223results about How to "Effectively completed" patented technology

The invention discloses an intelligent control method of a driverless vehicle tracking a desired trajectory. The method is characterized by comprising the following steps of: establishing a body coordinate system, and determining the position information of the vehicle; calculating a membership degree function of a road curvature characteristic according to a radian value, and defining a fuzzy rule to calculate a decision output speed; according to the distance the vehicle runs for 1.5-2.5 seconds, searching for the trajectory points larger than the distance and closest to the vehicle in the coordinate sequence of the desired trajectory; calculating the moving curvature of the vehicle according to an adaptive proportion-differential-integral control algorithm formula; and finally judging whether the target point of the current control cycle is the last point selected from the road point sequence; if so, outputting a signal to a brake servo control system to start the brake to slow down the vehicle; otherwise, outputting a voltage signal by a controller local area network module to keep and control the accelerator opening so that the vehicle continues proceeding. Through adoption of the intelligent control method, the driverless vehicle can realize a function of tracking the desired trajectory, and has certain adaptability to the change of the road curvature characteristic.

The invention discloses an unmanned plane aerial photographing system and method of a photographing accompanying aircraft, and belongs to the application field of unmanned planes. The system comprises a main flight aircraft and a flight accompanying unmanned plane carrying aerial photographing equipment. The system further comprises a positioning identification device and a synchronizer. The positioning identification device obtains position information of the main flight aircraft and the flight accompanying unmanned plane, and calculates and obtains a relative position relation between the main flight aircraft and the flight accompanying unmanned plane. The synchronizer plans in real time the flight track of the flight accompanying unmanned plane according to the relative position relation, generates a flight construction controlling the flight accompanying unmanned plane, controls the flight of the flight accompanying unmanned plane, and ensures that the relative position relation is within a preset range. The aerial photographing equipment automatically tracks and photographs the main flight aircraft. The a flight accompanying unmanned plane carrying the aerial photographing equipment is utilized to photograph the main flight aircraft that is flying, and a position identification and synchronization mechanism is also adopted, so a photographing process is effectively completed.

The machine (10) has a forward viewing camera and infrared sensors to avoid ground objects and a vertically viewing camera (14) with a fisheye lens which interprets data from ceiling (33) mounted transmitters (31) to guide it over the cleaning path.

The invention provides an earthwork measurement and calculation method with combination of oblique photography, RTK and BIM technologies. The method includes the steps of: S1) environment exploration of a target zone; S2) arrangement of photo control points and check points surrounding the target zone; S3) aerial photography above the target zone with an air vehicle; S4) import of an oblique photography image from the air vehicle into a real scene imaging software, and image processing to output point cloud data of the terrain; S5) correction to the point cloud data; S6) precision determination of the point cloud data; S7) generation of a three-dimensional terrain model; S8) digging / filling simulation to the three-dimensional terrain model and calculation of earthwork project quantity. By means of the earthwork measurement and calculation method with combination of oblique photography, RTK and BIM technologies, a complete route from data collection to model establishment to project quantity calculation is formed. The method can increase the efficiency of measuring and calculating earthwork, wherein acquired original data has higher precision and data in the calculated result is more accurate.

The robot floor cleaner (10) has a main housing with a drive for multiple wheels (21,22). It has a downward looking camera adjacent to the wheels to photograph the floor along an axis perpendicular to the travel direction. A control recognizes the driving distance and direction of the wheels using floor (15) image information to control the cleaning action. Claims include a method of cleaning floors using the robot cleaner.

The invention discloses a medical image inspection disease classification method based on a support vector machine (SVM). Inspection text data is clustered by use of a K-means cluster, a clustered inspection text is taken as a training set and a test set of an SVM classifier, and finally, for the special condition of the inspection text, an optimized training process is applied to the training process of the SVM classifier, such that the classification effect of the SVM classifier is improved.

