2154results about How to "Avoid uncertainty" patented technology

The invention discloses an automatic-driving intelligent vehicle trajectory tracking control strategy based on deep reinforcement learning. For an intelligent vehicle automatic-driving task, accordingto an action-critics structure in a deterministic policy gradient (DDPG) algorithm, a double-action network is adopted to output a steering wheel angle command and a vehicle speed command. A main reviewer network is designed to guide the updating process of the double-action network, and the stragety specifically comprises the steps of describing an automatic driving task as a Markov decision process: < st,at,Rt, st +1 >; initializing a'double-action 'network in the improved DDPG algorithm by adopting a behavior cloning algorithm; pre-training a'reviewer 'network in the deep reinforcement learning DDPG algorithm; designing a training road containing various driving scenes to carry out reinforcement learning online training; and setting a new road to test the trained deep reinforcement learning (DRL) model. The control strategy is designed by simulating the human driving learning process, and automatic driving of the intelligent vehicle in the simple road environment is achieved.

A carrier aggregation configuration method and device. The method comprises: a base station configuring a carrier aggregation group for a terminal, and setting configuration manners of different subframe upstream/downstream ratios for wireless frames of each component carrier in the carrier aggregation group. A method 1 is adopted: in the case that a hybrid subframe supports unidirectional transmission, the base station and the terminal agree upon a subframe type of a subframe at a subframe time of a hybrid subframe on a main component carrier as a reference subframe type, the transmission capability on the main component carrier and the sub-component carrier are allowed for a subframe with the subframe type at the subframe time of the hybrid subframe being the same as the reference subframe type, and the transmission capability on the sub-component carrier is forbidden for a subframe with the subframe type at the subframe time of the hybrid subframe being different from the reference subframe type. The solution solves the problems of uncertain subframe types of hybrid subframes and disorderly timing relations of hybrid automatic repeat requests, thereby meeting the demands for component carrier aggregation of different upstream/downstream ratios.

A switching-over circuit of engine redundant electric control system consists of master-backup system control circuit separately set on two circuit board with the same function. It is featured as forming said each control circuit by CPU processor, information exchange circuit, CPU interface circuit, master-backup control logic circuit and state processing logic circuit; carrying out real time monitor on master-backup state by utilizing digital signal between master-backup circuit board and generating master-backup control command according to monitored information. Its controlling method is also disclosed.

In a method for checking the plausibility of objects in driver assistance systems for motor vehicles is described, two measured variables are derived from position data from two object position-finding systems of the vehicle that operate independently of one another, for an object located by the two position-finding systems, one variable for each position-finding system, these variables representing one and the same physical parameter, and the two measured variables are then checked for consistency, which is characterized by the fact that the parameter is the time to collision of the vehicle with the object, which is calculated in advance.

The invention provides an unknown environment route planning method of an underwater cleaning robot, which is a self-adaptive learning fuzzy control method for planning a track in an unknown environment. The method is characterized in that: by simulating the route planning thought, obstacle avoiding through and intelligent thoughts for making a decision for determining the priority of quick planning and obstacle avoiding, three different sub fuzzy controllers are put forward correspondingly for solving three kinds of problems. Meanwhile, according to the estimation of the movement results of a controlled robot, the rule base of the fuzzy controller is modified correspondingly to make the fuzzy controller can handle more complex external disturbance and effectively solve the problem of U-shaped obstacles and symmetric obstacles, so that the robot can complete a planned task and arrive at a destination in a more complex environment. The method eliminates the uncertainty influences of an underground complex environmental factor on the route planning of the robot, improves the movement safety of the robot and enables the robot to well adapt to the complex underground industrial environment.

