82results about How to "Good autonomy" patented technology

A method of playing a digital sound clip, including creating a digital sound clip, and producing, by an amplifier, the digital sound clip in response to a hitting of the note on a guitar.

The invention discloses an underwater navigation and positioning method capable of combining terrain and environment characteristics. The method comprises the steps of judging whether all sub-areas in a planned track of an underwater vehicle are matched or not according to terrain information; if so, positioning by a terrain-aided inertial navigation system; and if not, positioning by a simultaneous localization and composition algorithm auxiliary master inertial navigation system. The method can be used for calculating the terrain information of a navigation area, and the underwater terrain is divided into a matched terrain area and an unmatchable terrain area. Different navigation algorithms are adopted aiming at the different areas, so that the position error of a master inertial navigation system can be corrected, and the method is relatively high in autonomy.

A system, method and computer-readable medium incorporating instructions are provided to enable a user to create and to share a digital effects package. The instructions enable user input of a first sound effect, and a first trigger that, when activated, plays the first sound effect, and to associate the first sound effect and the first trigger with the digital effects package. The trigger can be on a musical instrument, such as on a fretboard or fingerboard of a stringed instrument. The digital effects package may be created and shared by a user at a first terminal connected via a network.

The invention discloses an autonomous obstacle crossing programming method of a deicing and line inspecting robot for a high-voltage transmission line. The method comprises the following steps: step 1, detecting environment information by utilizing a laser radar mounted at the tail end of a mechanical arm, so as to obtain a robot movement ahead obstacle signal; step 2, according to a difference value between the current position and the expected position of the mechanical arm and the obstacle signal in the current condition, programming out a fuzzy programmed angle of the movement ahead mechanical arm by utilizing a fuzzy planner; step 3, performing online optimization to the fuzzy programmed angle by utilizing the particle swarm optimization, so as to obtain a particle swarm fuzzy programmed angle of the movement ahead mechanical arm; step 4, obtaining control moments of all joints by utilizing a neural network self-adaptive controller, and guiding the mechanical arm to act. By adopting the fuzzy programming method, an obstacle crossing programming decision can be made in real time according to the current condition of the deicing and line inspecting robot, and the inaccuracy and hysteretic nature of information perception can be overcome; meanwhile, by adopting the particle swarm optimization, the fuzzy programmed angle can be optimized online, so that the track can be smoother and the redundancy can be smaller.

The invention relates to an INS (Inertial Navigation System) / GNSS (Global Navigation Satellite System) / polarization / geomagnetism combined navigation alignment method based on Kalman filtering. The method comprises the following steps: selecting an initial aligned state variable, and establishing an error equation of a combined navigation system; performing matching and fusing to establish a polarization measuring equation according to a polarization azimuth angle output by a polarization sensor and an azimuth angle output by the INS; establishing a geomagnetism measuring equation according toa heading angle output by a magnetometer and the heading angle output by the INS; performing matching and fusing to establish an error measuring equation according to a speed and position informationoutput by the GNSS, the speed and the position information output by the INS; establishing a unified measuring equation for the combined navigation system by utilizing an augmented reality technology;designing a Kalman filter to estimate physical quantities such as a misalignment angle, a speed error, a position error, etc., of the combined navigation system; and performing feedback correction onan attitude, the speed and the position of the combined navigation system to improve the initial alignment estimation precision. The method has the advantages of being high in precision, small in calculation amount and high in compatibility, and the initial alignment time is reduced.

A personal cart comprises a mounting structure secured onto two parallel and aligned suspension members near their respective proximal longitudinal ends so as to rest thereon, and extending both upwardly and longitudinally so as to generally define an angle with said suspension members, two driving wheels, each mounted to a respective suspension member near its proximal end, two driven wheels, each rotatably mounted to a respective suspension member near its distal end, and actuating means coupled to both driving wheels for selectively causing rotation of at least one of said two driving wheels. The actuating may includes a controller and a rechargeable battery or be in the form of a hand actuating device including two endless belts mounted along angled portions of the mounting structure. The personal cart comprises few components and is relatively compact which provides a long autonomy in the case of an electrically actuated embodiment, and less effort to actuate in the case of the hand actuating embodiment.

