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30results about How to "Implement fault tolerance" patented technology
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Fault tolerance method and system of virtual machines
InactiveCN102455951AImplement fault toleranceSoftware simulation/interpretation/emulationRedundant operation error correctionComputing systemsVirtual machine
The invention discloses a fault tolerance method and a fault tolerance system of virtual machines. A virtual machine communicates other virtual machines to determine a member relationship configuration file; each virtual machine operates on a node computer in a network; a first virtual machine is usually appointed as an activity virtual machine, the other virtual machines are appointed as standby virtual machines, and a virtual in-step computation system is established; when the activity virtual machine performs single-step operation, an operation token which comprises the content of the single-step operation is generated; the activity virtual machine distributes the operation token to all standby virtual machines according to the member relationship configuration file; each standby virtual machine sequentially receives the operation token, executes the operation token and then sends the operation token to the next standby virtual machine to keep all virtual machines in a consistent state; and when one or more virtual machines fails, the virtual machines which do not fail re-establish the member relationship configuration file, restore the state before failure occurs, and continuously execute operation tasks before the failure occurs, so that a fault tolerance function of the system is effectively realized.
Owner:CHINA STANDARD SOFTWARE
Universal small unmanned aerial vehicle dual-core flight control computer and control method
InactiveCN105867418AReduce loadImprove stabilityPosition/course control in three dimensionsWireless controlControl signal
The invention discloses a universal small unmanned aerial vehicle dual-core flight control computer and a control method. The computer comprises an airborne sensor system, a wireless communication module, master and slave flight control computer bodies, a dual-port RAM, a first multiplexer switch and a second multiplexer switch, wherein the master and slave flight control computer bodies send heartbeat detection signals to each other through a CAN bus to judge whether failures exist, the first multiplexer switch is controlled to connect the airborne sensor system and the wireless communication module to the master or slave flight control computer body according to a judgment result, and a control signal is obtained through calculation according to received and decoded unmanned aerial vehicle state information and a wireless control instruction by the master or slave flight control computer body; the second multiplexer switch is controlled according to a judgment result to output the control signal of the master or slave flight control computer body, so that the computer is made to work in the master-slave load sharing mode or independent sharing mode. The dual-core flight control computer is high in operation speed, large in data throughput and capable of guaranteeing continuous operation of a system.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Distribution grid self-healing control system and implementation method thereof
ActiveCN102841582AImprove real-time response performanceImprove reusabilityTotal factory controlSustainable buildingsSelf-healingControl system
The invention discloses a distribution grid self-healing control system which is characterized by comprising an entity Agent, a function Agent, an interface Agent and a translation Agent; the entity Agent comprises two types including an element type and an integration type; the element-type entity Agent is embedded in a controlled apparatus; the interface Agent is embedded in a control terminal; the integration-type entity Agent, the function Agent and the translation Agent are embedded in a server; the entity Agent is connected with other systems by the translation Agent, connected with a scheduler by the interface Agent and used for ensuring the normal running of the controlled apparatus via the processing task of the function Agent. The problems in the development of the distribution grid self-healing control system are solved by adopting the multifunctional intelligent system provided by the invention.
Owner:CHINA ELECTRIC POWER RES INST +1
Fault-tolerant control system based on line control brake
InactiveCN102167027AAchieve brakingImplement fault toleranceBrake safety systemsLinear controlBraking system
The invention relates to a fault-tolerant control system which comprises a main MCU (Microprogrammed Control Unit), a slave MCU and a switching control device, wherein the main MCU is connected with the switching control device, the slave MCU is connected with the switching control device, and the switching control device is used for switching a power supply between the main MCU and the slave MCU when the main MCU has a fault. When the main MCU has a fault, the power supply is switched to the slave MCU, and the slave MCU is used for controlling a vehicle brake system, therefore, the fault-tolerant function of a linear control brake system is realized and the safety, and the reliability of vehicles are improved.
