91results about How to "Improve observation accuracy" patented technology

The invention discloses a remote sensing surveying and mapping image enhancement processing method for an unmanned aerial vehicle, and relates to the technical field of image enhancement processing. During operation of a system, flight attitude and position information are recorded through GNSS and IMU equipment, the flight path of the unmanned aerial vehicle is controlled, and collected original images are primarily processed; calculating and obtaining a flight stability coefficient Fs, an image acquisition quality coefficient Iq and a topographic feature retention coefficient Tf, removing random noise in a remote sensing image by using an improved non-local mean NLM algorithm, optimizing and processing an edge region, improving edge definition and texture details of a topographic image through a Laplacian pyramid algorithm, strengthening landform features of mountains and hills, and obtaining a remote sensing image; according to the method, color distortion caused by complex mountain illumination conditions is corrected, image colors are enabled to truly restore topographic features, important landform information is prevented from being lost due to over-brightness or over-darkness, topographic feature extraction is optimized, a final index Zfinal is generated, and quality evaluation is performed on an enhanced and corrected image.

The invention provides a stabilization control method and system for a fuel filling ship at a zero navigational speed. The method provided by the invention comprises the following steps: acquiring rolling data and wind wave data of a refueling ship under a target sea condition in a fuel refueling process in real time; the rolling data and the wind wave data are processed based on a radial basis function neural network, and the precession angular velocity of the stabilization gyro device under the target sea condition is obtained through calculation; the stabilization gyro device is controlled to rotate at the precession angular speed, the stabilization gyro device generates a gyroscopic effect and generates rolling moment, the rolling moment is converted into stabilizing moment for resisting rolling through precession motion, and the rolling angle of the filling ship is reduced; and the stabilizing moment is opposite to the vibration direction of the rolling. According to the method and system, rolling control of the filling ship at the low speed or the zero navigational speed is achieved, the stabilization torque can be adjusted in real time according to sea wave changes, and the stability and safety of the filling ship in the fuel filling operation process are improved.

The invention discloses a method for dynamically correcting off-axis aberration of a liquid mirror telescope, which comprises the following steps of: S1, adjusting a secondary mirror body to perform dynamic full-angle circular motion around the center of a primary mirror by using a secondary mirror rotating system, so that the secondary mirror body acquires an incident beam from any direction; s2, acquiring attitude information of the secondary mirror body, and adjusting the secondary mirror body according to the dynamically changeable off-axis angle based on a preset secondary mirror pose adjustment sub-method to compensate for low-order aberration; s3, the light beams of the distorted wavefront compensated by the secondary mirror are adjusted to be emitted in a determined direction in parallel and enter an adjustable beam expanding and shrinking mirror through two groups of plane reflection systems; s4, the light beam with the light spot size adjusted through the adjustable beam expanding and shrinking mirror is reflected to the magnetic liquid deformable mirror through the reflecting mirror; and S5, the magnetic liquid deformable mirror receives the reflected light beam and performs residual aberration correction. According to the method, the observation view field of the liquid mirror telescope can be effectively improved, the imaging quality is improved, and an aberration correction system is endowed with excellent flexibility and wide adaptability.

The invention discloses a wind-light-diesel-V2G micro-grid active frequency random model prediction control method, and belongs to the technical field of micro-grid frequency control. The invention aims to provide a wind-light-diesel-V2G micro-grid active frequency random model prediction control method for solving a micro-grid frequency control problem by combining an active frequency random model prediction secondary frequency control method of an unknown input decoupling observer. The method comprises the following steps: establishing a charging / discharging power model considering the charging demand of an EV user, establishing a micro-grid model containing a wind-light-diesel charging pile, establishing an unknown input observer of an improved Luenberger observer, and predicting and controlling secondary frequency optimization control based on a scene tree random model. According to the invention, the control effect under the uncertain wind-light load condition is improved. The micro-grid frequency control effect of the micro-grid under the uncertain conditions of wind, light and charging piles is improved, and large-scale replacement of distributed wind and light new energy and further popularization of electric vehicles are facilitated.

