230results about How to "Maintain dynamic balance" patented technology

A posture control system for a mobile robot. When an unexpected external force acts, the system is configured to control and stabilize the posture of the robot driving an arm link such that, in response to a first external force that is a component in a predetermined direction of an unexpected external force, a second external force acts on the arm link in a direction orthogonal to the predetermined direction. With this, when the mobile robot receives a reaction force, even if the posture becomes unstable or the robot receives an unexpected reaction force, it becomes possible to preserve the dynamic balance and to maintain a stable posture.

For extended long-post operation of a Steadicam(R)-type camera stabilizer while retaining static and dynamic balance throughout the entire range of post sizes and various component weights, the present invention is directed to an arrangement of telescoping posts, component positioning hardware, electrical wire retracting hardware, and optional hardware to augment rigidity.

In a posture control system of a mobile robot, when unexpected external force acts, it is configured to control to stabilize the posture of the robot driving the arm link such that, in response to a first external force that is a component in a predetermined direction of the unexpected external force, a second external force acts on the arm link in a direction orthogonal to the predetermined direction. With this, when the mobile robot is controlled to work that is likely to receive a reaction force from the object, even if the posture becomes unstable or the robot receives the unexpected reaction force acting from the object, it becomes possible to preserve the dynamic balance and to maintain a stable posture.

A washing machine having a ball balancer coupled to the drum to compensate for a dynamic imbalance during rotation of the drum, the ball balancer including a ring-shaped racer having a closed internal space in which a plurality of balls and viscous oil are accommodated, the ring-shaped racer including a first injection molded member and a second injection molded member joined to each other to form the closed internal space, the first injection molded member including a first side wall, a second side wall and a connecting wall between the first side wall and the second side wall, the first injection molded member having an open side opposite to the connecting wall, and the second injection molded member is adapted to cover the open side of the first injection molded member.

Disclosed is a washing machine having ball balancers, which adjust a relation between a gap, between the inner wall of a racer of each of the ball balancers and balls, and viscous oil, so as to reduce the vibration and noise of the washing machine. Each of the ball balancers of the washing machine includes balls and viscous oil accommodated in a racer, and the viscosity of the viscous oil is varied in proportion to a gap between the racer and the balls. When the viscosity of the viscous oil is 1˜100 cSt, the gap is set to 0.5˜1.0 mm, when the viscosity of the viscous oil is 100˜380 cSt, the gap is set to 1.0˜2.0 mm, and when the viscosity of the viscous oil is 380˜1,000 cSt, the gap is set to 2.0˜3.0 mm. Thereby, the relation between the gap and the viscous oil is optimized, and the ball balancers effectively exhibit a balancing function and thus minimize the vibration and noise of the washing machine.

Disclosed is a antihypelipidemic and antihyperglycemic health food for preventing diseases including cardiovascular disease, diabetes, adjusting internal secretion, resisting osteoporosis and cancer, and beauty treatment. The raw materials include soybean powder 15-30 parts, pumpkin powder 15-30 parts, soybean isoflavones 0.5-1.5 parts, soybean saponin 2-5 parts, astragalus root 10-20 parts, wolfberry fruit 10-15 parts, kudzuvine root 10-15 parts, Chinese yam 10-15 parts, lotus plumule 6-10 parts, Siberian solomonseal rhizome 6-10 parts, cassia seed 6-10 parts, lily 5-8 parts, mulberry leaf 5-8 parts and ginseng 3-5 parts.

The invention discloses a control method for postures of an upper body of a humanoid robot while walking steadily and a device thereof, and belongs to the automation control field. The method comprises the following steps: judging a state of feet of the robot at the current moment, wherein, the state of the feet is a support state or a swing state; computing a corrected value of hip joints of the robot at the current moment according to the state of the feet; and computing a servo reference value of the hip joints according to the corrected value. The device comprises a judgment module, a first computation module and a second computation module. The device regulates the posture of the upper body by regulating the hip joints so as to achieve steady walking of the robot without a specific robot mathematical model, has wide application range, simple computation, short compensation time delay, and keeps a dynamic balance effect of the upper body of the robot in a real-time manner.