This invention relates to a variable stroke engine, in addition to its working method, which belongs to vehicle engine technique field. The engine comprises six cylinders, EGR, exhaust-gas turbocharger system, four strokes discharge distributing valve, exhaust duct, bent axle piston and electrical controlling unit. when working, it needs to decide whether the two stroke cylinders join to work with the jar cutting technique according to different power, making the engine switch in different working condition; the six cylinders will bedding-in work through each inlet distribution valve to increase pressure and power output. Said invention can be used in transporting vehicle such as tank armored vehicle, machineshop truck needs to provide large power output and so on.

The invention discloses a video retrieval method and system. The method includes the steps that videos captured by a video capturing device are stored; a retrieval command input by a user is received, wherein the retrieval command carries a target event; an image containing the target event is retrieved from the stored videos. According to a certain monitoring task such as human face recognition, vehicle license plate recognition and intrusion detection, surveillance video images do not need to be checked manually, and only the retrieval command carrying the target event and corresponding to the monitoring task needs to be input in the system, so that the image containing the target event is retrieved from the stored videos by the system. According to the video retrieval method and system, the condition that part of video images are prone to be missed in manual monitoring is avoided to a certain degree, effective utilization of the captured monitoring videos can be improved, workers are assisted in completing the monitoring task effectively, and the operation efficiency of a security and protection service is further improved.

The invention provides a distributed system for executing machine learning and a machine learning execution method. The system comprises multiple computing devices and a parameter memory, wherein eachcomputing device is configured to execute data stream-oriented computation according to its own data record, and the data stream-oriented computation is expressed with one ore more directed acyclic graphs; the parameter memory is used for maintaining parameters of a machine learning model; when the data stream-oriented computation for training the machine learning model is executed, the computingdevices execute operation about machine learning model training according to respective data records by use of the parameters acquired from the parameter memory, and the parameter memory updates theparameters according to the operation results of the computing devices; and / or when the data stream-oriented computation for performing estimation by use of the machine learning model is executed, thecomputing devices execute operation about machine learning model estimation according to respective data records by use of the parameters acquired from the parameter memory. Therefore, operation overhead of machine learning can be reduced.

The invention discloses a movement operation and maintenance system and method of a power communication network. The movement operation and maintenance system of the power communication network comprises a handheld terminal and a remote background server, wherein the handheld terminal and the remote background server are in communication through a 3G or 4G wireless public network. The handheld terminal comprises a smart mobile phone, an external memory and a data collection terminal. The external memory comprises an SRAM and a Flash. The smart mobile phone is in communication with the external memory. According to the movement operation and maintenance method of the power communication network, the processes of storage, collection, storage, comparison, display, collection, comparison, storage and postback are carried out, and finally guide to the on-site operation and maintenance work and result display can be achieved.

The invention relates to an explosive cartridge bagging production line, which comprises a bagging machine, a feeding shaper and a bag sewing device, wherein the bagging machine is connected with the feeding shaper and the bag sewing device by connecting pieces, and is coordinated with the feeding shaper and the bag sewing device to finish an explosive cartridge bagging and bag-sewing process; and a lamination device of the bagging machine is driven by a synchronous belt, and can adjust the strokes of laminates according to the needs of a user so as to be adapted to the bagging of various explosive cartridges. The explosive cartridge bagging production line has the characteristics of simple structure, stable performance and wide application range, and can realize the automatic production of explosive cartridge packages, reduce production operators in a production process, greatly reduce the labor intensity of the operators and improve the production efficiency.

The invention provides an optical proximity correction method. The optical proximity correction method comprises the steps of dividing a layout pattern edge into multiple fragments according to an optical proximity correction algorithm, and taking one point in each fragment as an adjacent environment detection point; calculating an imaging signal value set {S<1>, S<2>, S<3> until S<n>} of the adjacent environment detection point of each fragment, wherein n is a positive integer; taking each imaging signal value set {S<1>, S<2>, S<3> until S<n>} as the input of a neural network model, wherein the neural network model outputs the optimal displacement (<delta>X and <delta>Y) of each fragment; and moving each fragment according to the optimal displacement (<delta>X and <delta>Y) of each fragment to obtain the optimal pattern of the layout pattern. By virtue of the optical proximity correction method provided by the invention, the optimal pattern of the layout pattern can be obtained.