The invention provides a lane decision method for automatic driving vehicles based on a multi-objective decision matrix. The lane decision method includes the following steps that (1), a left lane, alane where the automatic driving vehicles are located and a right lane of the automatic driving vehicles are regarded as to-be-decided lanes, continuous-running distance and speed-limiting informationof each to-be-decided lane are collected, quantification is carried out on the information of each to-be-decided lane and evaluated information of each to-be-decided lane is obtained; (2), the information of barriers, closest relative to the vertical distance of the automatic driving vehicles, of the front side and the back side of each to-be-decided lane is collected, current location and speedinformation of the two barriers on the front and back and the location information after setting time are judged, and the relative distance the two barriers on the front and back relative to the automatic driving vehicles correspondingly at the current time and setting time is calculated; (3), integral evaluating information of the to-be-decided lanes is obtained by arranging the above informationand the decision matrix is formed; and (4), a decision lane is obtained by dealing with and calculating the decision matrix, so that the real-time independent lane deciding of the automatic driving vehicles is achieved.

The invention discloses a soft landing relay obstacle avoiding method which is used for completing soft landing of a celestial body through two matched stages, namely a rough obstacle avoiding stage and a fine obstacle avoiding stage, wherein in the rough obstacle avoiding stage, a visible-light camera is used for carrying out rough detection on a larger range and larger obstacles to remove largeobstacles which directly threaten landing safety; and then the surface of the celestial body is subjected to accurate three-dimensional obstacle detection by utilizing laser scanning in a safe area selected in the rough obstacle avoiding stage so as to obtain and remove obstacles with smaller dimensions and ensure landing safety to the maximum extent. The soft landing relay obstacle avoiding method disclosed by the invention has good autonomy and high reliability, can be used for soft landing detection of the celestial body with more complicated terrain, and is especially applicable to soft landing of deep-space unmanned celestial bodies in a longer distance; the soft landing relay obstacle avoiding method greatly improves the obstacle avoiding capacity and lengthens the obstacle avoidingdistance, and improves the landing safety; and the soft landing relay obstacle avoiding method reduces the technical index requirement on sensors, reduces the difficulty in research of visible-light / laser imaging sensors, and is beneficial to engineering application.

An underground pipeline measurement system based on inertia technique comprises pipe measurement unit including gyroscope for providing pipe current section course angle information, accelerator for providing pitch angle information, speedometer of photoelectric coder for measuring pipe length and microprocessor for collecting signal from various transducers and for outputting pipe 3-D information to PC computer; and external power supply unit.

The invention discloses a mars ultimate approach segment autonomous navigation method based on multi-source information fusion, relates to a mars ultimate approach segment autonomous navigation method and belongs to the technical field of deep space exploration. The method is characterized in that optical measurement, radio measurement based on a mars orbiter and X-ray pulsar measurement information are combined based on a mars ultimate approach segment dynamical model, are effectively fused in the application range based on a federated filtering structure and are standby for one another, and the advantages of various navigation systems are fully exerted; on the basis of establishing a mars ultimate approach segment state model and a mars ultimate approach segment autonomous navigation model, detector real-time navigation status information is resolved by the utilization of an integrated navigation filtering algorithm of a federation structure to realize the mars ultimate approach segment autonomous navigation. According to the mars ultimate approach segment autonomous navigation method, the precision and the real time of the mars ultimate approach segment autonomous navigation can be improved, and the reliability and the fault tolerance of a navigation system can be improved. The method can provide a technical support for the design of a future mars exploration task autonomous navigation solution.