The invention provides a power utilization abnormal behavior recognition method based on a fuzzy neural network, and the method comprises the steps: extracting original data of a part of users as sample data from a power utilization database; carrying out the data preprocessing; designing a power utilization abnormal behavior evaluation index system on the basis of the analysis of power utilization abnormal behavior cases; constructing an expert sample based on the preprocessed data; taking an power utilization abnormal behavior mark as an input item, taking a power utilization abnormal behavior suspicion coefficient as an output item, and constructing a fuzzy neural network model; inputting test data into a built fuzzy neural network model, and carrying out the diagnosis of the power utilization abnormal behavior; evaluating a power utilization abnormal behavior diagnosis result, and a setting a target evaluation and optimization model. The method provided by the invention achieves the automatic recognition and diagnosis of the power utilization abnormal behavior, achieves the automatic training learning and modeling of a system, achieves the quick and precise positioning of a suspected user, and facilitates the obtaining of various illegal behaviors of power utilization.

An emulator circuit for forming a signal representative of current flow in an inductor of a switched mode power supply, where the inductor is associated with a switching arrangement operational to connect a first node of the inductor to a first voltage (V_in) or to one of a reference voltage (g_nd) or a current flow path, a second node of the inductor to a second voltage (V_out) or to one of a second reference voltage (g_nd) or the current flow path, and wherein the emulator circuit forms a emulator output signal representing the integral with respect to time for which the first and second node of the inductor are connected to the first voltage and the second voltage respectively.

The invention relates to an intelligent microbial sample processing robot, and aims to solve the technical problems of low efficiency, high cost, high probability of germ infection of operation personnel and adverse effect caused by human factors and environmental factors when microbial inoculation is performed in an existing artificial scribing way. The intelligent microbial sample processing robot comprises a machine table, wherein the machine table is connected with a sample test tube automatic cover-removing upper cover, a carrying device, a sample test tube automatic oscillation device, a culture dish cover opening device, a culture dish pushing-out device, a culture dish clamping device, a scribing device, a test tube tray, a culture dish accommodating container, a culture dish recovery container, a barcode scanner and an infrared sterilization instrument. The intelligent microbial sample processing robot is widely applied to microbial inoculation, clinical, chemical, environment and other technical fields.

The invention relates to an auto-stability method for camera image and the auxiliary device used in hand held state or motion state. It uses angular velocity sensor to check the angular velocity of the camera rotating round the three space axes in real-time and records synchronistical with image signal. The variance of the attitude angle between two pictures would be gained by integral in afterward process software, and the attitude angle variance related to slow-varying low frequency element in motion angular velocity is reserved, meanwhile the attitude angle variance related to dithering angle element would be eliminated. Then, the image dithering would be eliminated by translation and rotation the image. The device is made up of three same circuits. And every process circuit is connected by angular velocity checking circuit which is belonged to signal collection circuit, power lever shifting circuit which is belonged to signal process circuit, voltage/frequency transformation circuit, frequency division circuit, wave transformation circuit, signal compound and extent regulation circuit in series. The output signal is sent to the interface of camera.

The invention discloses an operation state control decision making method of a mine ventilation system, and belongs to a mine ventilation control decision making method. The method comprises the following steps: (1) establishing or updating a current mine ventilation system model; (2) acquiring and updating ventilation system parameters in real time; (3) inspecting the rationality of the operation state of the ventilation system; (4) adjusting and solving ventilation network air volume in the case of a given mine total air volume when the operation state of the ventilation system is irrational, and adjusting and optimally solving the ventilation network air volume if a feasible solution is not available yet; (5) determining a fan matching working condition, performing air volume adjustment and solving for gradually expanding natural air distribution on an air network according to a maximum air pressure characteristic curve allowed by the fan, and finally determining an optimal executable scheme for air volume adjustment of the mine ventilation system. A mass flow and air density double-layer iteration method is adopted in the air volume adjustment and solving, and a sensor for monitoring underground air density can be saved. Technical support is provided for keeping rational, stable, reliable and high-efficiency operation of the mine ventilation system for a long time.

