4results about How to "Avoid mechanical vibration" patented technology

The application discloses a kind of virtual-real migration closed-loop feedback training methods based on three-dimensional brain organoids, the method of the application adopts the technical route of "virtual-real migration", and three-dimensional brain organoids are trained by multimodal closed-loop feedback, i.e. Environmental feedback, punishment feedback and reward feedback effectively avoid the long time mechanical debugging and hardware wear problems caused by traditional physical environment training. In particular, in the initial training period, this method avoids the mechanical vibration caused by the violent collision of real mobile robots, prevents the damage of mechanical hardware and the damage of brain organoids activity, so as to maintain the activity of biological computing carrier and the stability of signal acquisition to the greatest extent while ensuring the training intensity.

The invention relates to the technical field of artificial intelligence, and discloses a robot vision-guided grabbing control method and system, and the method comprises the steps: executing global approaching coarse positioning; after a preset distance threshold is entered, the frame rate is increased, a high-frequency visual servo mode is switched, geometric vectors of feature points are extracted, and pixel residual errors are calculated; kalman filtering is introduced to smooth a residual error, and an observation noise covariance matrix is dynamically adjusted according to a real-time image signal-to-noise ratio; mapping the smooth residual error into a six-degree-of-freedom speed compensation amount by using an image jacobian matrix; and the compensation amount and the original motion instruction vector are synthesized, and after S-shaped curve weighting and normalized amplitude limiting, a joint actuator is driven until the residual error converges. The system comprises a visual acquisition module, a feature extraction module, a residual calculation module, a visual servo controller and a motion execution module. By means of the scheme, high-precision and high-robustness dynamic grabbing is achieved, and dependence on camera calibration and three-dimensional reconstruction is remarkably reduced.

The application discloses a kind of three-phase motor output torque estimation method, device and storage medium, method includes obtaining the first phase current and first bus voltage of last control cycle of inverter, and the second phase current and second bus voltage of current control cycle;According to the first phase current, first bus voltage, second phase current and second bus voltage, determine the three-phase output power of inverter in last control cycle;According to the duty ratio of three-phase PWM dead zone and three-phase current, determine the first output power of three-phase PWM under the action of dead zone in last control cycle;According to the motor efficiency characteristic diagram under rated voltage measured, combine voltage limit ellipse equation to carry out voltage proportional correction to motor speed, determine the motor efficiency under current bus voltage;According to the three-phase output power of inverter, first output power and motor efficiency, determine the output torque estimation value of three-phase motor.Using the above method, the high-precision estimation of three-phase motor output torque is realized.

The utility model discloses a PVC artificial leather production is with low noise shock damper mixing machine, this PVC artificial leather production is with low noise shock damper mixing machine includes: frame, stirring mechanism and elevating system, stirring mechanism sets up at the top of frame, elevating system sets up at the bottom of frame, and the output of elevating system is connected to stirring mechanism through frame, stirring mechanism includes cauldron body, stirrer and driving motor, and the bottom of cauldron body is connected to the output of elevating system, and the top side of cauldron body is correspondingly set up with stirrer, and driving motor is correspondingly set up with the top side of stirrer and is installed and is connected to frame, and elevating system includes drive unit and guide assembly, and elevating assembly sets up at the bottom of cauldron body, and guide assembly sets up at the outer periphery of cauldron body along the lifting direction of cauldron body. PVC artificial leather production is with low noise shock damper mixing machine and drives cauldron body to go up to with stirrer cooperation in place through elevating system, and driving motor can drive stirrer to stir the material in cauldron body.