI distributes a vUE to a RNTI, an eUE is provided with the Z-RNTI; 2) a base station dispatches the idle resource of a subframe to an expansion control area, and maps a PDCCH (Physical Downlink Control Channel) of the eUE to the expansion control area; 3) the base station maps the PDCCHs of a tUE and a vUE to the control area of the subframe; 4) the base station uses the Z-RNTI to transmit the PDCCH data of the vUE including resource allocation information, and uses a C-RNTI to transmit the PDCCH of the eUE; and 5) the eUE decodes the PDCCH data of the vUE according to the Z-RNTI, and detects the PDCCH in a search space of the expansion control area. The invention can increase the resource distributed to the physical layer control channel, and reduces the probability of resource conflicts.

The invention discloses a resource allocation method for a cooperation relay orthogonal frequency division multiple access system. The method comprises the following steps of adding constraints of different lowest velocity demands of various users when establishing an optimal resource allocation module, introducing a user velocity weighting factor in sub-carrier allocation and relay selection processes, and performing sub-carrier allocation and relay selection according to the principle that the user has the priority in sub-carrier and relay selection if the velocity weighting factor of the user is large, thus, the lowest velocity demand of various users can be ensured well. As a simple equal power allocation method is adopted in the process of simplifying the optimal resource allocation module, the calculation complexity is effectively reduced; the rest of sub-carriers are allocated to various users according to the largest transient velocity, thus, the total velocity of the system can be maximized; and the sub-carriers can be adaptively allocated to various users according to the largest user velocity weighting factor and transient velocity, thus, the change of the wireless communication environment can be adapted well.

The invention relates to a method to determine xDSL transceiver working scene that includes the following steps: gaining the electric length and noise power parameter of the current line; determine the working scene of the current xDSL transceiver. The invention could optimize the whole capability and improve line-out ratio. And it could effectively save manpower cost and the constructing and maintaining cost.

There is provided a device (1) and a method for forming book blocks (21) with two by two glued internal pages comprising a transfer drum (2) formed by two wheels (3, 4) with a plurality of curvilinear pockets (7), respectively spaced by a tooth (8) and respectively adapted to receive a sheet (11), partly pre-folded, with forward folding (19) of a current of sheets (11) reaching substantially horizontally and tangentially in a plane (H) passing through the port ( 10) of the pockets (7) in the upper part of the wheels (3, 4), as well as an opposite extraction table (12) and associated front- wise to the wheels (3, 4) and penetrating therebetween with an abutment projection (13) for the extraction of the sheets (11) from the pockets (7), the sheets being pushed forward in succession on said table (12) in a substantially vertical position one against the other by the sheet (11) and tooth (8) respectively following in the direction of rotation; (F1) of the drum (2).

The invention relates to the technical field of underwater vehicles, specifically relates to a track accurate tracking method of an autonomous vehicle, and accurate track tracking control in the variable marine environment of the autonomous underwater vehicle is realized. The method includes following steps: marine environmental parameter recognition: calculating the projection of the current velocity value in the vertical direction of the underwater vehicle; and track tracking: calculating the horizontal plane course-changing torque of the underwater vehicle via the calculation of the transverse distance between the underwater vehicle and a planned track and the deviation value of the course angle of the underwater vehicle and a planned track angle with the combination of the bottom forward speed of the underwater vehicle and the course-changing angle speed of the underwater vehicle. Compared with the conventional control method, the robustness is better, the tracking method can better adapt to the changes of the external environment and self parameters of the AUV, the control capability of the AUV is improved, and the transplant of the method is convenient and can be applied to various underwater vehicles.

The invention provides a marine ecological breeding net cage, and belongs to the technical field of aquaculture. The marine ecological breeding net cage solves the problems that an existing marine breeding net cage cannot be effectively adapted to ocean current direction change and thus breeding excrement leaks and parts of algal culture objects are insufficient in nutrition. The marine ecological breeding net cage comprises a net cage body and an algal culture floating frame. The algal culture floating frame is located on the side portion of the net cage body, and the algal culture floating frame and the net cage body are connected through a pulling rope. A circular supporting frame is fixedly connected over the net cage body. The supporting frame is connected with two sliding sleeves in a sliding mode. The pulling rope is arranged on the algal culture floating frame in a penetrating mode, and the two ends of the pulling rope are each connected to one sliding sleeve. When the ocean current direction is changed, ocean currents push the position of the algal culture floating frame to be changed, so that the algal culture floating frame is located at the downstream position of the net cage body all the time, residual feeds and excretion waste caused by cultivation can be better utilized and treated, the ecological breeding mode is improved and environmental pollution is reduced.