The invention discloses a method for navigation positioning by using a gravitation vector and gradient tensor. The method comprises the following steps: firstly, establishing a background field three-dimensional information databank of a target area according to beforehand observation, wherein basic elements comprise position coordinates of different points, gravitation vector invariants and gravitation gradient tensor invariants, subsequently observing and calculating according to the gravitation and the gravitation gradient in real time so as to obtain three invariants, judging whether navigation positioning can be performed directly or not by judging whether a resolving matrix is of full rank, if navigation positioning can be performed directly, performing iterative computation to obtain the position of a point to be positioned according to a least squares algorithm, if navigation positioning cannot be performed directly, performing matching search with the combination of an inertial navigation positioning technique, and performing iterative search for multiple times so as to obtain the position of the point to be positioned. The method has the outstanding characteristics that the gravitation vector invariants and gravitation gradient tensor invariants are adopted, and not only is contribution of all components of gravitation field information considered, but also the components are not related to the posture, so that compared with a conventional algorithm, the method can greatly reduce the influence of posture errors.

The invention relates to an alignment method of an INS / GNSS / polarization / geomagnetic integrated navigation system based on the least squares. The method comprises the following steps: selecting an initial aligned state variable; establishing a polarization measurement equation according to the match and fusion of a polarization azimuth angle which is output by a polarization sensor and an azimuthangle which is output by the INS; establishing a geomagnetic measurement equation according to heading angles which are respectively output by a magnetometer and the INS; establishing an error measurement equation according to the match and fusion of the velocity and position information which are output by the GNSS and the velocity and position information which are output by the INS; using the augmentation technology to establish a unified measurement equation of the INS / GNSS / polarization / geomagnetic integrated navigation system; using the least squares technique to estimate the physical quantities such as a misalignment angle, a velocity error, a position error and the like of the INS / GNSS / polarization / geomagnetic integrated navigation system; and performing feedback correction on the attitude, the velocity, and the position of INS / GNSS / polarization / geomagnetic integrated navigation system to improve the initial alignment estimation accuracy.

Portable laser hair removal of multi purpose use comprising a housing (2) with a head (11) and transparent dome (3) with bottom hole (4) having a laser illumination system with two diodes (5, 6), different in wavelength, power, opening, pulse period and average power pulse size in red and infrared, respectively.

Disclosed is an eye training system (10) including a head-mountable computing device (100) comprising at least one display module (106, 106′) arranged to be viewed by the wearer of the head-mountable computing device when wearing the device; and a display processor (108) coupled to the at least one display module for controlling the at least one display module and adapted to display an initial set of eye exercises on the at least one display module; a sensor arrangement (120) for monitoring eye responses of the wearer to the displayed initial set of eye exercises; and a data processor (110) adapted to receive eye response data from the sensor arrangement and to process the eye response data; wherein the display processor is further adapted to display a subsequent set of eye exercises on the at least one display module in response to a processing result of the processed eye response data. A computer program product is also disclosed.

The method for charging an electrochemical nickel-based battery having a predetermined nominal capacity, including at least one measurement of the voltage of the battery and one measurement of the temperature representative of the battery. The battery is connected to an intermittent source of energy. The charging of the battery is stopped when the voltage measured at the terminals of the battery reaches a voltage threshold, depending on the measured temperature and representative of a capacity charged in the battery corresponding to a charging efficiency equal to or higher than 90% of the maximum charging efficiency.

The invention relates to a loose-coupling remote-sensing satellite ground receiving system. The loose-coupling remote-sensing satellite ground receiving system comprises a physical resource layer, a module implementing layer, an adapter layer, an abstract service implementing layer, a service logic layer and a user interface layer, wherein the physical resource layer provides the ground system hardware environment, the module implementing layer implements different modular functions in the ground system, the adapter layer supports protocol conversion and communication interfaces realized by different modules and converts different-structure modules into unified external calling interfaces, the abstract service implementing layer is used for abstractly implementing various functional modules of the satellite ground system, the service logic layer realizes calling and controlling of service logics through an overall task scheduling engine, and the user interface layer interacts with the system. The loose-coupling remote-sensing satellite ground receiving system has the advantages that the loose-coupling remote-sensing satellite ground receiving system provides a framework applicable to a wide area network, loose-coupling access among various multi-source heterogeneous modules of the satellite ground system is realized, integration and interoperability between the satellite ground system and other remote sensing application systems are realized, and expandability of the satellite ground system is improved.