The invention relates to an intelligent speed control method, device and equipment for an electric scooter and a storage medium. The method comprises the following steps: acquiring and filtering historical riding data of the electric scooter to obtain a time sequence characteristic matrix; constructing a multi-head time self-attention mechanism and a space cross attention mechanism to obtain a time feature vector and a space feature vector; inputting into a multi-feature fusion module for weighted fusion to obtain a fusion feature vector, and generating a target speed sequence through an intention heuristic control module; constructing a state observer to obtain a system state vector; solving and calculating an observer gain matrix through a linear matrix inequality, and constructing an outer loop speed controller and an inner loop current controller to obtain adaptive PID control parameters; and a PWM modulator is input to carry out motor control quantity calculation, a speed control execution instruction is obtained, and a motor driving signal is output. The implementation of the invention ensures the accuracy of motor control, and ensures the safe and reliable operation of the system under various working conditions.

The invention discloses a synchronous motor sensorless control method based on a Newton-Raphson predictive phase-locked loop, and relates to the technical field of motor control. The invention aims to solve the problems that an existing position-sensorless control method is limited by extra loss and noise caused by high-frequency signal injection in the aspect of position signal extraction and poor dynamic performance caused by a traditional phase-locked loop technology, and a prediction phase-locked loop technology needs a large amount of iterative operation for solving a cost function. According to the method, the flux linkage estimation value of the alpha-beta coordinate system is observed, the filtered flux linkage estimation value of the alpha-beta coordinate system is reconstructed, and then a cost function is constructed; when the number of iterations in the current motor control period does not reach the maximum, updating a rotor position angle by using a Newton method, and further updating a cost function; and when the number of iterations in the current motor control period reaches the maximum, calculating a convergence angle in the current motor control period by using an improved Newton method, and calculating an angular velocity estimated value, thereby realizing position-sensorless control of the synchronous motor.

The invention discloses a self-adaptive sliding-mode observer control method based on a novel composite approach rate, and belongs to the field of direct-current synchronous motor control. According to the method, a composite reaching law is constructed based on an exponential function and a power function, and when a system state is far away from a sliding mode surface, the composite reaching law converges towards the sliding mode surface through an exponential reaching item and a power tangent saturation reaching item; when the system state is close to the sliding mode surface, the composite reaching law converges towards the sliding mode surface through an exponential reaching item and a power hyperbolic tangent reaching item, and the method can restrain buffeting of the motor under the high-speed working condition and improve the convergence speed and the control precision. Furthermore, the invention further discloses a full-speed-section position-sensorless compound control method, in the low-speed operation stage of the permanent magnet synchronous motor, pulsating high-frequency voltage injection control is utilized, and the self-adaptive sliding-mode observer is adopted for control in the medium-high-speed stage. Meanwhile, a weighted average switching strategy is used for designing an optimal switching interval between a medium-high speed algorithm and a low-speed algorithm, and efficient and stable control over the full-speed section is achieved.

The embodiment of the invention relates to the technical field of air conditioners, in particular to a refrigerant leakage detection method of a compressor, refrigeration equipment and a storage medium, and the refrigerant leakage detection method comprises the steps that in a non-air-supply mode, operation parameters and load values of a target compressor are collected according to a preset collection period; aiming at the first operation parameter and the first load value acquired in the first acquisition period, judging whether the first load value is within a first normal load threshold range corresponding to the first operation parameter or not; if not, the operation parameters of the target compressor are adjusted to reduce the load value; for a second operation parameter and a second load value acquired in a second acquisition period after the operation parameter adjustment, judging whether the second load value is within a second normal load threshold range corresponding to the second operation parameter; and if not, it is determined that refrigerant leakage occurs in the target compressor. The refrigerant leakage condition can be confirmed without introduction of too many hardware sensor circuits, and the reliability of the air conditioning system is effectively improved.

The invention provides a smart space governance platform based on artificial intelligence, belongs to the technical field of safety supervision, and uses a governance method which specifically comprises the following steps: through analysis results of observation data of different observation Internet of Things devices, determining network anomaly probabilities of the observation data of the different observation Internet of Things devices and paying attention to abnormal devices, and determining the network anomaly probabilities of the observation data of the different observation Internet of Things devices according to the network anomaly probabilities of the observation data of the different observation Internet of Things devices; on the basis of the types of the observation defect hidden danger points, determining occurrence probabilities of quality defects of different observation defect hidden danger points, on the basis of the observation defect hidden danger points, generating a plurality of observation defect hidden danger point groups, and when the observation defect hidden danger points in the different observation defect hidden danger point groups have the quality defects at the same time, determining the occurrence probabilities of the quality defects of the observation defect hidden danger points. And the network management scheme of the region is output according to the influence condition on the building safety, so that the observation reliability of the potential quality hazard is improved.