The invention discloses a method for controlling the time of foot landing which can lead a humanoid robot walk steadily and a system thereof, belonging to the field of robots. The method comprises that: the feet of the swing legs of a robot are detected to judge whether the feet land or not; if the feet of the swing legs of the robot land before the time of the programming pace, the ankle of the swing legs is elevated; if the feet of the swing legs of the robot land after the time of the programming pace, the ankle of the swing legs is lowered. The system comprises a detection device and an adjustment device; wherein, the adjustment device comprises an advanced adjustment module, a lagging adjustment module and a supporting adjustment module. The invention has the effect that the robot can walk steadily in the actual environment by amending the programming dynamic pace of the robot and controlling the pace in real time.

The invention discloses a pickled carrot preparing process and belongs to the technical field of preparation of the fermented food pickles. The process comprises the steps of A, carrot preprocessing; B, pickling water I and pickling water II preparation; C, circulating fermentation, wherein the processed vegetable obtained in the step A is fermented in the pickling water I obtained in the step B, after the 4n time of fermentation, centrifugation, dewatering, pickling water II supplement, gaofuji paolemei lactic acid bacteria powder adding, detection and adjustment are conducted on pickling water obtained after the 4n time of fermentation in sequence, and then the pickling water is continued to be used for fermenting the processed vegetable obtained in the step A; D, finished product processing. By controlling carrot preprocessing, pickling water preparation, circulating fermentation and finished product processing, especially addition of gaofuji paolemei lactic acid bacteria powder to the pickling water and control over various parameters and indexes during the circulating fermentation process, pickled carrot preparation time is shortened greatly, the quality and taste of pickled carrots are improved, large-scale production is facilitated, the development of the pickle industry is promoted, and economical benefits are high.

The invention discloses a continuous esterification production method for mixed dibasic acid dimethyl ester. The method comprises the following steps of: (1) pre-esterifying, namely, mixing dibasic acid and methanol in a mole ratio of 1:2-3 and performing pre-esterification at the normal temperature and normal pressure to obtain a pre-esterified material; (2) pre-heating the methanol, namely, pressurizing and pre-heating the methanol to form overheated methanol gas with the temperature of between 145 and 155 DEG C; and (3) continuously esterifying, namely, adding the pre-esterified material into a continuous esterification reactor, of which the middle part is provided with a catalyst reaction bed, from the top, adding the overheated methanol gas into the continuous esterification reactor from the bottom, performing a reverse flow reaction on the ascending methanol gas and the descending pre-esterified material on the catalyst reaction bed, and continuously discharging the mixed dibasic acid dimethyl ester which is generated by the esterification from the bottom of the esterification reactor.

The invention relates to a method for extraction of deep-seated intercrystalline bittern of a salt lake mining area. The method comprises the following steps of 1, excavating a gas-injection well, brine mining wells and a brine transportation channel on a salt lake ore bed, arranging an air compressor on the salt lake ore bed, arranging a brine tail liquid injection pipe in the gas-injection well around which the brine mining wells each provided with a brine transportation pipe in the interior are uniformly arranged; and arranging a brine mining pump in each one of the brine mining wells, wherein the brine mining pump is connected to one end of the brine transportation pipe of which the other end is connected to the brine transportation channel, 2, continuously pumping compressed air into the salt lake ore bed by the air compressor so that deep-seated intercrystalline bittern gushes out, 3, pumping out the deep-seated intercrystalline bittern from underground by the brine mining pumps and outputting the deep-seated intercrystalline bittern to the brine transportation channel, 4, injecting a brine tail liquid subjected to potassium extraction into the salt lake ore bed in the gas-injection well so that the brine tail liquid reaches a salt bed and forms novel potassium-containing brine, and 5, repeating the steps of 2-4 so that a cycle is finished. The method utilizes compressed air to realize extrusion of intercrystalline bittern and deep-seated bittern so that resources are fully utilized.

The invention discloses an oppositely-arranged four stroke free piston internal combustion-linear electricity generating integrated device. The oppositely-arranged four stroke free piston internal combustion-linear electricity generating integrated device comprises a four-stroke internal combustion engine, two linear motors, a reversible electric energy storing device, an electric power unit and an electronic control unit, wherein each linear motor has an electricity generating working mode and an electric working mode, the electric power unit is used for connecting the linear motors and the reversible electric energy storing device, the electronic control unit is respectively connected with a valve timing mechanism, an ignition device and the electric power unit of the four-stroke internal combustion engine, active cells of the linear motors are fixedly connected with two pistons of the internal combustion engine, the active cell of each linear motor is provided with a position detecting component which is connected with the electronic control unit, the two ends of a combustor cylinder of the four-stroke internal combustion engine are open, the two pistons are symmetrically arranged inside the combustor cylinder, and the two linear motors are symmetrically arranged inside the combustor cylinder. The oppositely-arranged four stroke free piston internal combustion-linear electricity generating integrated device is good in operation dynamic balanced performance and high in scavenging efficiency.