The invention discloses a multifunctional knocking rehabilitation device for traditional Chinese medicine nursing. The device comprises a chair surface, and uses the structure comprising a controller, hand pads, leg pads, first vibration balls, second vibration balls and vibration knocking hammers, so that the knocking force or the vibration intensity can be automatically adjusted according to the own needs of a patient, the intensity of the device is adjusted in real time according to the status of the patient, the device is good in effect after being used, strong in autonomy and more convenient, cork pads are arranged at the bottom parts of electric telescopic rods, a first electric angle regulating device, the first vibration balls, the second vibration balls, a heating cushion, the vibration knocking hammers, a second electric angle regulating device, knocking balls and the electric telescopic rods are all electrically connected with the controller, the structure comprising the heating cushion, the first electric angle regulating device, the second electric angle regulating device and the electric telescopic rods is adopted to facilitate the patient to adjust the position of the whole device according to the most desired and comfortable posture of the patient, the whole device is reasonable and novel in design, and is better in effect compared with the traditional device.

The invention discloses a network type electric black box suitable for automatic power distribution systems, belonging to the technical field of data collection and comprising a power supply module, amicrocontroller module, a communication module, a display module, an upper position machine configuration program and the like, wherein the power supply module is used for supplying power to the microcontroller module and the communication module; the microcontroller module uses an embedded processor ARM9 as the core and has a memory FlASH of an outer extension program and a data memory SDRAM; the communication module has a plurality of different communication ports, and the display module is used for displaying the current running state of a system. The electric black box connects various data collection terminals by RS-485 and RS-232 ports in a hanging mode, realizes the communication with an upper position management unit by Ethernet, CDMA / GPRS / GSM and the like, has abundant data transmission modes, flexible configuration and good automatic management and can individually run free from the upper position machine.

The invention discloses a communication control method, a communication control device and an intelligent terminal, wherein the communication control method comprises the steps of obtaining the emotional state information of the first person, determining a control policy according to the obtained emotional state information, and controlling the communication between at least one first communication tool and at least one second communication tool according to the determined control policy, wherein the first communication tool is associated with the user information of the first person. The communication control method is capable of better reflecting the autonomy of interaction of the first person and improving the interaction efficiency.

Reciprocating positive-displacement diaphragm pump (1) intended for liquids and for medical use, has a driving part (10) within which there are an electromagnetic actuator (11), incorporating at least one coil (12) and activating a piston (14) of a moving member (15) capable of cyclic linear motion. The pump comprises a pump body (20) within which there is a pre-loaded diaphragm (22) able to undergo a translational movement by elastic deformation from a normal rest position to an adjacent position through the transmission of the work from a piston (14). It incorporates a device (30) for detecting out-of-tolerance variations in the intensity of the supply current by measurements (33), a device (40) for continuously measuring the position of the moving member (15) and devices (30, 45) for processing and analyzing the measurements, which are able to generate at least one malfunctioning alarm signal (35) indicating the detection of at least one malfunction of the pump.

The invention relates to a multi-agent-based grid geographic information system (GIS) resource management system, which comprises a grid resource service layer, a grid resource management layer and a data resource layer, wherein the grid resource service layer comprises a user agent, a data request agent, a data receiving agent and a personalized service agent; the grid resource management layer comprises a global resource search agent, a task allocation agent, a task coordination agent and a parallel analysis agent; the data resource layer comprises a data request receiving agent, a queue service agent, a local search agent and a task execution monitoring agent; and the personalized service agent, the user agent, the data request agent, the global resource search agent, the task allocation agent, the data request receiving agent, the queue service agent, the local search agent, the parallel analysis agent and the data receiving agent are connected sequentially. Compared with the prior art, the multi-agent-based grid GIS resource management system has the advantages of high reliability, high stability and the like.

