45results about How to "Make up for uncertainty" patented technology

The invention discloses a WiFi indoor positioning method based on an anchor point and position fingerprints. The anchor point signal intensity is adopted to correct position fingerprint data, the position of a terminal receiver can be accurately positioned, and the response is rapid. According to the WiFi indoor positioning method, the anchor point is used as a reference value to carry out intensity correction, the intensity changes of momentary signals are well corrected, the uncertainty of a position fingerprint mean value at a certain specific moment is compensated, the position of a to-be-measured point is obtained through the KNN matching algorithm and the coordinate calculation method based on the weight, and the errors caused by signal fluctuation are effectively reduced. In addition, a to-be-measured point vector is adopted to carry out refining on a vector set in a database, and the RSS vector misalignment caused by AP changes can be avoided. The WiFi indoor positioning method is high in positioning accuracy, rapid in response and particularly suitable for indoor position positioning of an Android device terminal.

The invention discloses an intelligent-control irrigating system integrating biogas slurry, water and fertilizer. The system comprises a plurality of soil moisture monitoring systems, a biogas slurry pond, a reservoir, a fertilizer mixing device, a three-stage irrigating pipe network, a pump system and solenoid valves, wherein tail end pipes are uniformly distributed in corresponding regions controlled by the soil moisture monitoring systems; the pump system comprises a biogas slurry pump, a water pump and a pump control box; a processing chip is used for collecting and processing signals of a plurality of probe moisture sensors, the pump control box is used for receiving and processing the signals of the processing chip and controlling the starting and stopping of the biogas slurry pump and the water pump, and the solenoid valves are controlled by the processing chip. The invention also discloses a use method of the irrigating system. The irrigating system adopts the soil moisture monitoring systems to monitor greenhouses in real time and gives instructions to perform irrigation automatically. Therefore, labor is saved, the labor intensity is reduced, the requirement of crops for the soil moisture can be maintained constantly, the defect of uncertainty of the manual irrigation amount is overcome, and the irrigating quality and efficiency are improved.

The invention discloses an ELM (Extreme Learning Machine) and TF (Track Fitting) based power grid transient stability quick evaluation method and belongs to the field of power system transient stability predication. The core of the method is an ELM based transient stability evaluation model and the TF method is utilized for checking and modification, so that improvement of transient stability predication accuracy is realized. At the same time, the method takes into account influence of a power grid communication state and provides solutions for communication interruption, abnormity and the like, so that the reliability of the method in practical application is ensured. The method can be used for quick evaluation of power grid transient stability after severe failure and can provide a decision basis for power grid operation control.

The invention provides a blast furnace blowing-in burdening method. A blast furnace normal material is divided into at least eight segments, and batch weights of ore at all the segments are unfixed but the batch weights of coke at all the segments are fixed on condition that alkalinities and Al2O3 balances of all the segments are guaranteed; the ratio between agglomerate and pellet ore in the ore is fixed as needed, different coke loads which are adopted by the coke ratio from the top down are determined according to a preset coke ratio of each segment, the content of mixed ore in each batch material is adjusted according to the content of MgO in slag, and the batch number of the material of each segment is adjusted according to the charging volume, the total coke ratio and the total final slag alkalinity. The practical charging stockline is guaranteed to be same as a stockline obtained through calculation, the coke ratio gradient is refined, and the ratio of all components in the slag is adjusted and controlled by the mixed ore, so the furnace man labor intensity is greatly reduced, the accident probability is reduced, the blast furnace production go smoothly, and the material slipping and hanging phenomenon is reduced, thereby the blast furnace blowing-in production target reaching time is greatly shortened, and the method has obvious economic benefits.

The invention relates to the position precise control and load swing rapid suppression of a four-rotor unmanned aerial vehicle suspension transportation system, in particular, an adaptive control method for the four-rotor unmanned aerial vehicle suspension transportation system. As for the four-rotor unmanned aerial vehicle suspension transportation system with unknown object parameters such as load mass and air damping coefficients, a nonlinear controller is designed, and at the same time, a parameter adaptive law is designed, and therefore, the unknown parameters can be estimated, and the parameter uncertainty of the system can be offset. According to the technical schemes of the invention, the adaptive control method of the four-rotor unmanned aerial vehicle suspension transportation system includes the following steps that: 1) the dynamic model of the four-rotor unmanned aerial vehicle suspension transportation system is established, and the expression of the model is described inthe descriptions of the invention; and 2) a nonlinear controller and a parameter adaptive law are designed. The adaptive control method of the invention is mainly applied to the control of the four-rotor unmanned aerial vehicle suspension transportation system.

