39results about How to "Avoid multiple solutions" patented technology

The invention discloses a transitional tracking planning method applied by an industrial robot, which can realize the transition between a joint space track and a cartesian space track, and the transition between two tracks of the cartesian space, the transitional track between different movement tracks are planned under the cartesian space, and has an intuitive shape; by adopting the algorithm that two parabolas are fused into one transitional curve, the smoothness of the track, speed and acceleration can be ensured, and the curve shape is controllable; the transitional track is formed by six independent curves, and the transition can be realized on the track with only posture change without position change; from the engineering application angle, the path velocity of transitional track boundary is restrained by utilizing the included angle between the tracks and the system allowable chord error, the boundary posture rotation speed is restrained by the similar mode, so that the large impact on a mechanical system caused by overhigh engagement speed can be prevented.

The invention provides a phase inversion method based on a focal length fixed Fresnel zone plate. Part of focal plane and de-focal plane information of wavefront can be collected at the same time at the same position in the far field, only one frame of image is needed, the method based on the Fresnel zone plate is simple in components and is portable, accurate phase inversion can be realized on the basis of the single-frame far-field image, and the calculating speed and the precision are high.

The invention discloses a rapid fault diagnosis method used for a microgrid, which adopts a mode of step-by-step diagnosis and comprises the following steps that firstly, primary diagnosis is carried out by utilizing the switch information of a network, i.e. newly added passive sub-networks are judged as fault regions and fault elements according to the difference of before and after topology analysis results of faults, and for simple faults, a unique fault region and fault element can be determined. For complicated faults, a plurality of suspected fault solutions can be possibly presented in the result of the primary diagnosis of the switch information. At this moment, a second-step diagnosis is entered, and the diagnosis is carried out by utilizing the protection information of the network. A new target function is established in protection information diagnosis by utilizing the protection information of the elements; the fault diagnosis problem of the microgrid is expressed as the 0-1 integer programming problem; a genetic algorithm and tabu search mixed strategy is introduced to solve the target function; and the fault elements are determined by the optimal solution. The invention can effectively improve the fault diagnosis efficiency, reduces the time of fault diagnosis and improves the fault diagnosis quality.

The intelligent power generation control method of a virtual wolf cluster control strategy under an island intelligent power distribution network comprises steps of determining a state discrete set S,determining a combined motion discrete set A, obtaining value function errors Rhok,Mk, updating all Q function tables and time a tunnel matrix e (sk,ak) which correspond to all state-motions (s,a), updating Q values and updating a mixed strategy pi(s<k>, a<k>) under the current state s, updating a tunnel element e (s<k>, a<k>), selecting a variable learning rate phi, and updating a decision change rate delta (s<k>, a<k>) and a decision space estimation slope delta2(sk, ak) according to a function, outputting a total power reference value delta P sigma and using a consistency algorithm and calculating unit regulation power delta PGi. The intelligent power generation control method of the virtual wolf cluster control strategy under the island intelligent power distribution can solve multi-solution problem produced by a large scale surge of multiple intelligent objects, can solve a random disturbance problem caused by large scale access of new energy and realizes coordinated control andoptimization of a multi-layer distributed control system.

The invention discloses an automatic selecting method for well testing data interpretation of an oil-water well. The automatic selecting method comprises the following five steps that firstly, a measured pressure historical curve is measured; secondly, whether multiple times of on-off well testing stages exist or not and the well on time is 2.5 times or above the well off time or not are judged, if yes, a deconvolution method is adopted, and if not, the third step is carried out; thirdly, a well on flowing curve is subjected to straight line fitting, the fourth step is carried out if a correlation coefficient is larger than 0.95, and otherwise, a variable yield method is selected; fourthly, a double logarithmic curve is drawn, a conventional method is selected if radial flow appears, and the fifth step is carried out if no radial flow appears; fifthly, when no radial flow appears on the double logarithmic curve, an early-stage well testing analyzing method is adopted if a fork feature appears, and a pressure speed interpretation method is adopted if no fork feature appears. A powerful guarantee is provided for solving the parameter multi-solution problem and improving parameter precision.

The invention discloses a coplanar waveguide/slot line type based mini change detector for a dielectric property of a fluid. The detector comprises two coplanar waveguide-slot line mixed ring couplers, a coplanar waveguide-slot line balun is connected between an input port of the first mixed ring coupler and a first 1/4 annular slot line, a sector-shaped radiating surface is loaded in the tail end of a coplanar waveguide transmission line of an isolation port of the first 1/4 annular slot line, two balancing ports of the first 1/4 annular slot line are in 180-degree anti-phase output, and the tail ends of the balancing ports are connected to coplanar waveguide-slot line back-to-back baluns respectively; an isolation port of a second 1/4 annular slot line includes a slot line, a sector-shaped radiating surface is loaded in the tail end of the isolation port of the second 1/4 annular slot line, two balancing ports of the second 1/4 annular slot line are in same-phase output, and the tail ends of the balancing ports are connected to coplanar waveguide-slot line back-to-back baluns respectively; and the balancing ports of the two mixed ring couplers are connected via a slot line segment, and a microfluid channel is arranged in the slot line segment. The detector is high in sensitivity and wide in bandwidth, and a detection method is simple and easy to integrate.

