16results about How to "Effective tracking" patented technology

The invention belongs to the technical field of robot teleoperation and haptic interaction, and provides a multi-mode force feedback control method and system for nuclear facility robot operation, and the method comprises the steps: collecting the state information of a master arm and a slave arm in real time, and dynamically scheduling a haptic calculation strategy according to a task state; a fast estimation strategy is enabled in the fast transit mode. Further, real environment interaction force is obtained based on dynamic model compensation and net interaction force extraction; combining the dynamically selected multi-mode force feedback parameters, and synthesizing and outputting a touch instruction to the main arm. Meanwhile, admittance correction and feed-forward compensation are carried out on a slave arm motion instruction through net interaction force and dynamic internal force, synchronous output is carried out after safety optimization, and the slave arm is controlled to move. The problems of poor task adaptability, force sense distortion and insufficient safety in nuclear facility teleoperation are solved, and intelligent, high-fidelity and safe robot teleoperation is achieved.

This invention relates to the fields of machine learning and edge computing technology, specifically to a blockchain-based trusted distributed hybrid expert model edge computing system. The system includes a task publisher for publishing learning tasks, which may be training or inference tasks; a blockchain network for receiving learning tasks and evaluating expert weights to obtain sparse activation expert index results; a blockchain network for receiving learning task processing results from the edge layer and achieving consensus; a gating network deployed within the blockchain network; an edge layer for downloading the corresponding expert model from the storage layer based on the sparse activation expert index results to process the learning tasks and uploading the processing results to the blockchain network; and a storage layer for storing all expert networks, each with a CID. This invention significantly improves the defense capability of the distributed MoE network against malicious edge node data tampering attacks, thereby ensuring the learning performance of the MoE system.

The application discloses a method for electronic countermeasure cooperative jamming suppression in a frequency offset scene, which comprises the following steps: S1. At the jammer, after the interference data x(n) is converted by a digital-to-analog converter and up-converted, a transmission jamming signal is generated and transmitted; S2. At the authorized receiver, after the jamming signal is transmitted through a wireless channel, the jamming signal is received simultaneously with an expected signal, down-converted to obtain a baseband receiving signal, and analog-to-digital converted to obtain a baseband digital signal; S3. The baseband receiving signal is expressed in a matrix form; S4. The fast-changing cooperative jamming joint channel coefficient is estimated, and the cooperative jamming is reconstructed and cancelled to complete the interference suppression. The application can effectively cancel the cooperative jamming under a frequency offset multipath channel, and does not need to accurately estimate the frequency offset value, but sets a frequency offset value interval, and uses multiple adaptive recursive filters in parallel to estimate the cooperative jamming coefficient.

This method for managing competition platforms based on collaborative code hosting platforms includes the joint collaboration between the regular competition platform user system and the code hosting platform user system, as well as the creation and permission management of code hosting platform repositories. The joint collaboration between the regular competition platform user system and the code hosting platform user system includes: S1. Accessing the code hosting platform user system, including two basic operations: user registration and user login and binding; S2. Processing existing users. The code hosting platform repository creation and permission management includes: maintaining the code hosting platform repository permission list; submitting competition code from the code hosting platform repository address; and managing read permissions and open-source permissions. This method can simultaneously improve the efficiency of participating users, expert judges, and platform administrators, which is of great significance for promoting the vigorous development of online scientific research competitions.

The present disclosure relates to a wafer classification method and device, electronic equipment and computer readable storage medium, and belongs to the technical field of semiconductor production and manufacturing, and can be applied to the scenario of classifying wafers. The method comprises: obtaining associated information of a wafer to be classified; the associated information comprises repair circuit information of the wafer to be classified and historical reference wafer information corresponding to a historical reference wafer; and based on the repair circuit information and the historical reference wafer information, the wafer to be classified is compared with the historical reference wafer one by one to obtain a current wafer category; the current wafer category comprises a current reference wafer and a current abnormal wafer. The present disclosure can quickly classify wafers according to the repair circuit information of the wafers to provide subsequent problem tracking of failed wafers.

The utility model discloses a kind of energy storage load tracking control architecture, it is related to energy storage control technical field, comprising: alternating current incoming line side's current sampling sensor;Power electronic converter, with external current voltage sampling interface;The power electronic converter obtains the current signal of alternating current incoming line side in real time by the external current voltage sampling interface, and carries out real-time tracking control, realizes load tracking and prevents reverse flow function, the architecture is suitable for the multi-source fusion system including photovoltaic, charging pile, wind energy, diesel generator at least one, the system tracks single-phase and three-phase load change in the process of charging, discharging. The energy storage load tracking control architecture, by increasing current sampling sensor in alternating current incoming line side and increasing sampling interface for PCS, control function is decentralized to PCS, so that the dynamic response speed of system is greatly improved.