The invention discloses a pipeline thermal cycle visualization test system and method.The test system comprises a test section pipeline, the test section pipeline comprises a main pipeline (1), a branch pipeline (2) and an injection pipe section (3), and the injection pipe section (3) and the branch pipeline (2) are communicated to different positions of the main pipeline (1) respectively; the injection pipe section (3) is used for injecting fluid different from fluid components in the main pipeline (1) into the main pipeline (1), and the branch pipeline (2) is vertically connected to the main pipeline (1); the test method comprises the steps that the temperature and the flow speed of water flow passing through the test section pipeline are adjusted to be within the set range, the vortex generators (1a and 2a) are started, the injection pipe section (3) is started, and flowing of liquid in the test section pipeline is monitored. And the vortex generation position and the growth process in the thermal cycle phenomenon can be monitored, and a powerful reference is provided for exploration of the thermal cycle mechanism of the nuclear power plant pipeline.

The invention relates to an improved high-frequency pulsating voltage injection permanent magnet synchronous motor rotor position estimation method, and belongs to the technical field of permanent magnet synchronous motor control. The method comprises the following steps: injecting a high-frequency voltage signal into a direct axis of an estimated rotating coordinate system # imgabs0 #, and extracting a high-frequency current signal generated under the excitation of the high-frequency voltage signal from a quadrature axis of a # imgabs1 # coordinate system; multiplying the high-frequency current signal by a modulation signal, and obtaining a signal containing rotor position information through a low-pass filter; the rotor position and the rotating speed of the permanent magnet synchronous motor are estimated through a phase-locked loop according to a current signal including rotor position information, and meanwhile, errors generated by stator resistance and a cross coupling term are compensated in the phase-locked loop, so that the rotor position estimation precision is improved. The method helps to improve the rotor position estimation precision of the permanent magnet synchronous motor at a low speed, and is suitable for an actual permanent magnet synchronous motor low-speed position sensorless control system.

The invention discloses a sliding-mode observer design method based on back electromotive force reconstruction, and relates to the field of motor control. In order to solve the problem in the prior art that the sliding mode control quantity buffeting problem generally exists in the existing sensorless motor control to influence the stability of the system, the technical scheme provided by the invention is as follows: the back electromotive force extraction method comprises the following steps: collecting the observation current of a target motor; obtaining a sliding mode control quantity according to the observation current and a preset sampling current; and obtaining back electromotive force information according to the sliding mode control quantity. And calculating position information and speed of a target motor rotor through a phase-locked loop or an arc tangent function according to the back electromotive force information. The sliding-mode observer design method based on back electromotive force reconstruction is suitable for being applied to sliding-mode observer design work.

The utility model discloses a novel roadbed settlement observation device which comprises a bottom plate, a measuring rod, a threaded pipe cap and a welding auxiliary assembly, an inner threaded cylinder is fixedly arranged in the center of the bottom plate, the measuring rod is arranged on the inner side of the inner threaded cylinder and is in threaded connection with the inner threaded cylinder, the outer side of the top end of the measuring rod is sleeved with the threaded pipe cap, and a level bubble is arranged at the top end of the threaded pipe cap; determining whether the whole device is horizontally placed by observing whether a bubble of the level bubble is kept in the center; and the welding auxiliary assembly is used for assisting the welding work of the bottom plate and the internal thread cylinder in the early stage. The road settlement observation device is mainly used in the technical field of road settlement observation, the vertical condition of the measuring rod can be monitored at any time by arranging the measuring rod detachably connected with the bottom plate and arranging the level bubble at the top end of the measuring rod, meanwhile, the welding auxiliary assembly is arranged, the manual workload can be saved, and the working efficiency is improved.

In order to solve the technical problems that the existing droplet observation device cannot monitor the multi-nozzle printing process and the overall observation precision is low, the present application provides a multi-nozzle single droplet real-time observation device, an observation method and a 3D printing system.The observation device of the present application can make the observation camera capture the current working printing nozzle and automatically focus on it in real time through the cooperation of the first steering engine and the displacement platform, and complete the real-time monitoring of the printing state of the printing nozzle; through the high-frequency multiple flashing of the LED flash, the observation camera can capture the images of the same droplet at multiple times in one shot, at the same time, the high-frequency deflection of the piezoelectric deflection mirror and the telecentric lens are matched with each other, the overlapping images of the single droplet at adjacent moments are separated, so that a single photo can have enough droplet images to show the forming process, the overall observation precision is improved, the quality monitoring and fault diagnosis problems during additive manufacturing are improved, and the waste rate of electronic 3D printing is reduced.