Owner:CHERY AUTOMOBILE CO LTD
Watchdog fault-tolerant processing method and mobile terminal
ActiveCN106445721ASimplify fault-tolerant recovery processAvoid reset and restartNon-redundant fault processingBlack listComputer science
The invention is applicable to the technical field of communication and provides a watchdog fault-tolerant processing method and a mobile terminal. The method comprises the following steps of: setting a blacklist of a process, wherein the blacklist comprises one or more appointed abnormal processes; and when detecting that a counter of a watchdog is timed out, closing the abnormal processes, which cause timeout, according to the blacklist, and resetting the counter. According to the watchdog fault-tolerant processing method and the mobile terminal, provided by the invention, fault-tolerant processing of the single abnormal process is realized, and whole machine resetting and restart with relatively high cost are avoided; and a fault-tolerant recovering process of the abnormal processes by the watchdog is effectively simplified and fault-tolerant recovering time is shortened.
Owner:GUANGDONG OPPO MOBILE TELECOMM CORP LTD
Fault-tolerant control method of dual-motor synchronous control system
ActiveCN111211711AImplement fault toleranceImprove reliabilityElectric motor controlVector control systemsPhase currentsReference current
The invention discloses a fault-tolerant control method of a dual-motor synchronous control system. A feedback rotating speed and a rotor position are input into a synchronous control unit, three-phase currents of double motors are converted through Park and Clark to obtain respective feedback quadrature-direct axis currents, corresponding torques are input into the synchronous control unit to becompared, and a corresponding angle and speed compensation strategies are determined; a quadrature-axis reference current and a direct-axis reference current are compared with the feedback quadrature-direct axis current of the double motors, and respective quadrature-direct axis reference voltages are calculated; Park inverse transformation is performed on the quadrature-direct axis reference voltage of the double motors to obtain two voltage components under a static coordinate system, and three duty ratio signals are obtained; and a fault bridge arm of the inverter is judged by detecting a three-phase current of the double motors, fault signals are sent to a fault-tolerant inverter and a PWM signal logic synthesis unit to complete reconstruction of a fault-tolerant topology and implementation of a fault-tolerant algorithm, and finally fault-tolerant control of the double permanent magnet synchronous motors is achieved. System reliability is high.
Owner:CHECC DATA CO LTD +1
Aero-engine gas circuit part fault detection method
The invention relates to an aero-engine gas circuit part fault detection method, and solves problems that the calculation burden is heavy and the fault tolerance is poor when a standard extended Kalman filtering algorithm employs a centralized-type structure for gas circuit health diagnosis. Moreover, the designed sensor fault detection and isolation method based on state consistency can achieve the fault tolerance function of the sensor. The method takes a filtering structure of a fusion structure as the basis, and a fault detection unit is additionally disposed between each local filter and a main filter. The sensor fault detection is carried out under the condition that when the sensor is normal, all local filters are consistent in state estimation. If a fault happens to a subsystem, the subsystem is isolated. When fusion is carried out in the main filter, the information of a fault subsystem is eliminated, and the method just carries out information fusion and feedback on a normal subsystem, thereby achieving the fault diagnosis of a gas circuit with a function of sensor fault tolerance.
Owner:上海航数智能科技有限公司
Control device for elevator
The invention discloses a control device for an elevator. The device comprises an energy storage device (20), an energy storage device state detector (21), a charge / discharge circuit (19), an energy storage device controller (22), an energy consumption circuit (5) and an energy consumption circuit control device (18), wherein the charge / discharge circuit (19) comprises n parallel branches; and when the regenerated energy of the elevator exceeds the storage capacity of the energy storage device (20) or the regenerated current or regenerated power of the elevator exceeds the acceptable upper limit of the energy storage device (20) or charge / discharge circuit (19), the energy consumption circuit control device (18) controls the energy consumption circuit (5) to completely or partially consume the exceeding part of the regenerated current or power so that the bus voltage is constant or changes according to the predetermined rule and / or the energy storage device is charged in a range avoiding overcharge. According to the invention, the equipment capacity of the elevator power system can be effectively reduced, the electric parameters and power consumption of the power module are effectively reduced, and the service life is prolonged.