The invention discloses a lucid ganoderma-probiotic composite fermentation product and a preparation method and application thereof. The lucid ganoderma-probiotic composite fermentation product comprises a lucid ganoderma fermentation supernatant, a probiotic fermentation liquid and functional nutritional ingredients. The preparation method comprises the following steps: fermenting lucidum ganoderma mycelia, carrying out centrifuging, taking the supernatant, and mixing the supernatant with the functional nutritional ingredients; then adding the probiotic fermentation liquid into a mixture obtained in the previous step, and carrying out fermentation; and finally, subjecting a fermentation product to inactivation or centrifugation to obtain the composite fermentation product. The composite fermentation product contains rich nutritional ingredients such as polysaccharides, polypeptides and organic acids and is easily and fully absorbed by the skin, and the composite fermentation product contains ingredients such as microelements which can promote repair and recovery of injured skin, so the composite fermentation product has a good skin care effect. The composite fermentation product is beneficial for skin health and is not polluted by enzymes, chemicals and the like; the whole fermentation system is mild in conditions; and the preparation method is simple to operate and controllable in cost, and is beneficial for large-scale production.

The invention discloses an abrasive recovery device in an abrasive water jet scale removal system. The abrasive recovery device comprises a stirring barrel, wherein recovery barrels, cyclone separators and a detritus tank are connected at the back of the stirring barrel; a plurality of corresponding stages of recovery barrels and cyclone separators are provided; each stage of recovery barrel is internally provided with a vertical slurry pump; the inlet of each stage of cyclone separator is communicated with the outlet of the corresponding vertical slurry pump; the abrasive liquid outlet at the bottom of each stage of cyclone separator is communicated with the stirring barrel; the overflow port of the last stage of cyclone separator is communicated with the detritus tank; overflow ports of the remaining stages of cyclone separators are returned to the corresponding stage of recovery barrel. The plurality of stages of recovery barrels and cyclone separators are arranged, so that the interior circulating path of abrasive liquid is created, dynamic balance of the abrasive liquid in the recovery device is established, and the recyclable abrasive in the abrasive liquid after scale removal can be separated and recycled efficiently and progressively according to requirements. The abrasive recovery device has the advantages of being safe, stable and reliable to work, automated for control during the whole process and wide in applicability.

The invention relates to a method for preparing a nonreactive selenium-rich laying hen feed additive. Eggs are necessary food in daily life of people, and are rich in nutrition. In recent years, professional raising farmers abuse antibiotics and hormones to acquire profits and prevent chicken diseases, and consequently, egg drug residues are serious, and physical and psychological health of people is affected. According to the method, lycopene, natural lutein, chitosan oligosaccharide, selenium yeast, diaminocaproic acid, diaminocaproic acid, lactic acid bacteria, bacillus subtilis, vitamin E, brewer's yeast, phytase, vitamin C, malic acid, lactic acid and water are organically mixed and fermented to be prepared into the nonreactive selenium-rich laying hen feed additive. Then, the nonreactive selenium-rich laying hen feed additive is combined with feed, intestinal probiotics of laying hens can be protected, absorption of nutrient substances can be promoted, the growing and reproducing function of the laying hens can also be adjusted, ovary development can be promoted, egg laying quality can be improved, the laying rate can be increased, and selenium-rich eggs free of antibiotic drug residues are produced.

The invention provides a pre-mixed feed for improving the bone mineral density and eggshell quality and a preparation method thereof, belonging to the technical field of egg chicken feed. The method comprises the following components in parts by weight: 130-170 parts of calcium hydrogen phosphate, 100-160 parts of stone powder, 100-150 parts of shell powder, 10-40 parts of calcium malate, 20-27 parts of calcium hydroxymethionine, 0.5-2 parts of lactobionic acid, 0.5-2 parts of agaricus blazei and 0.5-2 parts of colostrum alkaline protein, 2-5 parts of hydroxyl vitamin D, 2-8 parts of phytase,2-5 parts of composite enzyme preparation, 2-5 parts of microecological agent, 0.1-0.4 parts of soybean flavone, 0.1-0.4 parts of vitamin K2, 0.5-2 parts of bone collagen, 1-4 parts of polydextrose, 0.5-2 parts of fructo-oligosaccharide, 0.5-2 parts of rhizoma drynariae, 0.5-2 parts of fructus psoraleae and the like. In order to improve the calcium utilization rate, a brand new idea of calcium utilization is provided, that is, three systems of the calcium supplement of the laying hens, that is, a calcium supplementing system, a calcium promotion absorption system and a health system of improving the gastrointestinal.