The application provides a kind of detection method, device and electronic equipment based on unmanned aerial vehicle for water sports object, which comprises obtaining visible light image, infrared image and radar image by using unmanned aerial vehicle;Visible light image, infrared image and radar image are fused to obtain three-dimensional scene model;Based on three-dimensional scene model, water body boundary contour is extracted, and water area range is determined according to water body boundary contour;The geometric features and texture patterns of the preset water target are obtained, and whether the preset water target exists in the water area range is detected based on the preset target detection algorithm;When the preset water target exists in the water area range, the flight of the unmanned aerial vehicle is controlled according to the motion state of the preset water target.It can better adapt to environmental variables, and can make real-time decisions according to the motion of the target, effectively track, and thus make the detection of water target more accurate.

The invention is suitable for the technical field of computer vision and information security, and provides a face counterfeiting detection positioning and implicit identity tracing method, which comprises the following steps of: extracting multi-modal features through three parallel branches of RGB (Red, Green, Blue), frequency domain and noise; carrying out dynamic weighted fusion on the extracted multi-modal features to generate a fusion feature map; introducing a generalization forgery detection adapter, utilizing a pre-training visual language model CLIP to construct an external general forgery knowledge cache, and performing adaptive linear fusion with an original discrimination result; training a ViT model through comparative learning to distinguish background features, and constructing a background feature library corresponding to the identity tag; and extracting background features of the query image, carrying out similarity calculation on the background features and the feature library, sorting, and finally determining the implicit identity of the query image. The method is accurate in forgery positioning, strong in robustness and strong in cross-domain generalization ability, has identity traceability, and provides a feasible technical scheme for comprehensive treatment of deep forgery contents.

The application discloses a light reflecting cup structure and application thereof in a handheld lighting device. The light reflecting cup is provided with three light source through holes, the layout of which is in the vertex position of an equilateral triangle, and a certain interval is kept between each cup groove to ensure independence. This design not only ensures that light is concentrated in the center area of the lamp head, but also realizes 360-degree omnidirectional lighting coverage through cooperation of the three light sources. In addition, due to the independence of the angles of the light sources, the light source area of the center area of the lighting lamp is increased, thereby enhancing the lighting range. The light reflecting cup is further provided with a mounting hole for a laser emitter, facilitating integration of the laser emitter. In disaster rescue scenes such as fire and heavy fog, the laser emitter can assist in observing the surface trend of objects such as smoke, thereby assisting rescue personnel in quickly identifying the terrain, effectively tracking the smoke dynamic, avoiding entering the deep part of the fire, and further improving the efficiency and safety of rescue operations.

The invention discloses a method, a device, a medium and equipment for intelligently deploying a drilling machine. The method comprises the steps that S10, a well drilling operation tracking theme library is constructed to obtain data of all available drilling machines and well sites, the well drilling operation tracking theme library comprises a well drilling dynamic database, and well drilling daily reports are stored in the well drilling dynamic database; s20, main work content of the drilling daily report is intercepted, data preprocessing is conducted on the intercepted content, and the drilling machine without the drilling footage state is screened out; and S30, outputting a drilling machine operation arrangement plan based on bilateral matching and a GSA algorithm so as to intelligently deploy the drilling machine in the drilling footage-free state. The method comprises the following steps: constructing a drilling operation tracking theme library to obtain data of all available drilling machines and well sites; by effectively fusing bilateral matching and the GSA algorithm, the allocation condition of the drilling machine can be efficiently and accurately tracked, the operation efficiency of drilling construction and the management level of drilling operation are improved, and the utilization rate of drilling machine resources is improved.

The application discloses a transfer orbit electric propulsion satellite thrust drop detection method and system, comprising: establishing a single electric thruster real-time thrust-force variation relation model according to satellite data; calculating a satellite force tolerance range according to the single electric thruster real-time thrust-force variation relation model based on the single electric thruster real-time thrust-force variation relation model; if the electric thruster has a fault, determining the installation position of the faulty electric thruster first; according to the force size at different time within the satellite working time range and the installation position of the faulty electric thruster, determining the fault mode of the faulty electric thruster by using the fault mode function of the faulty electric thruster, and generating a faulty thruster thrust curve. The application can effectively track any form of thrust variation, lock the faulty thruster and determine the fault mode, so that timely correction measures are taken to ensure that the orbit and attitude of the satellite are kept in the predetermined target range.