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD
Intelligent frequency conversion control cabinet and control method thereof
InactiveCN108180602ASystem control stabilityGuaranteed safe operationMechanical apparatusSpace heating and ventilation safety systemsContactorAutomatic control
The invention discloses an intelligent frequency conversion control cabinet comprising a control cabinet body, and a DDC, a frequency converter, a soft starter, a contactor, an operation display panel, an intelligent electric meter and a thermal module which are installed in the control cabinet body; the operation display panel is provided with manual start-stop buttons, and variable frequency / power frequency and local / remote selector knobs; the DDC is controlled through these buttons and knobs so that the contactor, the frequency converter and the soft starter are controlled, and the DDC is connected to all on-site sensors through sensor interfaces; meanwhile, the DDC is further connected to a network controller through a cable, so that the operating data of the intelligent frequency conversion control cabinet is uploaded to a remote upper computer, and the system operation can be monitored conveniently and remotely. The intelligent frequency conversion control cabinet disclosed by the invention has the functions of energy efficiency monitoring, automatic control, energy-saving control and regulation, and energy use safety monitoring and alarm.
Owner:江苏联宏智慧能源股份有限公司
Data processing method and device
ActiveCN108574814AAvoiding dropped line or frame issuesImplement fault toleranceStandards conversionImage resolutionData processing
The invention discloses a data processing method and device and belongs to the technical field of multimedia. The method comprises the following steps: when a blanking row is determined to be detectedbased on the value of SAV and the value of EAV in a received data row, counting the continuous valid quantity; if the continuous valid quantity reaches the first preset quantity, analyzing valid datacontained in the detected valid row whenever the blanking row is determined to be detected based on the value of the SAV and the value of the EAV in the received data row after the EAV of a next blanking row is detected; in the analyzing process, when the blanking row is detected again based on the value of the SAV and the value of the EAV in the received data row, ending the analyzing operation,and recombining the valid data, obtained by analyzing according to a preset data row format on the basis of a preset resolution and a receiving timing sequence, into frames, thereby solving the problem of row lost or frame drop caused by discarding the data rows once a fault is detected by using the CRC, and improving the fault tolerance processing of the data.
Owner:HANGZHOU HIKVISION DIGITAL TECH
A method for fault detection of aeroengine gas circuit components
ActiveCN105372071BFault-tolerantImplement fault toleranceEngine testingAviationSoftware fault tolerance
The invention relates to an aero-engine gas circuit part fault detection method, and solves problems that the calculation burden is heavy and the fault tolerance is poor when a standard extended Kalman filtering algorithm employs a centralized-type structure for gas circuit health diagnosis. Moreover, the designed sensor fault detection and isolation method based on state consistency can achieve the fault tolerance function of the sensor. The method takes a filtering structure of a fusion structure as the basis, and a fault detection unit is additionally disposed between each local filter and a main filter. The sensor fault detection is carried out under the condition that when the sensor is normal, all local filters are consistent in state estimation. If a fault happens to a subsystem, the subsystem is isolated. When fusion is carried out in the main filter, the information of a fault subsystem is eliminated, and the method just carries out information fusion and feedback on a normal subsystem, thereby achieving the fault diagnosis of a gas circuit with a function of sensor fault tolerance.
Owner:上海航数智能科技有限公司
Man-machine conversation matching method and device based on pronunciation similarity and medium
PendingCN111916085AImprove fault toleranceCorrect dialogue comprehensionSpeech recognitionNatural language processingDialog system
The invention discloses a man-machine conversation matching method and device based on pronunciation similarity and a medium, and the method comprises the steps: obtaining a character string answeredby a user and character strings corresponding to a plurality of to-be-matched candidate answers; converting the character strings answered by the user and the character strings of the candidate answers into corresponding pronunciation arrays respectively; calculating an editing distance between the pronunciation array corresponding to the user answer and the pronunciation array corresponding to each candidate answer; obtaining pronunciation similarity between the two character strings according to the editing distance; and obtaining candidate answers matched with the user answers according tothe pronunciation similarity. According to the invention, the fault-tolerant capability of a voice-based man-machine conversation system can be effectively improved, correct conversation understandingis realized, and the conversation service is smoother and more efficient.