The embodiment of the invention provides a method for awakening a terminal by applications and the terminal. The method and the terminal are used for setting awakening strategies of corresponding classes for a plurality of applications of the classes, so that the applications cannot frequently or disorderly awaken the terminal; the power consumption of the terminal is reduced; and the effective completion of the application functions is also ensured. The method provided by the embodiment of the invention comprises the following steps of determining the plurality of applications executed in the terminal; determining the affiliated class of each application in the plurality of applications; determining the awakening strategy corresponding to the affiliated class of each application, wherein the awakening strategy corresponding to the affiliated class of each application is a terminal awakening strategy; and processing each application according to the awakening strategy corresponding to the affiliated class of each application.

The invention discloses a heuristic dynamic planning control method of mobile robot tracking desired trajectory. The method comprises the following steps: 1, establishing a geodetic coordinate system and a robot coordinate system; 2, determining pose information of the mobile robot and pre-aiming point pose information; 3, computing a road curvature of a pre-aiming point location; 4, establishing a Markov decision process model of the mobile robot; 5, designing a control method of the tracking desired trajectory based on the heuristic dynamic planning algorithm; 6, deducing online learning rules of an executor and an evaluator in the heuristic dynamic planning algorithm; and 7, judging whether a pre-aiming point is the last location coordinate in the desired trajectory, if the pre-aiming point is the last location coordinate in the desired trajectory, controlling the robot to reduce speed to the pre-aiming point location, or returning to step 2 to perform in order. A good control effect can be acquired without repeatedly debugging a control parameter when tracking different desired trajectories, and the environment adaptability and the autonomous optimization capacity of the mobile robot can be improved.

The invention provides an aspect-level sentiment analysis method based on a dependency syntax tree and deep learning. The method comprises the steps of performing word segmentation and embedding training processing on a to-be-analyzed text to obtain word vector expression of each word in the text, and inputting the word vector expression into a bidirectional long-short-term neural network to obtain integrated information of each word and the text; constructing a dependency syntax tree by using all words in the text, constructing a GCN graph by using the dependency syntax tree, and performing iterative processing on the integrated information of the text and the GCN graph to obtain dependency syntax tree representation of an evaluation object in the text; and combining the integrated information of the text with the dependency syntax tree representation of the evaluation object, and performing analysis processing on a combined result by using a CNN to obtain an emotion prediction resultof the text for the evaluation object. According to the method, the semantic information of the text is effectively utilized, meanwhile, the importance of the evaluation object in aspect-level sentiment analysis is emphasized, and the accuracy of aspect-level sentiment analysis tasks of known evaluation objects is improved.

The invention discloses a human back scoliosis angle measuring method based on digital image processing. A standing human back image is taken with an ordinary digital camera, then the image is preprocessed to obtain an interested area, graying processing is conducted on the interested area, binarization processing is conducted in the gray level image to obtain a human back contour binary image, denoising processing is conducted on the binary image to obtain spine contour feature points, least square method polynomial fitting is conducted on the feature points to obtain a spine contour fittingcurve, and finally the scoliosis angle is calculated according to the fitting curve. The method is simple and practical, an algorithm is easy to implement, and the aim of measuring the scoliosis anglecan be effectively achieved.

The invention discloses an active power filter (APF) and thyristor switched filter (TSF) hybrid compensation device for an electric rig, which comprises a passive part, an active part, an electric quantity data acquisition module of a well site and the compensation device, a control module of a TST, and a control module of an APF. The filtering characteristics of the TSF are improved by utilizing the APF, so that when the TSF works in a combined manner, 2 to 10 times of harmonic currents injected into a power supply system of the well site are controlled within a given value, and the harmonic currents of the well site are prevented from being amplified when different filtering branches of the TSF are switched in a combined manner; and by adopting the structure that the APF is connected in parallel with a fundamental resonance module of a fifth filtering branch of the TSF through a coupling transformer, the capacity of the APF is very small, so that the APF is beneficially controlled, the cost of the whole set of device is reduced, the problem of overlarge harmonic currents occurring when the TSF is switched in a combined manner is effectively solved, and then the tasks of reactive compensation and harmonic elimination of the well site can be completed more safely and more effectively.