A cooling system which comprises a cooling fluid to cool a body or object, and at least a cold transmission surface in direct or indirect contact with said body or object. It is characterized in that it comprises at least a device for collecting and storing frigories that can receive a preset quantity of cooling fluid from an external charging device, store said frigories and transmit them at a preset velocity and temperature to said cold transmission surface. It is obtained a system in which it is not necessary to use a cryogenic deposit forming part of it, so that the security is enhanced and the cost is reduced. Further, the invention comprises a device (3) for absorbing heat that comprises a thermally isolated container (8), with the exception of a cold transmission surface (9) in direct or indirect contact with the body or object to be cooled, said container (8) comprising a radiator (10) that can receive a preset quantity of said cryogenic cooling fluid from an external charging device, and in that said container (8) also comprises a material around the radiator (10), filling the volume of the container (8) not occupied by the radiator (10), said material having a thermal conductivity suitable of storing the negative calories (frigories) transferred by contact from said radiator (10), and for transmitting said negative calories (frigories) at a preset velocity and preset temperature to said cold transmission surface (9). Furthermore, the system provides a great autonomy because it can store a great quantity of frigories.

The invention discloses clothes with the poor posture prompt function, and relates to the technical field of medical treatment. The clothes comprise a clothes body and a posture monitoring device, theposture monitoring device comprises a processing module, a bending measuring module, a prompt module, a control switch and a power supply module; the bending measuring module is arranged on the portion, corresponding to the spine of the human body, of the clothes body; the prompt module is arranged on the portion, corresponding to the chest of the human body, of the clothes body; the processing module is connected with the bending measuring module, the prompt module and the control switch separately, and the other end of the control switch is connected with the power supply module; the processing module is used for judging whether a user is in a correct posture state or a poor posture state according to bending data, obtained through measurement of the bending measuring module, of the spine of the user, when it is determined that the duration for the user being in the poor posture state reaches the preset duration, prompting is conducted through the prompt module, and instantaneity and autonomy are good.

The invention discloses an industrial mechanical arm motion planning method based on a reinforcement learning algorithm, and belongs to the field of application of reinforcement learning to mechanical arm motion planning. The reinforcement learning Actor-Critic algorithm is applied to the motion planning of a mechanical arm, so that an interactive relationship is established between the mechanical arm and the environment, and the adaptive capacity of the mechanical arm to the environment is improved through real-time interaction with the environment for training, so that autonomous learning control is realized; and firstly, a simulation environment of a mechanical arm hand-eye system is built, then a reinforcement learning algorithm model is built according to the simulation environment, finally, motion planning training of the mechanical arm is completed, and intelligent control over the mechanical arm is achieved. The mechanical arm motion planning algorithm based on reinforcement learning has good environmental adaptability and stability.

The invention requests to protect a personnel height autonomous positioning algorithm. The algorithm comprises the following steps: one, detecting acceleration peak characteristics on X-axle and Z-axle, and judging upstairs or downstairs states or walking state of the personnel; detecting the gait of the personnel, and computing the step height when the personnel goes upstairs or downstairs through accelerometer instant zero capturing and gyroscope three-dimensional dynamic fusion algorithm, and the performing height resolution; and three, detecting turning points in the upstairs and downstairs process through an attitude angle, and correcting the resolved height to the integral multiple of the height of a half of floor at the turning point, thereby reducing the height error. The height algorithm is independent of a barometer and other auxiliary equipment, the autonomy is high and cannot be easily influenced by the external environment, and the algorithm is suitable for various fieldswith complex indoor environment.

The invention provides a kitchen and toilet modularized water supply and drainage device, which comprises a water collecting tank, a vertical pipe nipple, a water collecting bucket arranged at the lower part of the water collecting tank, and a closet outlet for communicating the sealed transverse branch pipe of the vertical pipe nipple and connecting one end of the sealed transverse branch pipe, wherein, the inside of the water collecting tank is provided with an air storage chamber, the upper end and the lower end of the air storage chamber are respectively communicated with the vertical pipe nipple, the water collecting tank is provided with a sealed pipe and a three-way valve, one end of the sealed pipe communicates with the water collecting bucket or the vertical pipe nipple, and the other end of the sealed pipe extends out from the top of the water collecting tank and is provided with a water supply and drainage fitting connecting opening, the three-way valve is mounted on the sealed pipe; the top of the water collecting tank is provided with a repair hole; the repair hole is corresponding to the three-way valve; The device achieves the purpose of realizing control of water supply and drainage by arranging the sealed pipe and the three-way valve in the water collecting tank, needs no other water collection floor drains, is beneficial to prevent returning odour and beautifying the interior decoration environment, and has the outstanding advantages of beautiful ground and good autonomy.