The invention relates to a vector method-based method for setting the parameter of a fractional order PI lambda controller and belongs to the technical field of frictional order automatic control. The method comprises the steps of writing a controlled object into a controlled object vector mode by combining the mathematical model transfer function of a given controlled object system, writing a performance index vector mode, utilizing a correcting vector L to correct the controlled object vector P to achieve the performance index vector G, and solving the transfer function of the controller, wherein the correcting vector and a controller vector form a triangle in a complex plane. The vector method-based method for setting the parameter of the fractional order PI lambda controller has the advantages that the calculation amount is reduced, and the setting process is simple and easy to understand. When the controlled object is changed, people can mechanically apply the subsequent formula by only computing the module value, the phase angle and the angle speed of the controlled object, so the process of repeated equation derivation is reduced, and the multi-solution problem existing in the matlab (matrix laboratory) solving is solved.

The invention discloses an acoustic emission source positioning method and system based on a linear weighted least square method. The method comprises the following steps: 1) obtaining a mean value reference equation according to a distance time equation between each sensor and an acoustic emission source; 2) obtaining a linear equation set based on the average reference equation; 3) based on thelinear equation set, calculating common least square solutions V (1) and K (1) of intermediate variables V and K so as to estimate a covariance matrix psi of the linear equation; 4) acquiring a weightmatrix W according to the psi, and calculating weighted least square solutions theta (2) and K (2) of acoustic emission source coordinates theta and K expressed by V; 5) substituting theta (2) and K(2) into the mean value reference equation to obtain a unary cubic equation about the V; and 6) solving the unary cubic equation, taking a root closest to V (1) as a V closed-form solution V (2), andsubstituting into theta (2) to obtain a final acoustic emission source coordinate. In the invention, positioning precision is high.

The invention belongs to the technical field of indoor environment inspection and particularly relates to a method for determining a diffusion coefficient and a distribution coefficient of volatile organic compounds (VOC) in an indoor sink material. The determination method comprises the following steps of establishing an absorption physical model; putting a to-be-detected sink material into the direct-current cabin, introducing VOC gas with constant concentration to carry out an absorption experiment, and measuring the gas concentration of the direct-current cabin at different time; and performing linear fitting on experimental data according to the absorption model to solve a diffusion coefficient, a distribution coefficient and the like. The method is simple in test and short in experimental period, a problem of multiple solutions is avoided through linear fitting, two absorption key parameters of the diffusion coefficient and the distribution coefficient can be measured at the sametime only through one absorption process, and the method is more reliable and convenient compared with a traditional method.

The invention belongs to the field of municipal engineering urban sewage pipe networks, and provides a three-dimensional geographic information-based sewage pipe network hydraulic model establishment method, which comprises the following steps of: collecting a physical corresponding relationship between each inspection well node of a sewage pipe network and surrounding buildings through three-dimensional geographic information; estimating the population as prior information according to the corresponding relation, determining a total inflow time sequence of all inspection well nodes in the area by using an optimization algorithm based on the population proportion, and performing optimization calculation on the flow fluctuation coefficient of each inspection well node so as to determine the inflow time sequence of each inspection well node. The accurate establishment of a hydraulic model of the sewage pipe network is realized.the invention provides a method for replacing sewage pipe length/catchment area data with population data to serve as prior information of sewage pipe network flow checking, and the problem of multiple solutions generally existing in an existing simulation technology of the sewage pipe network is more reasonably solved. The check result of the flow of the sewage pipe network is more accurate in the absence of enough monitoring data.

The invention discloses a single-frame focal plane light intensity image deep learning phase difference method based on grating modulation. A data set fully sampled in a sample space is selected for aconvolutional neural network (CNN) to fit a mapping relationship between a far-field light spot and a near-field wavefront phase, after network training convergence, a far-field light spot image is input to obtain a wavefront aberration corresponding to the far-field light spot image, the mapping solving process does not need iterative operation any more, and the calculation time consumption is reduced. The focal plane wavefront restoration sensor which is simple in structure, good in real-time performance and high in restoration precision is designed on the basis of grating modulation, the iterative optimization process of a traditional phase difference method is avoided through a deep learning algorithm, algorithm time consumption is reduced, and rapid phase inversion of a single-framefocal plane light intensity image is achieved.

The invention belongs to the technical field of camera parameter calibration, and relates to a camera external parameter calibration method based on a camera position and two mark points. The method comprises the following steps of: obtaining a corresponding relation of two points through geometric constraint and rotation of a camera coordinate system and a world coordinate system under the condition that the relation between the camera coordinate system and the world coordinate system is known in an initial state; and according to the rotation and translation of the camera coordinate system and the world coordinate system at the initial moment and the rotation angle in the rotation process, finishing the external parameter calibration of the camera. The method is suitable for application scenes capable of obtaining the position of the camera in advance, such as a fixed monitoring camera, a staring camera for measuring the attitude of an aircraft in an external field, or a camera with positioning equipment and the like.

The invention discloses a serial robot motion control method and a computer storage medium. The control method is achieved by controlling a robot to reach a target point location according to the information of tail-end point location of the robot and joint point location of the robot. The method includes the steps of (1), establishing a global coordinate system and determining target point location information; (2), obtaining the location information of the tail-end points and the joint points; (3), calculating angles information needed by each joint point; (4), controlling each joint motor to rotate towards the target direction by adopting a PID mode; (5), detecting if the distance between the tail-end and the target point reaches within the tolerance range or not, if yes, stopping rotating the motors, and if no, repeatedly carrying out the operations from step (2). Problems such as tedious solution and low control efficiency in a current robot control method are overcome, the complexity of operation and controlling is effectively reduced and the burden of a controller is relieved.