The invention relates to a multimethod-fused downscaling analysis system and method for meteorological elements of power transmission lines. The multimethod-fused downscaling analysis system comprisesa comprehensive forecasting device, a terrain-complexity closest-grid-point forecasting device and a dynamic integration device, wherein the comprehensive forecasting device is used for calculating acomprehensive forecasting value and sending the forecasting value to a dynamic integration module; the terrain-complexity closest-grid-point forecasting device is used for calculating a forecasting value by a terrain-complexity closest method and sending the forecasting value to the dynamic integration module; the dynamic integration device is used for receiving the forecasting values sent by thecomprehensive forecasting device and the terrain-complexity closest-grid-point forecasting device and calculating a dynamic integration forecasting value. The multimethod-fused downscaling analysis system and method have the beneficial effects that starting from the characteristics of a gridding numerical forecasting product, the meteorological elements of a small area or certain specified pointare accurately predicted by the downscaling technology, so that high-definition weather forecasting information of the power transmission lines can be obtained.

The invention provides a method for geologic modeling with horizontal well data during drilling. The method includes the steps that according to vertical well data, a tectonic framework is established and locally strained and corrected, and a tectonic model is established; by the utilization of a target work area core hole logging data and core indoor experiment analysis results, a relation curve formula of shale content and a well logging GR value is fitted, a relation formula of porosity and shale content is fitted, and a relation formula of permeability and porosity is fitted; porosity data and permeability data needed for three-dimensional geologic modeling are obtained through calculation; in combination with a resistance curve while drilling, abnormal data, not according with corresponding geological recognition, in the porosity data and the permeability data is recognized and corrected; attribute modeling is conducted, and a precise three-dimensional geological mode of a target work area is established. According to the method for geologic modeling with the horizontal well data during drilling, hierarchical data and attribute data involved in modeling are encrypted, uncertainty caused by too large vertical well distance is compensated for, and the precision of three-dimensional geological modeling is improved.

The invention discloses an unmanned aerial vehicle height intelligent control system and method. An expected accelerator and an expected pitch angle are calculated through model prediction control andtotal energy control, then steering engine output and accelerator output are performed through attitude control, and height intelligent control of an unmanned aerial vehicle is realized. According tothe method, a rolling optimization strategy is adopted, uncertainty caused by interference and other factors can be made up in time, the dynamic performance of the height control system is good, meanwhile, a total energy calculation mode is adopted for coordinating and controlling the speed and the pitch angle, the overshoot of the height control system is small, convergence is fast, and the height of the unmanned aerial vehicle can be controlled more accurately.

An integral sliding mode repetitive controller suitable for a periodic servo system is disclosed. Sliding mode control has a reaching moving mode and a sliding mode moving mode. In the reaching moving mode, and a system state convergence locus is drawn via a reaching law; in order to enable a system output position to converge into neighborhood of reference signals, a discrete reaching law (1) is constructed, a position servo data sampling system state space (6) is designed, and a chattering-free reaching law is constructed for the integral sliding mode repetitive controller. The invention provides the integral sliding mode repetitive controller for the periodic servo system, wherein the integral sliding mode repetitive controller is small in steady-state tracking errors and high in position tracking precision. Based on repetitive operation characteristics of a periodic working motor servo system, existing information of periodic disturbance components can be used for accurate position tracking.

The invention relates to unmanned aerial vehicle control, and aims to provide an adaptive law and non-linear controller for small unmanned helicopters, wherein the adaptive law and non-linear controller is good in robustness and can compensate uncertainty of a dynamic system at the same time. According to the technical scheme, an immersion and invariance model-free adaptive control method of the small unmanned helicopters comprises the following steps: the controller is designed and used for real-timely adjusting and compensating output data of the controller at the current moment according toattitude sampling data and controller output sampling data at the previous moment, and thus attitude control over the small unmanned helicopters is achieved. The adaptive law and non-linear controller is mainly applied to occasions of unmanned aerial vehicle design and manufacturing.

The invention discloses a method for modeling and monitoring the batch process of chemical engineering. The method comprises the following steps: collecting data in a chemical engineering process, andprocessing the data to obtain data with most processing information; establishing a process model with the processed data; and providing a monitoring method for the model to ensure stable operation of the chemical engineering batch process. By utilizing the method, process state changes of a reactor can be well tracked, the uncertain of the model can be made up to a certain extent, and the systemperformance can be improved.

The invention discloses a solar heat collection system photo-thermal efficiency prediction method based on GA-GRNN. The method comprises the following steps that 1), parameters of the solar heat collection system are determined; 2), training test data of a network are collected and distributed; 3), a GRNN structure is constructed; 4), an optimal smoothing factor sigma is determined through GA; 5),the GA-GRNN is trained so as to obtain a trained GA-GRNN; 6), the GA-GRNN is tested, and the test data selected in the step 2 are input into the GA-GRNN which is trained in the step 5 for testing; and 7), the photo-thermal efficiency prediction is carried out by using the GA-GRNN trained in the step 6 to obtain the photo-thermal efficiency prediction result of the current solar heat collection system. According to the photo-thermal efficiency prediction method, the uncertainty of weather and climate factors can be remedied, the difficulty of data collection is greatly reduced, and the photo-thermal power of the solar heat collector can be accurately predicted.