The method for charging an electrochemical nickel-based battery having a predetermined nominal capacity, including at least one measurement of the voltage of the battery and one measurement of the temperature representative of the battery. The battery is connected to an intermittent source of energy. The charging of the battery is stopped when the voltage measured at the terminals of the battery reaches a voltage threshold, depending on the measured temperature and representative of a capacity charged in the battery corresponding to a charging efficiency equal to or higher than 90% of the maximum charging efficiency.

The invention relates to a self-guided fully-closed circular protection cover for a machine tool guide rail. The self-guided fully-closed circular protection cover comprises a multi-section circular protection cover and support guide devices, wherein each section of the circular protection cover comprises a protection plate 1, a guide plate 2, shock-absorbing gaskets 3, guide blocks 4, a buffering belt 5 and a chipping-scraping bar 6, each cylindrical protection plate 1 is located on the lower part of the corresponding guide plate 2 and fixedly connected with the lower surface of the corresponding guide plate 2; each two shock-absorbing gaskets 3 are fixed on the upper surface of the corresponding guide plate 2; each buffering belt 5 is located between the corresponding protection plate 1 and the corresponding guide plate 2; each two guide blocks 4 are fixed on projection parts extending along a horizontal direction, of the corresponding guide plate 2; each chipping-scraping bar 6 is fixed at the bottom of the corresponding protection plate 1; and the support guide devices are guide shafts 7 which penetrate through the guide blocks 4 and penetrate in the circular protection cover. The protection cover disclosed by the invention realizes fully-closed protection and self-guided functions, can reduce dependence and wear on a machine tool and the components thereof by virtue of the own guide device, and is simple in structure and flexible to use.

The invention discloses an intelligent calibration method for a fiber-optic gyroscope strapdown inertial navigation system. The method comprises the following steps of 1, constructing an initial particle population, 2, giving any initialization assignment to each drift particle, 3, calculating an east direction speed calculation error, a north direction speed calculation error, a latitude calculation error and a longitude calculation error, 4, defining a gyroscopic drift fitness function, 5, calculating a gyroscopic drift fitness function value, 6, defining a particle speed and position updating equation, 7, judging whether the drift particle corresponding to the maximum value of the gyroscopic drift fitness function value reaches the predicted optimal position or reaches the set maximum number of iterations of the drift particle, and 8, searching the position of an individual optimal drift particle and the position of a group optimal drift particle. According to the method, a reasonable PSO algorithm model is established, and the constant drift of the gyroscope and the zero offset of the accelerometer are accurately and intelligently searched.

The invention discloses a simulation method for an operation time sequence of an active power distribution network, and the method comprises the steps: performing medium- and long-term load predictionof the active power distribution network; establishing a growth probability model of the access capacity of a distributed generation device; respectively establishing tie sequence output power modelsof photovoltaic power generation and wind turbine power generation in the active power distribution network; obtaining the charging and discharging states of an energy storage device according to themedium- and long-term load prediction of the active power distribution network and the output powers of photovoltaic power generation and wind turbine power generation; selecting an interactive operation strategy of the active power distribution network with high economic benefit, performing the simulation of the evolution operation of the active power distribution network in a process that the growth probability model of the access capacity of the distributed generation device is added to an operation scenario of the active power distribution network according to the time sequence, and generating an active power distribution network time sequence operation sample which meets the operation balance constraint and includes the growth probability. The method can be effectively used for the correlation analysis of technical paths and indicators in the subsequent active power distribution network investment planning.