Owner:BEIJING AIYISHENG TECH CO LTD
Set-top box converged gateway, startup method thereof, device and storage medium
ActiveCN109150810ALow costImplement fault toleranceBootstrappingSelective content distributionElectricityGuidance system
The invention discloses a set-top box converged gateway, a startup method thereof, a startup device of the set-top box converged gateway and a computer storage medium and belongs to the converged gateway technical field. The method includes the following steps that: after a gateway side is powered on, a guidance system is started, wherein the guidance system is stored on the memory on the gatewayside; and a gateway system is read from the memory of a set-top box side through the guidance system and is started. According to the set-top box converged gateway, the startup method thereof, the startup device of the set-top box converged gateway and the computer storage medium provided by the embodiments of the present invention, only the guidance system is stored in the memory of the gateway side, and the gateway system is not stored in the memory of the gateway side; if the gateway system is to be started, the gateway system is read from the set-top box side and is started; and therefore,it is not necessary to configure a larger memory for the gateway side, and therefore, costs can be saved.
Owner:ZTE CORP
IMS network registration method and related device
ActiveCN111315009AImplement fault toleranceRegistration failedTransmissionWireless communicationTerminal equipmentEngineering
The embodiment of the invention provides an IMS network registration method and a related device, and relates to the field of communication. The terminal device establishes a bearer with the IMS network; receiving a response message returned by the IMS network based on the P-CSCF device discovery request sent by the terminal device, and when it is determined that the response message does not carry the address information of the P-CSCF device allocated by the IMS network, or the address information of the P-CSCF device carried in the response message is invalid, reading locally pre-configuredalternative address information, and initiating a registration request to the IMS network based on the alternative address information. Visibly, when the IMS network is abnormal and the address of theP-CSCF equipment cannot be returned; the terminal equipment is pre-configured with the alternative address information of the P-CSCF equipment, so that IMS registration can be performed by using thealternative address information, and the situation that the terminal equipment cannot be successfully registered to the IMS network due to the fact that the IMS network is abnormal is avoided.
Owner:XIAN WINGTECH ELECTRONICS TECH CO LTD
Watchdog fault-tolerant processing method and mobile terminal
ActiveCN106445721BSimplify fault-tolerant recovery processAvoid reset and restartNon-redundant fault processingComputer science
Owner:GUANGDONG OPPO MOBILE TELECOMM CORP LTD
A distribution network self-healing control system and its implementation method
ActiveCN102841582BImprove real-time response performanceImprove reusabilityTotal factory controlSustainable buildingsSelf-healingDistribution control
The invention discloses a distribution grid self-healing control system which is characterized by comprising an entity Agent, a function Agent, an interface Agent and a translation Agent; the entity Agent comprises two types including an element type and an integration type; the element-type entity Agent is embedded in a controlled apparatus; the interface Agent is embedded in a control terminal; the integration-type entity Agent, the function Agent and the translation Agent are embedded in a server; the entity Agent is connected with other systems by the translation Agent, connected with a scheduler by the interface Agent and used for ensuring the normal running of the controlled apparatus via the processing task of the function Agent. The problems in the development of the distribution grid self-healing control system are solved by adopting the multifunctional intelligent system provided by the invention.
Owner:CHINA ELECTRIC POWER RES INST +1
A Reliable Data Analysis Method Based on RDMA and Message Passing
ActiveCN107665154BSimplify writingMeet computing needsRedundant operation error correctionFault toleranceMessage delivery
The invention provides a reliable data analysis method based on RDMA and message passing. The method comprises the following steps that an Allreduce function and a Broadcast function are provided, data reduction calculation of cluster nodes is conducted according to the Allreduce function, and a data broadcast operation of the cluster nodes is conducted according to the Broadcast function; a fault-tolerant mechanism based on an application-level checkpoint technology is generated to conduct backup and restoration of data; backup and restoration of local data is conducted through an RDMA technology, wherein during data backup, the local data is directly written in corresponding addresses of multiple remote machines by using unilateral writing characteristics of the RDMA technology, and during data restoration, data is directly written in from the remote machines to restore local duplicate spaces by using the unilateral writing characteristics of the RDMA. The reliable data analysis method can simplify programming and improve the calculation efficiency, meet a part of calculation requirements of distributed machine learning programs and has fault tolerance.