A spinal fusion surgery instrument for implanting and an intervertebral cage thereof are provided. The spinal fusion surgery instrument includes a body, a gripper subassembly, a first control subassembly, and a second control subassembly. The first control subassembly is provided to generate a displacement between a first connecting member and a second connecting member of the gripper subassembly to change the angle of gripper of the intervertebral cage. The second control subassembly is provided to enable a first gripping member and a second gripping member of the gripper subassembly separating smoothly from the dowel pins of the intervertebral cage. By means of the operation model, the spinal fusion surgery instrument may be controlled easily, and the orientation of the intervertebral cage may be promoted in the process of the surgery.

The invention discloses an RTCP calibration and compensation method for a five-axis NC machine tool of a double-pendulum-head structure. The method comprises the steps of recording the calibrated coordinate values of each rotating shaft at different angle positions, and calculating to obtain the offset vector of each rotating shaft and the vector data of each rotating shaft in the axis direction;writing the data into corresponding machine tool parameters of a numerical control system; and activating the five-axis linkage function of the numerical control system. In this way, the problems thatthe characteristic data of the five-axis machine tool cannot be directly acquired and the precision of a traditional method is low can be effectively solved. The accuracy of calibrated data is guaranteed, and the rapidity and the accuracy of the five-axis RTCP calibration are improved. As a result, the adjustment time is shortened, and the introduction of human errors is reduced.

A method and device for carrying out travel route planning for a vehicle, in which schedule data are transmitted to a calculation unit, which is coupled to a data memory, in which data relating to a path network for the vehicle and data relating to the geographic positions of energy supply facilities are stored. The calculation unit checks if a route sequence which connects the geographic positions of the destinations associated with the schedule data is calculable such that the destinations are reached at the associated time data of the schedule data, wherein the prognosticated residual energy amount in the energy store of the vehicle for travelling the route sequence is determined and taken into account, if no such route sequence is calculable using the calculation unit, the latter determines matched schedule data for which such a route sequence is calculable, and the matched schedule data are output.

The invention discloses a modeling system of a proton exchange membrane fuel cell (PEMFC) and an intelligent predictive control method thereof. The modeling system at least comprises an input-output nonlinear function structuring and implementing module and an intelligent predicative control module, wherein the input-output nonlinear function structuring and implementing module is used for structuring an input-output nonlinear function relationship and identifying the function by using a least square support vector machine method; and the intelligent predicative control module is used for carrying out nonlinear rolling optimization on a predicated target function by using a particle swarm optimization algorithm to acquire the optimal controlled quantity so as to realize the intelligent predicative control over the PEMFC. According to the invention, by means of establishing an output power characteristic model of a PEMFC stack by using input-output data, a complex reaction mechanism inside the PEMFC stack is avoided, and the modeling speed and the modeling precision are high.

The invention discloses an urban-railway-system train intelligent control method based on driving experience and online study. The method obtains output of a controller through simulation of a driving strategy of an experienced driver, use of real-time data of train operation and reasoning and induction, and uses real-time information and speed-limit information of the trains to reasonably distribute the remaining time of train operation so that a time precision estimation value and a speed estimation value are obtained, and based on an MTDA algorithm of the real-time information, the method uses a train operation limit speed and current position, speed and time to deduct an expectation operation time and an expectation operation speed of train operation. Compared with a simulation result of automatic train operation (ATO) of a Yizhuang line of the Beijing city, the intelligent control method is capable of saving energy and improving on-time performance.

The invention discloses a method for classifying electric energy quality mixed disturbances based on multi-feature quantity of time-frequency domain. Voltage dip, voltage swell, short-term voltage interruption, impulsive transient, oscillatory transient, harmonic waves and flickering electric energy quality disturbances and mixed disturbances of a combination thereof are classified. The method for classifying the electric energy quality mixed disturbances concretely comprises the steps of: firstly, processing a disturbance signal by using an EEMD (Ensemble Empirical Mode Decomposition) and MIST (modified incomplete S-transform), and extracting nine time-frequency domain characteristic values; and then, inputting characteristic quantity to a blocked automatic classifying system to recognize the disturbances. By using the method, the mutual interference among single disturbances is fully considered and is effectively inhibited through the complementary time-frequency domain characteristic values. A simulation result shows that, under conditions of certain noises, the method can be used for effectively classifying the voltage dip, the voltage swell, the short-term voltage interruption, the impulsive transient, the oscillatory transient, the harmonic waves and the flickering electric energy quality disturbances and the mixed disturbances of the combination thereof.