The invention discloses a correction method of an initial position in repeating motion of a redundant mechanical arm. The correction method comprises the following steps that 1) a desired target trajectory r*(t) and a desired retractable joint angle theta*(0) of an end effector of the redundant mechanical arm are determined, a final state attraction and optimization index is designed, and thus a mechanical arm repeating motion planning scheme is formed, wherein an initial joint angle during actual motion of the redundant mechanical arm can be designated freely and the end effector is not required to be located on a desired trajectory; 2) the initial joint angle theta (0) during the actual motion of the redundant mechanical arm is given, and by taking theta (0) as a motion starting point, anovel repeating motion planning scheme is converted to a corresponding quadratic programming problem; 3) a final state neural net model of a limited value activation function is constructed and a matrix equation is changed during solution of a limited value final state neural net; and 4) a solved result is used for controlling various joint motors and driving the mechanical arm to perform a task.The correction method of the initial position in the repeating motion of the redundant mechanical arm has the advantages of high precision and finite time convergence.

The invention discloses an attitude-orbit integrated control oriented multi-execution mechanism cooperative control distribution method and relates to a multi-execution mechanism cooperative control distribution method. The invention is aimed at solving the problems of low utilization rate of thruster fuel and little mutual cooperation among execution mechanisms of existing attitude-orbit integrated control oriented distribution strategy. In the invention, the orbit control expectation control force and the attitude control expectation control torque are distributed among the thrusters enabling both orbit control and attitude control; in the distribution process, the needs of track control are met first, and a thruster control distribution scheme proximal to the attitude control expectation control moment is optimally solved without additionally consuming redundant fuel; and after that, the remaining expectation control moment only can be distributed among the attitude-control execution mechanisms. While the attitude-orbit integrated control task is finished, the fuel consumption of the thruster is reduced, the burden on the attitude-control execution mechanisms such as flywheels and magnetic moments is alleviated, and the in-orbit life of spacecraft is prolonged. The method disclosed by the invention is applied to the field of spacecraft control.

The embodiment of the invention provides a path tracking method and device, a mobile robot and a non-transient computer readable storage medium. The mobile robot comprises: a robot body; the method comprises the following steps: firstly, acquiring current pose information of the mobile robot and a path position point set on a planned path; then, according to the extracted nearest path point closest to the mobile robot, determining target coordinate information of a next target point; according to the obtained distance information and yaw angle information between the current position of the mobile robot and the next target point, obtaining the yaw angle of the mobile robot;, updating the current pose information and finally, continuously tracking the path according to the updated current pose information, so that the mobile robot can accurately track various complex paths planned by a user to move, and the corresponding work task is more effectively completed.

A third-party platform electronic contracting system based on the electronic signature technology comprises contracting party client sides and a third-party contracting platform. Contracting parties hold the same or different digital certificates, and the third-party contracting platform is used for electronic contracting, can provide integrated verification and timestamps for different certificate chains, certificate states and certificate validity periods and guarantees accuracy and validity of mutual electronic contracting of the contracting parties held the same or different digital certificates issued by the CA (certification authority). The third-party platform electronic contracting system uses the electronic signature technology for decomposition, simulation, reconstruction, recombination and solidification of critical steps, critical factors and critical processes, so that technological holes of existing electronic contracting are made up, and accuracy and validity of electronic contracting are guaranteed.