The invention discloses a balance pig raising method. The balance pig raising method includes selection of a pigsty site, balance of feed, balance of pig house environment, balance of pig house external environment, balance of microclimate in a pig house, a method for balancing captivity and life habits of pigs, and balance governance of dead pigs and delivery wastes. The balance pig raising method is capable of reducing cultivation costs, feeding green fodder, improving cultivation efficiency, improving pollution discharge, providing a good work environment for cultivation workers, meeting growth rhythm of nature and urgent requirements for harmonious development of pigs, environment and human, and promoting friendly and healthy development of pigs, human and environment.

The invention relates to an extravehicular conversion cabin device of the underwater vehicle staff, which is characterized by comprising an access cabin and a dry-type cabin which are adjacently arranged in an underwater vehicle, a watertight cabin door is arranged between the access cabin and the dry-type cabin, the access cabin is provided with a water replacing cabin, the capacity of which is slightly more than that of the remaining space of the access cabin except frogmen; the dry-type cabin is provided with at least one surge tank, the capacity of which is slightly more than drainage volume of frogmen; the water replacing cabin is connected with the access cabin through a pipeline and a pump, and the surge tank is connected with the access cabin through a pipeline and a pump. The extravehicular conversion cabin device of the underwater vehicle staff of the invention has simple structure, good reliability and low manufacturing cost; utilizes water to be replaced to convert back and forth among the access cabin, the water replacing cabin and the surge tank, ensures that buoyancy weight and dynamic equilibrium of floating state of the underwater vehicle in the process of gettingin and out the cabin of the frogmen, and leads the underwater vehicle to be kept in a stable floating state, thus reducing the probability of collision accident occurring between the underwater vehicle and water bottom or between the underwater vehicle and obstacles.

The invention discloses a regenerated braking energy recovery optimization method and system for a hybrid power tramcar. According to an operation characteristic curve of the fuel cell hybrid power tramcar and a mechanical characteristic curve of a traction motor, braking operation control optimization of a driving mode is set, electric braking force is fully utilized, and braking energy feedbackis maximized; and then, by optimizing energy management strategies, output distribution of all power supplies is controlled, and braking energy recovery is maximized. According to the regenerated braking energy recovery optimization method and system for the hybrid power tramcar, stable braking and braking energy recovery are achieved while it is ensured that a fuel cell hybrid power system supplies electricity to the load of the tramcar reliably; under the premise of ensuring the braking property of the system, braking optimization of combination of feedback braking, energy consumption braking and mechanical braking is achieved, braking energy recovery is maximized as much as possible, the fuel utilization rate is increased, and the purpose of fuel economy is achieved; and braking noise is reduced, emission is reduced, the service life of an energy storage device is prolonged, the operating cost is reduced, and the braking safety of the tramcar is improved.

The invention relates to a method for realizing load redistribution when coupling route / refreshing position, when there is Gs interface exists. Wherein, at the wireless access network node, the invention processes load redistribution on service GPRS support node (SGSN) and MSC at the same time; selects right SGSN and MSC as target SGSN and target MSC; and transmits selected target MSC mark to target SGSN; and the target SGSN, only according to target MSC mark, sends the position refreshing request to target MSC, to confirm the dynamic balance of MSC load, and make the load control decision node (LCDN) uniform.

The invention provides an attractant for fishes and specifically relates to a green and efficient attractant for carp and belongs to the field of aquatic feed. The green and efficient attractant contains blood worms, snail meat, locust powder, fresh corn, carrots, rice flour, fermented soybean meal, seaweed extract, yeast extract, neutral protease, sweet orange peel, ferula asafoetida, wolfberries, pericarpium citri reticulatae and rhizoma chuanxiong. The attractant contains no artificial chemical synthetic ingredients, contains natural raw materials, will not cause environmental pollution and ecological disturbance after long-time use, guarantees ingestion health and safety of fishes, can effectively improve the palatability of feed, promote feed intaking of fishes, increase the feed consumption amount of fishes and enhance the digestion and absorption of feed, and has the advantages of efficient attracting, environmental protection and safety.