The invention discloses a rotor position determining method of a compressor, a controller and an air conditioner, and belongs to the technical field related to compressors, and the rotor position determining method of the compressor comprises the steps that phase current of a motor in the compressor is obtained, coordinate transformation is conducted on the phase current, and coordinate system current is obtained; constructing a position observer according to the coordinate system current, and obtaining back electromotive force information of the motor through the position observer; the filter is used for filtering the back electromotive force information, back electromotive force harmonic waves caused by compressor load torque fluctuation can be filtered out, rotor position information can be obtained through the filtered back electromotive force information, and the rotor position observation precision is effectively improved. And the motor of the compressor is controlled based on the filtered rotor position information, and the control performance of the driving system can be improved.

Disclosed are a wireless positioning method, apparatus and device, and a storage medium, which relate to the field of wireless communications, and comprise: calculating CFR quotients of a plurality of preset base station pairs based on multiple transmission processes of positioning reference signals between a user terminal to be positioned and a plurality of time-frequency synchronized base stations, thereby eliminating time delay and phase jitter errors of a plurality of transmission processes; according to the method, phase deviation generated by terminal motion is compensated according to a preset parameter value of a non-zero-order motion parameter, phase alignment of CFR quotients at different moments is facilitated, then coherent accumulation is performed, and motion parameters of a user terminal relative to a base station pair are estimated according to the CSI quotients after coherent accumulation. According to the invention, the signal-to-noise ratio is improved through coherent accumulation, and the observation precision of the relative motion parameters from the terminal to the two base stations is improved; and finally, the user terminal is positioned according to the position of each base station and the motion parameter observation value of the terminal relative to each preset base station pair, so that the terminal positioning precision is improved to a certain extent.

The invention discloses a total station wire automatic measuring device and measuring method. The total station wire automatic measuring device comprises a total station driven by a motor and a mobile terminal. The automatic total station obtains the observation angle and distance of each target prism and sends the observation angle and distance to the mobile terminal; and the mobile terminal automatically analyzes the observation angle and distance to obtain observation data. By means of a total station with motor rotation, through software programming and Bluetooth communication technologies, automatic observation, automatic recording, automatic generation of an adjustment file and adjustment output of an adjustment result can be achieved, and the process can greatly reduce error increase caused by manual observation and recording errors possibly generated by manual recording. The working efficiency is greatly improved, and the measurement precision is improved.

The embodiment of the invention provides a motor rotor position observation method and device, equipment and a storage medium. The method comprises the following steps: setting observer gain; according to the two regular T-S fuzzy models and observer gains, a T-S fuzzy observer is constructed, and the T-S fuzzy observer has a corresponding observation error system; according to the observation error system, a cost function is constructed, and the cost function has corresponding cost parameters; under the condition that the observation error system is stable, a target cost parameter is determined, and the target cost parameter is a corresponding cost parameter when the cost function reaches a preset condition; determining a target gain matrix based on a cost function corresponding to the target cost parameter; and determining the position of the motor rotor according to a target T-S fuzzy observer, wherein the target T-S fuzzy observer is obtained by substituting the target gain matrix into the T-S fuzzy observer. The target T-S fuzzy observer in the embodiment of the invention is helpful for improving the observation precision in the full-speed domain range, so that the motor operation has high precision, high reliability and strong robustness.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

The invention relates to a steering-by-wire system rack force observation method and device. The method comprises the steps that vehicle motion information and state information corresponding to a steering-by-wire system are obtained; based on a steering system mechanical model, a first corresponding relation is determined according to the state information, and the first corresponding relation describes the relation between the rack force and the state information; performing yaw angular acceleration analysis processing on the vehicle motion information to obtain yaw angular acceleration data; kinematics analysis processing is conducted on the vehicle motion information and the yaw angle acceleration data, a second corresponding relation is obtained, and the second corresponding relation describes the relation between the rack force change rate and the vehicle motion information and the yaw angle acceleration data; and performing rack force analysis processing based on the first corresponding relation and the second corresponding relation to obtain rack force data. According to the method, calculation of the change rate of the rack force can be introduced in the rack force observation process, the observation delay of the rack force is reduced, and the observation precision is improved.