The invention discloses a formation control method for fusing global information and local information. The method comprises the following steps: in an aircraft formation control process, firstly, planning a flight path of a lead aircraft in a ground control system, and determining flight parameters such as a desired flight path and a desired speed of the lead aircraft; in an actual flight process, calculating a flight path guide point of the lead aircraft according to a real-time state of a global desired flight path of the lead aircraft, and calculating a flight path guide point of a wing aircraft according to formation parameters; under a local coordinate system of the lead aircraft, calculating a local formation error between the lead aircraft and the wing aircraft in real time; in anaircraft control process, calculating a main control instruction according to the flight path guide point, calculating a secondary correction instruction according to the local formation error, and adding up the two instructions to obtain an actual control instruction of the aircraft, and controlling formation flight. On the basis of guaranteeing formation and realizing global flight path tracking, the formation control method can effectively improve the rapid convergence of formation control, the accuracy of the control process and the safety of tight formation flight, so as to effectively complete a formation flight mission.

The invention discloses a dredged and concealed waterproof (and heat-insulating) system which is characterized in that waterproof / heat-insulating plates which respectively take a smooth (or appropriate-gradient) temporary low (or high) curved surface or inclined surface of which the bottom is provided with an arc, inverted-U shaped or inverted-V shaped part and the like as a flow diversion structure are mutually connected, and joints or upper surfaces of the waterproof / heat-insulating plates are filled or sealed with waterproof mortar or other appropriate materials, so that rain water directly flows to a drainage system mainly from the upper surface of the system; after the flow diversion structure diverts the rain water leaked from joints or gaps of the waterproof / heat-insulating plates to the lowest part of the diverting curved surface or inclined surface, the rail water drips or flows into a preset drainage structure and then is intensively drained; and through carrying out appropriate concealing and adding a heat-insulating layer on the flow diversion structure and a drainage ditch, the system is better in appearance and wider in applications and can complete waterproofing and heat-insulating tasks. The system does not have high requirements for construction sites, processes and weathers, and has a long waterproof duration; and meanwhile, the system can be subjected to standardized prefabricated component production and also can be subjected to in-situ casting by using moulds, thereby reducing the construction difficulty and the production cost.

The invention discloses an emergency obstacle avoidance automatic-driving assistance torque calculation method based on intention of a driver. The emergency obstacle avoidance automatic-driving assistance torque calculation method based on intention of the driver comprises the steps that first, the behavior of the driver is used as the input to identify the current intention of the driver, a Mobiey sensor is used for collecting information required for vehicle emergency obstacle avoidance path planning in real time, a chaotically optimized artificial potential field emergency obstacle avoidance automatic-driving assistance control method is used for solving optimal steering assistance guiding torque, people are assisted to drive a vehicle, and the driving state of the vehicle is changed; and then the input of the driver and vehicle state parameters after an emergency obstacle avoidance assistance system is involved are used as the input to identify the intention of the driver at the moment for the second time; and finally, based on the judgment result of the two-time intention of the driver, it is determined whether a steering assistance guidance torque complete involving method isadopted to complete the emergency obstacle avoidance working condition of the vehicle or not. The intention of different drivers can be effectively identified, amount of calculation is small, real-time control is achieved conveniently, the planned obstacle avoidance assistance steering torque is safer and more reliable than a traditional method, and the emergency obstacle avoidance working condition can be effectively completed.

The invention discloses a test device for the service life of an aircraft alternating current generator fuel oil and slide oil radiator. The test device for the service life of the aircraft alternating current generator fuel oil and slide oil radiator comprises a slide oil side normal temperature system, a slide oil side high temperature system, a fuel oil side normal temperature system, a fuel oil side high temperature system, a refrigeration system, an automatic control system and an environment cabin. According to the technical scheme, a plurality of fuel oil and slide oil radiator bodies can be subjected to cyclic fatigue tests of flow rate, pressure, temperature and ambient temperature; under the test system, high-temperature, high-pressure and large-flow slide oil is introduced intoa product; after test conditions are stable, the automatic control system is used for automatically switching, and low-temperature, low-pressure and small-flow slide oil is introduced into the product, therefore, the impact of oil flow rate, pressure and temperature can be verified to simulate the influence of oil flow rate, pressure, temperature and environment temperature of an aircraft on the service life of the product. The test flow rate, pressure and temperature are automatically detected, adjusted, collected and recorded by the automatic control system for each detection point on a pipeline, and feedback control and data recording are carried out through the collection parameters of each detection point.