An evoluating storage system is composed of a storage library consisting of running, standby and inhibiting storage pools, and a processor comprising storage service module, data I / O the distributioncharacteristics analyzing module, decision analysis module, storage device management module and user management module. According to the variation in environment and state of the storage system, it can choose the most propwer system organization scheme to the current environment to hold the dynamic balance of the system without dependency on the storage device.

The invention provides a biological medical non-crystal titanium alloy and a method for preparing the same, and relates to the field of biological medical titanium alloy. The titanium alloy mainly comprises the following components in atom content percentage: 49.5 to 91 percent of Ti, 3 to 20.5 percent of Zr and 6 to 30 percent of Si; or the titanium alloy also comprises Fe, and the composition of the titanium alloy is Ti-Zr-Si-Fe; or the titaniumalloy also comprises Fe and Mo, and the composition of the titanium alloy is Ti-Zr-Si-Fe-Mo; or the titanium alloy also comprises Fe, Mo and Nb, and the composition of the titanium alloy is Ti-Zr-Si-Fe-Mo-Nb. The biological medical non-crystal titanium alloy removes toxic elements of Ni, Cu, B, Al and / or V existed in the prior biological medical non-crystal titanium alloy, thereby greatly reducing the damage of the implantation material to human tissues; moreover, the biological medical non-crystal titanium alloy also has quite excellent corrosion resistance.

The invention discloses a vehicle congestion degree acquiring method based on Hadoop. Parallel processing on statistical GPS messages is carried out through multiple MapReduce tasks, parallel calculation of the statistical congestion degree and the linearity congestion degree of each area at one time is carried out through a congestion degree calculation function, so a problem of long calculation time existing in a mobile cluster algorithm is overcome, and calculation efficiency is greatly improved. The vehicle congestion degree acquiring method based on Hadoop can simultaneously realize automatic storing of data copy and automatic expansion of a computer cluster and further has properties of high expansibility and high fault tolerance performance.

The insoluble dietary fiber is prepared with honeysuckle vine, sweet potato vine, peanut stalk, reed, clover and other material and through alkalizing steaming, oxidation, acidifying purification, wall and chain breaking, enzymolysis, drying, crushing and other steps. The insoluble dietary fiber has strong antioxidant effect, and can reduce the damage of free radical to human body, delay the absorption on fat and saccharides, lower the concentration of cholesterol, inhibit the re-absorption of bile acid and inhibit and prevent intestinal diseases. The present invention may be used to replace grain, vegetable and fruit fiber and may be produced in large scale.

The invention discloses an industrial wastewater discharging monitoring system, which comprises a controller, a liquid level detection module, an acidity and alkalinity detection module, a water temperature detection module, a water quality detection module, a pressure detection module, a flow speed detection module, a chemical feeding control module, a valve control module, a video collection module and a warning module, wherein the liquid level detection module comprises a liquid level sensor; the acidity and alkalinity detection module comprises a pH meter; the water temperature detection module comprises a temperature sensor; the water quality detection module comprises a suspended substance sensor, an ammonia nitrogen sensor, a COD sensor, a BOD sensor and a sulphide sensor; the pressure detection module comprises a plurality of pressure sensors; the flow speed detection module comprises a plurality of water flow sensors; the chemical feeding control module comprises a sodium hydroxide chemical adding pump, a PAM chemical adding pump and a PAC chemical adding pump; the valve control module comprises a plurality of electromagnetic valves. The whole treatment process of wastewater is automatically controlled; the index content of relevant pollutants in the purified wastewater is monitored in real time; the wastewater is enabled to be discharged in a standard reaching way.

The invention relates to a traffic feature prediction method, which is realized based on a deep learning model GA-GCN, and comprises the following steps: obtaining a historical traffic feature data set; preprocessing the historical traffic characteristic data set; dividing the historical traffic characteristic data set according to a fixed time interval; training a deep learning model GA-GCN by using each divided historical traffic feature data set; and ending the training, and predicting the traffic features in the test set by using the trained deep learning model GA-GCN to obtain a prediction result.