The invention discloses an automatic shooting system based on a wireless positioning beacon, relates to the technical field of automatic shooting, and aims to solve the problems of high cost, complex deployment, low multi-target tracking efficiency and difficulty in classification of shot contents of an existing automatic shooting system. The system comprises a plurality of beacons and one or more shooting devices, the beacons are attached to a shot object, and distance measurement, communication and motion sensor modules are integrated; the shooting device integrates distance measurement, communication, image recognition, shooting, track setting and a main program module. And the beacon and the shooting device dynamically adjust the distance measurement frequency through non-accurate time synchronization, and realize multi-target tracking, automatic shooting and shooting content classification in combination with the distance change characteristics of the preset motion trail and the image recognition result. The system is low in cost, easy to deploy, efficient in multi-target tracking, accurate in shot content classification and suitable for specific scenes such as ski field racing tracks and running roads.

This invention belongs to the field of underwater acoustic communication technology. Specifically, it relates to a time-frequency joint equalization method for GMSK underwater acoustic communication. The method includes: converting and mapping the transmitted signal sequence, then modulating it according to the GMSK signal modulation method based on Laurent decomposition to obtain a GMSK complex baseband signal, and modulating it onto a carrier as the final transmitted signal, which is then transmitted into the underwater acoustic channel; the underwater acoustic channel receives the final transmitted signal, uses it as the received signal, and performs bandpass filtering, two-dimensional time-frequency synchronization, matched filtering, time-frequency equalization, demapping, and decision processing on the received signal to obtain the decided symbol, thus completing the time-frequency joint equalization.

The invention discloses a dynamic map construction and block differentiation updating method, which comprises the following steps of: dividing a map into four types of map blocks, namely stable blocks, slow change blocks, low dynamic blocks or ground blocks, and endowing different positioning weights and updating strategies for each type of map blocks; the map block type is dynamically adjusted through a change rate detection algorithm, and self-adaptive map management is achieved. According to the method, the robustness of positioning registration is improved, the interference of dynamic objects is reduced, the classified management and differentiated updating of map blocks are realized, the long-term reliability and accuracy of the map are ensured, and meanwhile, the dynamic loading and efficient updating of an infinite map are supported.

The invention provides an inertia and vision integrated navigation error tracking and compensating method. The method comprises the following steps: constructing an unmanned aerial vehicle inertia / vision integrated navigation filtering state variable; taking position information obtained by visual navigation as observed quantity, and constructing an inertia / visual integrated navigation filtering observation equation of the unmanned aerial vehicle; establishing a combined navigation error estimation evaluation model based on a historical estimation value, and calculating an error estimation evaluation factor lambda k; performing inertial / visual integrated navigation filtering estimation based on the integrated navigation filtering state variable, the observation equation and the error estimation evaluation factor; and according to the obtained inertia / vision integrated navigation filtering estimation, carrying out real-time compensation on an integrated navigation error. According to the method, the visual navigation result can be effectively tracked under the conditions of state abrupt change, carrier maneuvering and the like, the utilization effect of visual navigation observed quantity is greatly improved, and the integrated navigation error estimation precision and efficiency are improved.

The invention relates to the technical field of structure health monitoring, in particular to a bridge cable force identification method based on self-regression power spectrum self-adaptive estimation, which comprises the following steps: determining an optimal self-regression model order empirical value; evaluation indexes of the power spectrum of the off-line vibration response data are calculated respectively, weighted summation is carried out on the evaluation indexes to serve as an evaluation function of the power spectrum, and a weight coefficient is optimized and solved; and substituting the optimized and solved weight coefficient into a power spectrum evaluation function, assuming a group of autoregression model orders to respectively calculate an autoregression power spectrum and a corresponding power spectrum evaluation function for vibration response data monitored on line, and predicting an optimal model order suitable for the current vibration data by minimizing the power spectrum evaluation function. Autoregression power spectrum estimation is realized; and picking up a frequency corresponding to a peak value from the power spectrum curve, and realizing cable force identification according to a frequency-cable force calculation formula. According to the invention, effective tracking of the time-varying frequency and the time-varying cable force of the bridge cable is realized.