The invention provides a two-phase hybrid stepping motor sensorless load angle estimation and locked-rotor detection method, and relates to the technical field of motor control. Firstly, phase voltage and phase current of a motor are collected, a continuous and smooth counter electromotive force signal is obtained by constructing a super-spiral sliding-mode observer, and a self-adaptive strategy of resistance parameter online compensation and sliding-mode coefficient online adjustment is introduced to improve robustness of the sliding-mode observer. And then, extracting a back electromotive force phase angle by using an orthogonal phase-locked loop based on an extended state observer, and calculating a load angle by combining the phase of the stator reference current. And finally, the load angle is compared with a multi-stage early warning threshold value, and real-time monitoring of the motor load and rapid detection of out-of-step and locked-rotor faults are realized. According to the method, the hardware dependence of traditional load angle calculation and locked-rotor detection on a position sensor is eliminated, meanwhile, the problems of high-frequency differential noise, filtering phase lag and the like in a sensorless algorithm are effectively solved, and high-precision load angle estimation and locked-rotor detection are achieved.

The application discloses a non-singular fast terminal sliding mode vibration active control method based on a compensation function observer, 1) according to elastic dynamics, a fourth-order modal equation of a four-side fixed support plate structure driven by an electromagnetic inertial actuator is established; 2) in view of external unknown interference and modeling uncertainty existing in the system, a compensation function observer is designed to realize real-time estimation and compensation; 3) a non-singular fast terminal sliding mode surface is constructed, and a sliding mode control law is designed in combination with the observer output, so that the singularity problem of a traditional terminal sliding mode is solved, and the time for system state to reach a balance point is shortened through a fast convergence term; 4) a comparison experiment is designed, and the composite control method designed in the application can significantly reduce the vibration amplitude of the four-side fixed support plate while guaranteeing the finite time stability of the system, and has stronger anti-interference ability and higher vibration suppression precision compared with the traditional sliding mode control.

The utility model discloses a self-balancing hydraulic manipulator at any position in a non-load state, which comprises a mechanical arm, and a top seat is rotatably mounted on the mechanical arm through a second hinge piece; a hydraulic manipulator is mounted on the top seat and comprises a hydraulic oil cylinder mounted on the top seat, a hydraulic telescopic rod is mounted at the output end of the hydraulic oil cylinder, and a manipulator is mounted at one end of the hydraulic telescopic rod; a positioning measuring mechanism is mounted on the top seat and is used for performing position balance measurement on the hydraulic manipulator; the utility model relates to the technical field of hydraulic manipulators, in particular to a self-balancing hydraulic manipulator at any position in a non-load state. The problems that in the actual using process of an existing mechanical arm, whether the mechanical arm is in a balanced state or not is difficult to judge through visual inspection, adjustment is inconvenient, and consequently the precision of the output state of the mechanical arm is not high are solved.

The invention discloses a feeder harmonic trajectory estimation method and a terminal. The method comprises the following steps: acquiring fundamental wave impedance data of a feeder and estimating harmonic impedance data based on harmonic times; calculating a state quantity approximate value of an equivalent PCC point in the feeder line by using the harmonic impedance data; and establishing a multi-objective function by taking the approximate value of the state quantity as an initial value and taking the virtual and real part estimation error of each harmonic of the equivalent PCC point, the total harmonic estimation error of the equivalent PCC point and the total effective value error of the node to be solved as constraints, and solving the multi-objective function to obtain the distribution transformer harmonic current content rate and the phase angle which are approximate to the real value. Under the condition of no modeling analysis or high-precision measurement of the harmonic state, the harmonic state is observed by using an approximate estimation method, the detection capability of the harmonic of the power distribution network is improved, an estimation result is prevented from deviating from an actual value through multiple constraints, and the observation precision of the harmonic state is improved.

The invention discloses a linear compressor resonant frequency tracking control method and device based on a linear super-spiral sliding mode, and belongs to the technical field of linear compressor sensorless resonant frequency tracking control, and the method comprises the steps: constructing a linear super-spiral sliding mode observer to observe a motor back electromotive force signal, and calculating a speed observation signal; a third-order generalized integrator is adopted to carry out filtering processing on the observed speed signal, and a discretization implementation mode of the third-order generalized integrator is designed based on a forward Euler method; a filtered stroke signal is directly obtained by using an orthogonal filtering characteristic of a third-order generalized integrator; and carrying out product calculation on the obtained stroke signal and the obtained current signal, carrying out filtering processing on the product value by adopting a low-pass filter to obtain a direct-current component containing stroke current phase difference information, and further controlling the direct-current component to be 0 by adopting a P controller, so that the stroke current phase difference is always 90 degrees, and resonant frequency tracking control is realized.