Owner:YANGTZE DELTA REGION INST OF TSINGHUA UNIV ZHEJIANG
Fault Tolerant Reversing Valve
InactiveCN111365314BRealize commutationMeet the requirements of fault-tolerant performanceOperating means/releasing devices for valvesServomotor componentsGear wheelControl engineering
The invention discloses a fault-tolerant reversing valve, which comprises a main body valve, a circumferential driving mechanism and an axial driving mechanism. One end of the main body valve is connected to the circumferential driving mechanism, and the other end is connected to the axial driving mechanism. The main body valve is provided with a first spool and a second spool. One end of the first spool is connected to the first servo motor through the first gear, and the other end is against the first linear slider. The first linear slider is connected to the The first rack; one end of the second spool is connected to the hand wheel through the second gear, and the other end is against the second linear slider, and the second slider is connected to the second rack; both the first gear and the second gear are connected to the second gear. The fourth gear is meshed, the first rack and the second rack are meshed with the third gear, and the second servo motor is connected to the third gear. The fault-tolerant reversing valve adopts the method of direct cooperation between the valve body and the valve core, omitting the valve sleeve structure, and after the main drive motor is damaged, it can continue to perform oil reversing through other driving parts.
Owner:NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
Single-phase load control device and method
InactiveCN104882879AConvenient three-phase balance controlGuaranteed safe operationPolyphase network asymmetry elimination/reductionReactive power adjustment/elimination/compensationControl engineeringTransfer switch
Disclosed is a single-phase load control device and method. The device at least comprises two change-over switches or a plurality of single-phase power drivers, which are connected to a three-phase power supply and single-phase loads controlled by the single-phase power drivers. The device is characterized in that the single-phase power drivers connected to the three-phase power supply are connected to two sides of each single-phase load, respectively; the single-phase power drivers on one side are connected to any two phases of the three phases of A, B, C; the single-phase power drivers on the other side are connected to the left phase and any one phase of the two phases; or the single-phase power drivers on the other side are connected to the left phase and a zero-line phase. As a result, each single-phase load is added between any two phases, or a redundant load is added between any one phase and the ground via three single-phase power drivers. The single-phase load control device can be used for active adjustment and reactive compensation, and achieves purposes of balancing three-phase load, improving reliability of a system, and saving energy.
Owner:周帅
Data processing method and device
ActiveCN108574814BImplement fault toleranceImproved fault-tolerant processingStandards conversionFault toleranceAlgorithm
Owner:HANGZHOU HIKVISION DIGITAL TECH
Filled hollow hydraulic prop device
ActiveCN106593496BRealize constant resistance supportAvoid eccentricityProps/chocksHydraulic cylinderFault tolerance
Owner:TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
A fault-tolerant control method for a dual-motor synchronous control system
ActiveCN111211711BImplement fault toleranceImprove reliabilityElectric motor controlVector control systemsPhase currentsReference current
The invention discloses a fault-tolerant control method of a dual-motor synchronous control system. The feedback speed and rotor position are input to a synchronous control unit, and the three-phase currents of the dual motors are respectively transformed by Park and Clark to obtain respective feedback AC-D axis currents. The corresponding torque is input to the synchronous control unit for comparison, and the corresponding angle and speed compensation strategy is determined; the quadrature axis reference current and the direct axis reference current are compared with the feedback AC and direct axis currents of the dual motors, and the respective arc and direct axis reference voltages are calculated ; The AC-D axis reference voltage of the dual motors is inversely transformed by Park to obtain two voltage components in the stationary coordinate system, and three duty ratio signals are obtained respectively; by detecting the three-phase current of the dual motors to judge the faulty bridge arm of the inverter, The fault signal is sent to the fault-tolerant inverter and the PWM signal logic synthesis unit to complete the reconstruction of the fault-tolerant topology and the realization of the fault-tolerant algorithm, and finally realize the fault-tolerant control of the double permanent magnet synchronous motor. System reliability is high.
