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 discloses a face super-resolution reconstruction method based on K-neighboring re-recognition, the method comprises the following steps: respectively dividing a to-be-reconstructed low-resolution face image and sample images in a high-resolution training set and a low-resolution training set into overlapped image blocks, for the image blocks of the to-be-reconstructed low-resolution face image, according to the priority that geometrical information with high-resolution manifold is relatively credible and relatively representative, updating the recognized neighboring image by using geometrical information with low-resolution manifold and the high-resolution manifold, computing an optimal weight coefficient when the re-recognized neighboring image blocks are used for linear reconstruction, replacing the re-recognized neighboring image blocks by using one-to-one corresponding position image blocks of corresponding images in a high-resolution training set, weighting to synthesize the high-resolution image block, fusing as the high-resolution face image according to the position of a synthesized image on the face. The method has the relatively high reconstruction precision and reconstruction efficiency, and can be used for reconstructing high-quality face image.

The invention provides a synchronous generator practical model parameter examination and identification method based on a parameter measure unit (PMU). Based on PMU measured data, a generator high voltage bus voltage magnitude after a system is disturbed and a phase exciting voltage measured value are used as an input for examining of a generator practical parameter, and the effectiveness of the practical parameter is judged. An actual measurement generator power angle function can be achieved by utilizing the PMU, voltage and d, q axis component of currents are calculated, and thereby a least square method is used for respectively identifying park model parameters of the two axle, and finally, the generator practical model parameter is determined. By means of the synchronous generator practical model parameter examination and identification method based on the PMU, power system stability analysis reliability is improved, and reliable reference is supplied for planning and design, and scheduling decisions of a power grid.

The invention discloses a dielectric constant microwave measurement of a dielectric medium. The measurement device comprises a mixed ring with a slot-line structure. The mixed ring comprises an input port, an isolation port and two same-phase output ports. Parts of 1 / 4 wavelength of the mixed ring are slot lines. Symmetrical coplanar waveguide transmission lines are adopted in the input port and the same-phase output ports. Multiple array branches are symmetrically loaded on a middle guide band between the same-phase output ports. The array branches are formed by coplanar waveguide transmission lines of open-circuit type terminals. Two signal transmission branches are formed from the input port to the same-phase output ports of the open-circuit type terminals. A plastic pipe used for containing to-be-measured solution is arranged on one of the signal transmission branches on one side. The slot lines are adopted on the isolation port. A Balun which shares the panel with the slot lines is manufactured by use of the etching technology, so balance / unbalance signal conversion is finished. According to the invention, dual-port measurement is achieved, so a problem of multiple solutions can be avoided and the measurement results of the dielectric constants can be quite precise and reliable.

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 method for setting parameters of a robustness fractional order PD< mu > controller based on a vector quantity method, and belongs to the technical field of fractional order automatic control. A mathematic model transfer function of a controlled object system is given, a controlled object is written into a controlled object vector quantity mode, a performance index vector quantity mode is written out, a controlled object vector quantity P is corrected through a correction vector quantity L to reach a performance index vector quantity G, the correction vector quantity and a controller vector quantity form a triangle in a complex plane, and a differential coefficient to be set is obtained. The method can reduce calculated quantities, the setting process is simple and easy to understand, and when the controlled object is changed, users only need to calculate the module value, the phase angle and the angular speed of the controlled object, the following formula can be used indiscriminately, and therefore the process of repeatedly deducing an equation is reduced, and the multi-solution problem existing in matlab solutions is solved.

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 discloses a dielectric characteristic detection device for electric small-scale samples based on near zero transmission. The dielectric characteristic detection device is an asymmetric three-port network, and specifically includes a bottom metal layer, an intermediate dielectric layer and an upper metal strip. The upper metal strip includes a micro-strip Wilkinson power divider, a 90-degree 3dB branch line coupler, two branches, and electric field enhancement stubs loaded on the two branches. The two electric field enhancement stubs constitute the test and reference areas of thedielectric characteristic detection device, and micro fluid passages are loaded in the test and reference areas respectively. When the two micro fluid passages are loaded with the same sample or the device is in a no-load state, the dielectric characteristic detection device will be in a symmetrical balance state, and there will be two transmission zeros. When there is a small difference between the samples loaded by the micro fluid passages, the transmission zero of the dielectric characteristic detection device will change. The device of the invention has the advantages of convenient use, low price and easy integration.