The invention relates to a conjugate of polyethylene glycol monomethyl ether coupled E-selectin peptide ligand and an anti-tumor drug. The conjugate is prepared from an E-selectin peptide ligand, polyethylene glycol monomethyl ether, and a hydrophobic anti-tumor drug. The conjugate takes a water-soluble mPEG as a carrier, which allows the conjugate to self-assemble into nanoparticles in an aqueoussolution, and passively targets the tumor site by the EPR effect. The amphiphilic structure involved in the present invention is easy to form nanomicelles, which has better dispersibility and betterstability than that of the micelles formed by the conjugate with simultaneous modification at both ends.

The invention relates to accurate position control of a four-rotor unmanned aerial vehicle hanging air transportation system and effective suppression of load swing, and designs a self-adaptive controller based on energy coupling for the four-rotor unmanned aerial vehicle hanging air transportation system with unknown parameters (air damping coefficients) and model uncertainty. The invention relates to a self-adaptive control method for an energy coupling quadrotor unmanned aerial vehicle hanging air transportation system. The method comprises the following steps of constructing an energy storage function based on an energy shaping control method to process state coupling; then, using a neural network for carrying out online estimation on the unmodeled dynamic characteristics, while designing a parameter adaptive law to estimate unknown system parameters online, using a robust control algorithm based on a sign function for compensating estimation errors of the neural network, and thenachieving adaptive control over the four-rotor unmanned aerial vehicle hanging air transportation system. The invention is mainly applied to control of the quad-rotor unmanned aerial vehicle.

The invention discloses Irisin recombinant protein and a synthetic method thereof. His-tag is arranged at an N end of the Irisin recombinantprotein, and the His-tag is a mouse monoclonal antibody after affinity purification, and is used for detecting the sequence of labels on an expression vector for analyzing the expression content and the function of target protein. The His-tag contains 6 histidine which can be idiosyncratically combined with nickel ions, and the recombinant protein with histidine labels can be adsorbed by nickel columns, so that the purification purpose can be achieved. If Irisin is directly used, the expression of the protein cannot be analyzed and identified, and identification on biological functions indicates that the Irisin recombinant protein with the His-tag can perform idiosyncratic analysis and identification for the positioning expression of the protein, so that the expression content and the function of the Irisin recombinant protein are analyzed.

The invention discloses a video image analysis processing system and device, and belongs to the technical field of video image processing. The system comprises an acquisition unit, a user terminal and an analysis unit, according to the system, sensing data and video data are fused by utilizing two modes of sensing data and video analysis processing, multivariate data fusion is realized, more exercise data are provided for a user, the uncertainty during exercise is made up, and the problems that in the prior art, video data are too single and insufficient in precision, data cannot be quantized, suggestions cannot be provided for a customized scheme are solved; the invention further provides two types of inertial measurement units capable of detecting six-axis data, so that the problem of insufficient precision in the prior art is solved; in addition, the video analysis technology is used for extracting the action time of the resultant force when the baseball is hit, the resultant force of all the external force including the gravity borne by the baseball when the baseball is hit is reversely calculated, force generation data during bat swing are provided and fused with video data, and visual processing is further achieved.

The invention relates to an operation specification for cleaning and disinfecting an air-conditioner cooling tower. The operation specification is characterized by including the following steps that 1, field investigation and preparation are performed, specifically, field investigation of normal running states of the cooling tower is performed, the actual situation is analyzed, and then an individualized operation scheme is worked out; an investigator needs to prepare personal protection very well, like wearing a mask and a pair of goggles; and key points of field investigation lie in that (1) dirt, algae and corrosion degrees of a water distributor, a filler, a tower tray (water collecting tray) and a backwater filtering net are investigated, (2) the investigator needs to know the situation of water replenishment of the cooling tower, (3) whether a water replenishing valve and a sewage discharge valve are intact or leak water or not is checked, (4) the investigator needs to know the corrosion degree of a support of the cooling tower, (5) whether an exhaust outlet is aligned to the cooling tower or not is checked, for oily fume increases the cleaning difficulty, and (6) an investigation report or advices are written, a plan is worked out, and suitable cleaning and disinfection agents, tools and equipment are prepared.

The invention discloses a temperature control cost optimization algorithm for an energy management system in a microgrid comprises the steps: firstly, establishing a heat loop equivalent parameter model of an indoor heat supply system, and solving a state space equation of the indoor heat supply system; secondly, establishing a cost optimization model of the intelligent building in the microgrid,and solving a basic power optimal solution meeting cost optimization and an optimal solution meeting upper and lower limits of power consumption flexibility with optimal cost; thirdly, establishing acost optimization model of the micro-grid management center, and solving the flexibility requirement of the micro-grid management center for a user; and obtaining a time parameter constraint and an optimization constraint on the basis of the established cost optimization model of the microgrid management center. According to the invention, intelligent building users are also brought into the powerbalance adjustment process, so that the power balance adjustment of the whole system is more flexible. The optimization method of model prediction control is adopted, so that the modeling process issimplified, and the dynamic performance is good through rolling optimization; and the electric power purchasing cost can be reduced.