The invention relates to a maintenance method for shield equipment and discloses a method for replacing a tail brush in a shield tunnel through liquid nitrogen freezing. The method comprises the following processing steps: 1, preparation of construction; 2, construction of freezing holes; 3, installation of a freezing system and a temperature measuring system; 4, construction of liquid nitrogen freezing; 5, construction of sealing maintenance of a shield tail; 6, construction of formation sealing of the freezing holes; 7, construction of forced thawing; and 8, construction of propulsion of shield recovery. According to the invention, stratum is frozen through a liquid nitrogen freezing method to form a frozen curtain, so that the defect of indeterminacy of a traditional grouting method for carrying out the treatment of stratum consolidation and water sealing to bearing pressure permeable stratum can be avoided; and the method has the advantages of high strength, good uniformity, good water-resisting property and the like.

The invention provides a specific vehicle crossing signal priority control system and a method thereof. A priority guidance function can be automatically and rapidly enforced to a specific vehicle which is installed with a vehicle positioning unit. According to a driving direction of the specific vehicle, a priority passing phase of the specific vehicle is determined. According to driving speed of the specific vehicle and a distance of the specific vehicle from a crossing center, an opportunity of providing a priority passing signal for the specific vehicle is determined. When the opportunity of providing the priority passing signal for the specific vehicle arrives, the system automatically provides the priority passing signal for the specific vehicle. When the specific vehicle passes a crossing, the priority passing signal is automatically removed so as to reduce influence on normal traffic.

The invention discloses an earthquake prediction method for porosity and shale content of a sand shale reservoir. The method comprises steps as follows: measuring test data of a core sample; calculating a matrix elastic parameter according to a rock physical theory; acquiring a longitudinal and transverse wave speed-porosity-shale content theoretical relation of the sand shale reservoir according to the matrix elastic parameter of the sand shale and the test data of the core sample; calculating logging porosity and logging shale content according to acquired actual logging data; on the basis of the longitudinal and transverse wave speed-porosity-shale content theoretical relation, performing parameter cross analysis, and calibrating and correcting the logging speed, the logging porosity and the logging shale content; establishing a quantitative prediction model about logging longitudinal and transverse wave impedance-porosity-shale content; acquiring an earthquake longitudinal wave impedance data cube, a transverse wave impedance data cube and a density data cube through earthquake pre-stack inversion; performing earthquake porosity and shale content data inversion to acquire an earthquake-predicted porosity data cube and an earthquake-predicted shale content data cube.

The invention relates to an automatic cover opening or closing and carrying device for a sample test tube, and solves the technical problems of low efficiency, high cost, easy bacterial infection of operators and negative influence caused by artificial and environmental factors during manual operation of an existing microorganism sample test tube. The device comprises a machine table, a test tube clamping vertical movement electric cylinder, a test tube top rotary motor, a test tube clamping bottom rotary electric cylinder, a test tube clamping electric cylinder and a test tube cover opening clamping electric cylinder, wherein the test tube clamping bottom rotary electric cylinder is connected with the machine table; the test tube clamping vertical movement electric cylinder is connected with the test tube clamping bottom rotary electric cylinder; the test tube clamping electric cylinder and the test tube top rotary motor are connected with the test tube clamping vertical movement electric cylinder respectively; the test tube clamping electric cylinder is provided with two clamping jaws; the test tube top rotary motor is connected with a cover screwer; the test tube cover opening clamping electric cylinder is connected with the machine table and provided with two clamping jaws. The device is widely applied to the technical fields of microorganism inoculation, clinics, chemicals, environments and the like.