The invention discloses a scarce control point space-borne synthetic aperture radar image ground positioning method, comprising: step A, acquiring ground control point information of a space-borne synthetic aperture radar image, and calculating corresponding image coordinates of each ground control point by using satellite parameters according to a distance-Doppler model; step B, calculating a compensation parameter according to the calculated corresponding image coordinates of the control points and the practical image coordinates of the control points; step C, calculating corresponding corrected coordinates of the space-borne synthetic aperture radar image coordinates according to the compensation parameter; and step D, calculating corresponding ground coordinates by using the corrected coordinates according to the distance-Doppler model, thus realizing ground positioning of the space-borne synthetic aperture radar image. The method can calculate the compensation parameter of the image coordinates according to the specific quantity of scarce control points by adopting different models, and can well adapt to the quantity change of the control points.

The invention relates to a production method of a fertilizer having an antibiotic degrading effect. Microbes and a photocatalyst or organic matters containing the microbes and the photocatalyst are added into a fertilizer to obtain the fertilizer having the antibiotic degrading effect. Through cooperation of the photocatalyst and the microbes, the objective of degrading antibiotics in fertilizers or soil is achieved.

The invention discloses a traffic flow detection method based on machine vision. The method is based on images acquired by a camera on a road and includes the steps that a real road background image is rebuilt according to a continuous multiframe image sequence; difference operation is conducted on a current-frame image and the background frame image, and then a difference image is acquired; the difference image is divided into a foreground and a background through a binarization method, target classification is conducted on a divided foreground target, vehicle targets in the foreground target are recognized, and eventually vehicles are counted. Through the traffic flow detection method, counting of road traffic flow is achieved, the targets are divided through a background difference method, and target extraction accuracy and traffic flow detection accuracy are improved.

The invention relates to a underwater robot control method of a rotatable rudder propeller. By using the method, five-degree-of-freedom motion control of an AUV is realized. The method comprises speed control, course control and vertical plane control. The speed control comprises speed open-loop control and speed closed-loop control. In the speed open-loop control, speed feedback is not considered and an axial thrust of the propeller is directly output and controlled. In the speed closed-loop control, the speed feedback is introduced into a speed controller. The course control is variable structure course control. The vertical plane control is divided into high maneuvering control and low maneuvering control. When a distance between a underwater robot and a target position is greater than a set value, the high maneuvering control is adopted; otherwise, the low maneuvering control is adopted. Compared to a traditional control method, the method of the invention possesses better robustness and is suitable for changes of an extraneous environment, and through using the method of the invention, a control capability of the AUV is increased. The method can be transplanted conveniently and can be suitable for various robots.

The invention provides an elastic self slope type floating ice protection device. The purpose of the elastic self slope type floating ice protection device is to reduce ice-induced vibration of a protection structure effectively, at the same time, control inclination angles of action surfaces, achieve bending failures of ice sheets, and achieve protection effects of icing disasters at different water levels. The elastic self slope type floating ice protection device is composed of a faceplate, a base plate, a beam, an upper cross bar, a lower cross bar, an upper cross bar spring, a lower cross bar spring, connecting nuts, hollow bolts, limiting nuts, faceplate slide grooves, hinged joints and trusses. According to the elastic self slope type floating ice protection device, the faceplate and the beam form a slope type protection structure capable of changing angles, and the faceplate, the springs, the upper / lower cross bar and the hollow bolts form an energy dissipation system. The purpose of adapting to changes of water levels of protection water areas and controlling the inclination angle of the faceplate through selections of design parameters can be achieved. By combining common characteristics of an elastic energy dissipation device and an inclined-plane floating ice protection device, the elastic self slope type floating ice protection device is suitable for structures of large-scale cofferdams, construction work platforms, bridge foundations and the like.