This invention relates to an active disturbance rejection control method for the surface potential of an isolated conductor based on an RBF neural network and the INFO optimization algorithm, belonging to the field of charge control technology for space inertial sensors. The invention addresses the problems of insufficient accuracy in estimating the fixed gain of the extended state observer and the difficulty in tuning the parameters of the nonlinear feedback control law in existing active disturbance rejection control methods. The method includes: establishing a dynamic model of the isolated conductor charge management system; constructing a dual-error-constrained extended state observer; adaptively adjusting the observer gain using an RBF neural network to observe the potential and total disturbance; constructing a differential tracker to obtain the expected potential and its derivative; designing a nonlinear state error feedback control law; using the INFO algorithm for global optimization to obtain the optimal control parameters; and constructing a composite controller to output feedback control quantities. This invention achieves adaptive adjustment of the observer gain and automatic optimization of the controller parameters, making it suitable for space gravitational wave detection.

The invention relates to the field of permanent magnet synchronous motors, and discloses a permanent magnet synchronous motor rotor position observation method, which comprises the steps of establishing a sliding-mode observer based on a fast superhelix control theory, and obtaining an electrical angular velocity estimated value and a rotor position angle estimated value of a PMSM through the sliding-mode observer; calculating a voltage characteristic quantity according to the voltage estimation value and the current estimation value obtained by the sliding mode observer; and carrying out online optimization and tracking on the maximum value of the voltage characteristic quantity by adopting a variable step size hill climbing method to realize compensation of the rotor position angle estimation value. According to the invention, the improved fast superhelix algorithm is adopted to replace an exponential reaching law in a sliding mode observer, so that buffeting and ripple waves in back electromotive force estimation are reduced; the FST-SMO based on the d-q axis is designed to estimate the rotating speed and the rotor position, and the dynamic performance and the observation precision are improved.

The invention discloses an image enhancement processing method for remote sensing and mapping of unmanned aerial vehicles, and relates to the technical field of image enhancement processing. During the operation of the system, the flight attitude and position information are recorded by GNSS and IMU equipment, the flight path of the unmanned aerial vehicle is controlled, and the collected original image is preliminarily processed to calculate and obtain: flight stability coefficient Fs, image acquisition quality coefficient Iq and terrain feature retention coefficient Tf, and the non-local mean NLM algorithm is used to remove random noise in the remote sensing image, optimize the edge area, and use the Laplace pyramid algorithm to improve the edge clarity and texture details of the terrain image, strengthen the mountain and hilly landform features, correct the color distortion caused by the complex lighting conditions in the mountains, make the image color truly restore the terrain features, avoid the loss of important landform information due to excessive brightness or darkness, optimize the terrain feature extraction, and generate the final index Z final ,Quality assessment of enhanced and rectified images.

This invention discloses an input-constrained stabilization control method for a TORA system affected by uncertain disturbances, relating to the field of engineering vibration control technology. The method includes: establishing the dynamic equations of the TORA system; constructing a Model-Assisted Reduced-Order Extended State Observer (MRESO) to dynamically estimate lumped disturbances in each subsystem online; designing a virtual control law for the translational trolley subsystem based on the backstepping method, and processing the virtual control law using a tracking differentiator to obtain a smooth differential signal; designing an actual control law for the rotating ball subsystem without considering input constraints; using the lumped disturbance as a feedforward compensation quantity to compensate the actual control law, obtaining the compensated control quantity; and inputting the compensated control quantity into a saturated approximation function for mapping to generate the final bounded control command, which is then applied to the actuator of the TORA system. This invention effectively reduces the sensitivity to system parameter uncertainties by introducing dimensionless scaling.

A preservation and observation device for tiny insect liquid immersion specimens relates to the technical field of insect research and comprises a specimen preservation bin and a sealing cover, the specimen preservation bin comprises a columnar preservation and observation bin and a columnar buffering bin, a bin opening of the preservation and observation bin is connected with the bin bottom of the buffering bin, and communication between the preservation and observation bin and the buffering bin is achieved. The cross section area of the storage and observation bin is smaller than that of the buffer bin, the storage and observation bin and the buffer bin are filled with storage liquid, and a sealing assembly used for blocking a bin opening of the storage and observation bin is arranged in the buffer bin. The technical problems that an existing preservation device is difficult to directly observe a specimen under a high-power microscope, and the observation precision is not high can be solved.