9results about How to "Effective coordination" patented technology

The invention discloses an unmanned aerial vehicle cluster collaborative search method and system based on deep multi-agent reinforcement learning. The method comprises the following steps: defining a tracker unmanned aerial vehicle, a reconnaissance unmanned aerial vehicle and an intelligent target unmanned aerial vehicle; initializing an actor network, a commentator network and an experience playback buffer area for each unmanned aerial vehicle agent; each unmanned aerial vehicle agent selects an action and executes the action through an actor network according to the current state, and after the environment returns a new state and a corresponding reward, the interaction experience is stored in an experience playback buffer area; randomly extracting a batch of experience samples from the experience playback buffer area, and updating a commentator network; calculating gradients using the commentator network, and updating the actor network of each agent according to the gradients; and continuously performing interaction, data collection, network training and target network updating of the intelligent agent until a certain training period or performance standard is reached. According to the invention, the efficiency and safety of the unmanned aerial vehicle cluster for executing the collaborative search task in a complex environment can be improved.

The invention discloses a dispatching optimization method and system for a mine micro-grid, and relates to the technical field of micro-grids. The method comprises the steps of constructing a system model of the mining area comprehensive energy system; a mining area comprehensive energy operation model is constructed based on the system model, and constraint functions of the mining area comprehensive energy operation model comprise a net income maximization function, a renewable energy consumption maximization function and a carbon emission minimization function; the model is converted into a Markov decision process for determining a scheduling strategy for performing day-ahead scheduling control on the mining area integrated energy system, and the scheduling strategy comprises an output power range and an equipment state of each equipment in a day-ahead scheduling period; and under the limitation of the agreed range of the scheduling strategy and the constraint condition of the mining area comprehensive energy operation model, with the purpose of minimizing the operation cost, performing intra-day scheduling control by adopting mixed integer linear programming. Therefore, the problem that a scheduling optimization method in the prior art cannot be applied to the mine micro-grid or has many defects during application is solved.

The present invention provides a method for coordinated voltage control of AC / DC distribution network partitions, including establishing an AC / DC distribution network voltage control model; partitioning the AC / DC distribution network; modeling the voltage control problem after partitioning as a state-adversarial Markov decision process; solving the state-adversarial Markov decision process; interactively training an attacking intelligent agent and a defensive intelligent agent; and deploying the trained defensive intelligent agent online. The present invention solves the problem of coordinated control of multiple devices in an AC / DC distribution network, improves the coordination of multiple controllable devices, and at the same time considers the uncertainty of the observed state, improves the robustness of the control method, and achieves a better voltage control effect.

The invention discloses a data center joint optimization method and system, belongs to the technical field of data center management, and can solve the technical problems of inaccurate load prediction and low resource allocation efficiency of a data center. The method comprises the steps that the load condition of a data center in a historical period is obtained, a data center load data set is formed, a time sequence is obtained through the data center load data set, a GM model is established, the GM model comprises a GM model difference equation and a GM model prediction equation, the GM model difference equation is obtained through the time sequence through the GM model, and the GM model prediction equation is obtained through the GM model. The GM model difference equation comprises an adjustment parameter, a bird flock algorithm is used to obtain an optimal value of the adjustment parameter, the optimal value is substituted into the GM model prediction equation in the GM model, a prediction sequence is obtained, and a data center optimization strategy is executed according to the prediction sequence.

This invention provides a method, device, and storage medium for multi-UAV collaborative four-dimensional trajectory planning, relating to the field of multi-UAV collaborative technology. Addressing complex three-dimensional terrain, spatiotemporal uncertainties, and the demands of multi-UAV collaboration, a four-dimensional executable trajectory planning framework is proposed: It employs a two-layer safety assessment mechanism combining conditional continuous collision verification and conservative propulsion CCD, introducing scenario-based risk measurement and importance sampling to achieve tail risk control; it establishes dynamic executable constraints including velocity, acceleration, lateral acceleration, climb rate, and continuous energy consumption models; it achieves multi-UAV spatiotemporal collaboration and micro-time scheduling through a unified time grid; and it proposes an optimization algorithm, employing a spherical manifold incremental encoding and distribution estimation framework, combined with progressive homotopy constraints, feasible solution consensus guidance, and tail risk-driven sampling mechanisms, to solve the trajectory planning problem under high-dimensional, strongly constrained conditions.