The invention discloses a management method and system for daily task events. The daily task events are divided into at least one group; a user receives and executes one group of daily task events; an extra premium is granted to the user according to the schedule for executing the group of daily task events of the user. According to the management method and system for the daily task events, due to the fact that the daily task events are grouped and provided for the user at random, the utilization rate of each daily task event is averaged, the service cycle of the daily task events is prolonged than that of daily task events which are developed early, so that the development cost is reduced, the residue problem caused by deleting the original daily task events when daily task events are newly developed is solved, the workload for game development and maintenance and the error probability are reduced, and the developer can be helped to control the reward of the daily task events more easily and more conveniently.

The invention discloses an unmanned aerial vehicle trajectory tracking method based on differential flatness characteristics, which comprises the following steps: performing dynamics and kinematics modeling on a four-rotor aircraft, performing differential flatness attribute judgment on a model of the four-rotor aircraft, and converting an underactuated four-rotor model into a full-drive system through nonlinear change on the basis of the property. And setting a virtual control quantity, decoupling the highly coupled system, and converting the highly coupled system into a linear system. The flight path tracking control problem of a constrained system is processed through model prediction control, a polyhedron description system is constructed for the time-varying characteristics of the system and comprises an original time-varying system, the online optimization calculation complexity is reduced, and a real-time terminal penalty value enabling the system to be stable is deduced according to the online optimization calculation complexity. The model prediction control method for the time-varying system is designed, constraints and system time-varying characteristics in the unmanned aerial vehicle trajectory tracking process are processed, the unmanned aerial vehicle trajectory tracking task can be effectively completed, the nonlinear characteristics of the unmanned aerial vehicleare well processed, the calculation complexity is low, and the tracking speed is high.

The invention discloses a detachable setup package applied to an aluminum alloy template pre-buried part and a method. The detachable setup package comprises an aluminum alloy template, a pre-buried hole part and a rod part. One end of the pre-buried hole part abuts against the aluminum alloy template. One end of the rod part is detachably connected with the aluminum alloy template, and the otherend of the rod part penetrates through the pre-buried hole part. A cover plate is arranged on the other end face of the pre-buried hole part, raised back ribs abutting against the inner wall face of the pre-buried hole part and symmetrically arranged are arranged on the abutting face of the cover plate and the pre-buried hole part, the rod part is connected with a pin sheet arranged on the end face of the cover plate after sequentially penetrating through the pre-buried hole part and the cover plate, and a pin hole corresponding to the pin sheet is formed in the rod part. The detachable setuppackage can safely, rapidly and effectively complete fixing construction of the pre-buried hole part in a water supply and drainage discipline, and solves the problems that fixing of an existing rivetis difficult in construction, and leakage is prone to being generated, the mounting quality of a pre-buried part is ensured, and the purpose that fixing and mounting work of the pre-buried part in aconstruction site is completed safety, rapidly and effectively is achieved.

The embodiment of this invention discloses an information communication method and system in in-vehicle network environment. The method comprises the following steps: a source node packages traffic resource data as an information message and sends the information message to a target node according to a transmission mode corresponding to the type of the traffic resource data. The method uses the information message as a communication unit so that different transmission modes can be selected according to the type of the data resource; thus, different requirements on transmission object and transmission performance required by different data types can be met; the information among the nodes is convenient to communicate and to be managed, and the communication among the nodes is finished effectively.

The invention relates to a RabbitMQ message-oriented middleware-based automatic software test platform. The platform comprises a project management layer, a realization layer and a task layer, whereinthe project management layer is a layer for managing a product test / verification module in a product test stage; the realization layer is a unit for carrying out work scheduling and parallel processing on automatic test work; and the task layer is an execution end for receiving test cases by a plurality of computer terminals through a client and operating the test cases through a bottom-layer script to obtain test results. According to the platform, two-end hardware resources can be sufficiently utilized, and plenty of manpower and material resources are saved via the automatic test; and theplatform can be automatically operated for 7*24 hours, and has the effects of rapidly feeding back software defects, shortening the development period and reducing the development cost.