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 discloses a face super-resolution reconstruction method based on K-neighboring re-recognition, the method comprises the following steps: respectively dividing a to-be-reconstructed low-resolution face image and sample images in a high-resolution training set and a low-resolution training set into overlapped image blocks, for the image blocks of the to-be-reconstructed low-resolution face image, according to the priority that geometrical information with high-resolution manifold is relatively credible and relatively representative, updating the recognized neighboring image by using geometrical information with low-resolution manifold and the high-resolution manifold, computing an optimal weight coefficient when the re-recognized neighboring image blocks are used for linear reconstruction, replacing the re-recognized neighboring image blocks by using one-to-one corresponding position image blocks of corresponding images in a high-resolution training set, weighting to synthesize the high-resolution image block, fusing as the high-resolution face image according to the position of a synthesized image on the face. The method has the relatively high reconstruction precision and reconstruction efficiency, and can be used for reconstructing high-quality face image.

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 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 synchronous generator practical model parameter examination and identification method based on a parameter measure unit (PMU). Based on PMU measured data, a generator high voltage bus voltage magnitude after a system is disturbed and a phase exciting voltage measured value are used as an input for examining of a generator practical parameter, and the effectiveness of the practical parameter is judged. An actual measurement generator power angle function can be achieved by utilizing the PMU, voltage and d, q axis component of currents are calculated, and thereby a least square method is used for respectively identifying park model parameters of the two axle, and finally, the generator practical model parameter is determined. By means of the synchronous generator practical model parameter examination and identification method based on the PMU, power system stability analysis reliability is improved, and reliable reference is supplied for planning and design, and scheduling decisions of a power grid.

The invention discloses a single far field type deep learning wavefront restoration method based on four-quadrant discrete phase modulation. Deep learning can perform self-extraction of image deep features, has strong nonlinear fitting capability, and can be used for the fitting mapping of far-field light intensity distribution to wavefront aberration information. In Fourier optics, the far-fieldlight intensity distribution is equal to modulus square of incident wavefront complex amplitude Fourier transform, and the single far-field light intensity distribution can correspond to a plurality of different incident wavefronts. In supervised learning, equivalently, one sample corresponds to multiple tags, and the mapping is ill-conditioned state mapping. A focal plane wavefront recovery sensor which is simple in structure, high in light energy utilization rate, good in real-time performance and high in recovery precision is designed, four-quadrant discrete phase modulation is introduced,and the multi-solution problem that a single far field corresponds to multiple incident wavefronts in wavefront recovery is solved; and the mapping relationship between the modulated far-field light intensity distribution and the incident wavefront is accurately fitted by using deep learning, so that high-precision rapid wavefront restoration of a single-frame focal plane light intensity image isrealized.

The present invention provides a power network equivalent parameter fast calculation method based on nonlinear variable substitution. The method comprises the following steps of: step 1, acquiring generator voltage values of four different active and reactive power outputs of a target power generator. step 2, substituting data of the four different active and reactive power outputs into a single-machine infinite-bus system circuit formula to obtain simultaneous nonlinear equations; step 3, performing variable substitution on the formula obtained in the step 2, and converting the nonlinear equations into linear equations; step 4, solving the linear equations obtained in the step 3 to obtain the value of an intermediate variable; and step 5, obtaining system equivalent impedance and equivalent voltage by the obtained value of the intermediate variable. According to the power network equivalent parameter fast calculation method based on the nonlinear variable substitution disclosed by the present invention, the equivalent voltage and impedance can be obtained by quartic power flow calculation, and the solving of the nonlinear equations is avoided by the nonlinear variable substitution, so that the computational complexity is greatly lowered and the computational amount is reduced; and the method has the characteristics of high calculation speed, high accuracy, easiness for application and the like.