The utility model provides a valve port knife which comprises a knife handle part and a knife edge part arranged at one end of the knife handle part, the knife handle part and the knife edge part are integrally formed, a plurality of cutting parts are arranged on the knife edge part, concave parts which are concave towards the inside of the knife handle part are arranged among the cutting parts, and a first inclined surface, a second inclined surface and a third inclined surface are arranged on the knife edge part. The gradients of the first inclined surface, the second inclined surface and the third inclined surface are sequentially increased; the cutter handle part is in a curved surface shape, and the cutting part is in a plane shape. The cutting edge part and the cutter handle part are integrally formed, the cutting edge part is structurally matched with a gas valve port, the concave part which is concave towards the interior of the cutter handle part is arranged between the cutting parts, and the cutting edge part is provided with the first inclined surface, the second inclined surface and the third inclined surface of which the gradients are sequentially increased, so that repairing requirements of different depths and different types can be effectively met; and the plane design of the cutting part ensures the flatness and precision when the sealing surface of the valve is ground, so that the machining precision is high, and a gas valve port does not leak gas.

The invention provides a control method and device of a direct-current micro-grid, electronic equipment and a storage medium. The control mode comprises the following steps: acquiring a state value of any hybrid energy storage system at the current moment and a state value of any hybrid energy storage system at the last moment; and when the difference value between the state values of the current moment and the last moment of any hybrid energy storage system is greater than a preset value delta, adjusting the voltage, the current and the virtual resistance of all the hybrid energy storage systems. Therefore, all hybrid energy storage systems can be effectively coordinated, and the stability of the DC micro-grid is maintained.

This invention discloses a motion planning method for a seven-DOF robotic arm system, comprising a six-DOF robotic arm and a guide rail. The method first obtains key configuration parameters, dividing the system's revolution angle around a fixed point into n regions and establishing a one-to-one mapping with n predetermined positions on the guide rail. These parameters include the boundary angles of each region, the corresponding guide rail positions, and floating thresholds set for both to suppress fluctuations in region boundary identification caused by floating-point precision. Subsequently, the current revolution angle and guide rail position are identified to determine the target revolution angle. Based on the region numbering relationship between the current and target angles and the current guide rail position, a motion path is adaptively generated. This path is achieved through asynchronous coordination of the robotic arm joint motion and the guide rail linear motion, maintaining a constant end-effector posture throughout the process. This invention avoids real-time kinematics solving through discretization and parameter mapping, improving planning stability, system adaptability, and motion efficiency.

The invention discloses an adsorption material for sewage treatment, and belongs to the field of sewage treatment. The adsorption material is formed by compounding a quaternary ammonium salt chitosan-MOF material and aerogel. The preparation method comprises the following steps: quaternizing chitosan to obtain quaternary ammonium salt chitosan, modifying an MOF material with the quaternary ammonium salt chitosan to obtain HACC-coated Cu-MOF, and compounding the HACC-coated Cu-MOF and aerogel to obtain the adsorption material HACC-coated Cu-MOF-aerogel. The HACC-coated Cu-MOF has the characteristics of good adsorbability to heavy metal ions, porosity and stable structure, and is combined with the characteristics of large adsorption capacity and high adsorption efficiency of aerogel, so that the adsorption material with high adsorption efficiency and stable structure is prepared, and sewage containing heavy metals such as Pb < 2 + >, Cu < 2 + > and Cr < 6 + > is treated.