Owner:CHECC DATA CO LTD +1
Fault-tolerant reversing valve
InactiveCN111365314ARealize commutationMeet the requirements of fault-tolerant performanceOperating means/releasing devices for valvesServomotor componentsGear wheelControl engineering
The invention discloses a fault-tolerant reversing valve. The fault-tolerant reversing valve comprises a main body valve, a circumferential driving mechanism and an axial driving mechanism, wherein one end of the main body valve is connected with the circumferential driving mechanism, and the other end of the main body valve is connected with the axial driving mechanism. The main body valve is provided with a first valve core and a second valve core, one end of the first valve core is connected with a first servo motor through a first gear, the other end of the first valve core abuts against afirst linear sliding block, and the first linear sliding block is connected with a first rack; one end of the second valve core is connected with a hand wheel through a second gear, the other end ofthe second valve core abuts against a second linear sliding block, and the second sliding block is connected with a second rack; the first gear and the second gear are engaged with a fourth gear, thefirst rack and the second rack are engaged with a third gear, and a second servo motor is connected to the third gear. According to the fault-tolerant reversing valve, the main body valve and the valve cores are directly matched, a valve sleeve structure is omitted, and oil reversing can be continued through other driving parts after a main driving motor is damaged.
Owner:NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
Set-top box fusion gateway and its starting method, device and storage medium
ActiveCN109150810BLow costImplement fault toleranceBootstrappingSelective content distributionOperating systemSet top box
The invention discloses a set-top box fusion gateway and its starting method, device and computer storage medium, belonging to the technical field of fusion gateways. The method includes: after the gateway side is powered on, starting the boot system, wherein the boot system is stored in the memory on the gateway side; reading the gateway system from the memory on the set-top box side through the boot system and starting it. In the embodiment of the present invention, only the boot system is stored in the memory on the gateway side, and the gateway system is not stored, and the gateway system is read and started from the set-top box side during startup, so that there is no need to configure a larger memory for the gateway side to save costs.
Owner:ZTE CORP
Fault-tolerant method and device for data storage, equipment and storage medium
PendingCN113434338ACaused by abnormal circumstancesImplement secondary backupRedundant operation error correctionFault toleranceData storing
The invention relates to the field of data processing, in particular to a fault tolerance method and device for data storage, equipment and a storage medium. The method comprises the steps that when the embedded system is powered on and started, whether the process of storing data to be backed up to a first storage space is completed or not is judged when the embedded system is powered off last time; if yes, first backup data stored in the first storage space are backed up to the second storage space, the first backup data are recovered to the embedded system, and the first backup data are to-be-backed-up data stored when the embedded system is powered down last time; if not, second backup data stored in the second storage space are recovered to the embedded system, and the second backup data are historical to-be-backed-up data stored before the embedded system is powered down last time. The data backup method and device are used for solving the problem that on the premise that the size of equipment is not increased, when the embedded system is powered down, the accuracy of backup data cannot be guaranteed, and then power-on recovery of the system is abnormal.
Owner:SUZHOU WEICHUANG ELECTRICAL EQUIP TECH
Multi-controller snapshot processing method and device
ActiveCN104268032BReal-time monitoring of working statusImplement fault toleranceHardware monitoringRedundant operation error correctionData securityPID controller
The invention discloses a multi-controller snapshot processing method, which is applied to an application system with two or more controllers, including: according to the snapshot relationship of each controller established in advance, respectively setting the snapshot relationship of each controller The configuration file is saved in the corresponding controller; among them, the ID of the corresponding controller is set in the configuration file; the working status of each controller is monitored in real time. The saved configuration file is transferred to another normal controller; a snapshot volume is created under the normal controller, and the snapshot relationship of the abnormal controller is mapped to the created snapshot volume according to the transferred configuration file. Through the technical solution provided by the invention, fault-tolerant processing of snapshot processing under multiple controllers is realized, thereby ensuring data consistency and security.