The invention relates to an electromechanical transient model actual measuring and modeling method for a nuclear power unit 39-phase self-excitation brushless excitation system. Based on structure characteristics of the nuclear power unit 39-phase self-excitation brushless excitation system and static and dynamic test actually measured data, model parameters for power system electromechanical transient analysis are obtained, and verification is carried out on model precision in the stable analysis process. The method solves the problem that a nuclear power unit multi-phase rectifier brushless excitation system lacks calculation model parameters according with actual situations, the precision when an electromechanical transient program calculates nuclear power unit features can be effectively improved, and powerful supporting is provided for safe and stable operation of a power grid.

The invention discloses a shale gas reservoir classification method and device and a storage medium. The classification method includes the steps that a correlation between geological parameters and shale gas reservoir quality coefficients is obtained, wherein the shale gas reservoir quality coefficients are used for reflecting reservoir categories; geological parameters of a to-be-measured shale gas reservoir are obtained, and a shale gas reservoir quality coefficient corresponding to the geological parameters of the to-be-measured shale gas reservoir is determined based on the correlation; and according to the shale gas reservoir quality coefficients corresponding to the geological parameters of the to-be-measured shale gas reservoir, the reservoir category of the to-be-measured shale gas reservoir is determined. According to the shale gas reservoir classification method and device and the storage medium, the reservoir category of the to-be-measured shale gas reservoir can be accurately determined.

The invention discloses an on-chip near-zero transmission type sensor based on an aggregation effect and a detection method. The on-chip near-zero transmission type sensor comprises a power divider, a synthesizer, a split-ring resonator I, a split-ring resonator II and two branches, wherein the power divider is connected with the synthesizer through two branches; the split-ring resonator I and the split-ring resonator II are loaded on the two sides of the two branches respectively, and the two split-ring resonators are connected with the two branches in a coupling mode; an interdigital capacitor is loaded in a resonant ring in the split-ring resonator II, and a microfluidic channel is arranged on the interdigital capacitor; an interdigital capacitor is loaded in a resonant ring of the split-ring resonator I, and an adjustable capacitor is connected in parallel in the resonant ring of the split-ring resonator I. The sensor provided by the invention can be applied to the fields of cytology, electromagnetic field biomedicine, microwave chemical non-thermal effect, protein thermal denaturation and the like.

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 multi-port broadband cancellation type sensor based on a composite right / left hand transmission line. The multi-port broadband cancellation type sensor comprises a first annular coupler, a second annular coupler and two connecting lines; two ends of the two connecting lines are respectively connected with two signal output ports of the first annular coupler and a signal input port of the second annular coupler, and the other three ports of the first annular coupler and the second annular coupler can be set as ports of the sensor or tail end loading matching loads according to requirements, so the sensor can be freely tuned among double ports, three ports, four ports and five ports; and composite left and right hand branches are respectively loaded in the two connecting lines and are used as a test area, a microfluidic channel is arranged in the test area, and the microfluidic channel is provided with a liquid sample inlet and a liquid sample outlet. The sensor is high in sensitivity, wide in frequency band, simple in detection method and easy to integrate, and has the potential of being combined with other devices to form a micro analysis system.

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 relates to a minimum chi-square estimation method. According to the method, a function form of a fitted curve is constructed on the basis of a linearly independent basis function set, a method of iterative calculation is adopted to give each coefficient in a function of the fitted curve, and theoretical values obtained after substituting the coefficients into the fitting function have a characteristic of the minimum chi-square. The minimum chi-square estimation method of the invention avoids the problem of existence of multiple solutions of a fminsearch function, has the characteristics of a unique solution and ability to ensure the chi-square to be minimum, ensures the accuracy of solving, avoids the problem of information missing existing in a solving process, and is high in logicality, easy to program, simple and easy to realize.

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.