Owner:上海浪潮云计算服务有限公司
Elevator control device
ActiveCN102372197BAchieve storageAchieve releaseSecondary cellsElevatorsComputer moduleElevator control
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD
Filling type hollow hydraulic support device
ActiveCN106593496ARealize constant resistance supportAvoid eccentricityProps/chocksPistonEngineering
The invention provides a filling type hollow hydraulic support device and belongs to the technical field of hydraulic supports. The filling type hollow hydraulic support device is characterized in that the filling type hollow hydraulic support device comprises a blind hole base, a connecting disk, an outer cylinder body, an inner cylinder body, a piston, a compressing spring, a piston cover, a top cover, a top cover connecting disk, an oblique wedge and a ring sleeve; a top cover connecting disk of the top cover is connected with a piston of a hollow hydraulic cylinder formed through combination of the outer cylinder body, the inner cylinder body, the piston, the compressing spring and the piston cover; the bottom end of the hollow hydraulic cylinder is connected with the upper end of the blind hole base through the connecting disk; the T-shaped top cover penetrates through hollow cavities of all the parts; filling balls are poured into a center cavity of the blind hole base through a funnel inserted into an oblique hole in the blind hole base, so that the functions of hydraulic constant-resistance support in a working state and fault-tolerance support for safe supporting of the filling balls and the T-shaped top cover in a fault state are achieved; and when a support is dismounted, the filling balls are taken out after the oblique wedge of the blind hole base is pulled out, and thus hydraulic unloading is achieved. The filling type hollow hydraulic support device has the advantages that the structure is simple, installation and maintenance are convenient, and safety is facilitated through dual support.
Owner:TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
Method, device and storage medium for free fault-tolerant gait planning of hexapod robot
ActiveCN111605642BImplementing Free Fault-Tolerant Gait Planning MethodReduce distractionsAttitude controlVehiclesHexapodGait planning
The invention provides a free fault-tolerant gait planning method, device and storage medium of a hexapod robot. The method includes the following steps: acquiring state information of the hexapod robot and ground foothold information; determining the swing of the hexapod robot according to the state information The combination of legs and the moving step of the center of gravity of the body; combined with the moving step of the center of gravity of the body and the state information, respectively determine the trajectory of the body center of gravity of the hexapod robot and the landing area of each swinging leg; The target foothold point in the foot area; for the swing leg that has no target foothold point or cannot land, control the swing leg to hover at the predetermined position; for the swing leg that can land on the corresponding target foothold point, according to the state information and the target foothold point to determine the trajectory of the foot end of the swinging leg. The technical scheme of the present invention can plan the gait of the hexapod robot when the swing leg has no foothold or cannot foothold, and improves the ability of the hexapod robot to pass through the terrain with sparse footholds.
Owner:HARBIN INST OF TECH
A cross-platform multi-level integrated design system for fpga
InactiveCN103678745BRealize the designImprove design and development efficiencySpecial data processing applicationsGNU/LinuxHierarchical INTegration
The invention discloses a cross-platform multilevel integrated design system for an FPGA (field programmable gate array). The cross-platform multilevel integrated design system comprises a user graphical interface module, an FPGA chip generating module, an FPGA design module, an FPGA system application module and an FPGA verification module, wherein the user graphic interface module is used for packaging the FPGA chip generating module, the FPGA design module, the FPGA system application module and the FPGA verification module. Switching among the FPGA chip generating module, the FPGA design module, the FPGA system application module and the FPGA verification module is realized by Tap page switching, so that the FPGA chip generating module, the FPGA design module, the FPGA system application module and the FPGA verification module can be called in a friendly and uniform user graphic interface, and cross-platform operating of Windows, Linux, Mac OS systems can be realized.
Owner:北京微纳星科技有限公司
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