70results about How to "Meet the constraints" patented technology

The invention discloses a track planning method for robot joint space conveyor belt following movement. The method enables a robot to track a target object on a conveyor belt quickly and to move synchronously with the target object, so that dynamic following is realized and therefore related application functions such as grasping and the like can be implemented. According to the invention, the initial position and speed of the target object are determined through a visual system and the position of the target object is predicated in real time. Then conversion into the joint space is realized through inverse kinematics and track planning on different joints of the robot in the joint space is made. Therefore, dynamic following is realized. According to the invention, only joint restriction conditions need to be considered and the restriction conditions are simple. Besides, the method is the dynamic track planning method with optimal time and can ensure that the robot can track the target object in the shortest time. The method is simple and is high in following efficiency.

The invention provides a vehicle spare part sales volume forecasting method and system based on a unified dynamic integration model and a meta-heuristic algorithm. The method comprises the steps thata database is established to store data needed for forecasting the vehicle spare part sales volume, and the sales volume of various vehicle spare parts is comprised and is called as a forecasting variable; a data acquisition module is connected with the database and the vehicle spare part sales volume forecasting system to acquire the needed forecasting variable, and a number of parallel typical forecasting methods are used for forecasting to acquire forecasting results corresponding to various forecasting methods; furthermore, various forecasting results are stored, and a unified dynamic integrated model is established; the meta-heuristic algorithm is used to optimize the forecasting model coefficients; the acquired forecasting model is stored in a vehicle spare part sales volume forecasting application system; and a spare part sales volume forecasting result is generated after the corresponding vehicle spare part sales volume data are input. According to the invention, the model which is suitable for forecasting various vehicle spare parts is found; the characteristics of high optimization precision and the like of the meta-heuristic algorithm are used; and the vehicle spare partsales volume forecasting precision is effectively improved.

The invention discloses an automation and self-adaptation method for deploying multi-component software under complex constraint conditions and a deployment management system thereof, and belongs to the technical field of deployment and maintenance of computer software. Firstly, the deployment demand and deployment constraint conditions of the multi-component software are described in a deployment description language; then, according to the deployment demand and equipment status information detected in real time, the deployment management system can automatically and dynamically generate a deployment plan meeting the constraint conditions and automatically perform the deployment activity by using an equipment status information detector, a constraint solver and an automatic deployment device and calling the constraint solver. Thus, the automation and self-adaptation of deploying the multi-component software under the complex constraint conditions are achieved. Meanwhile, the software deployment efficiency is high, the software deployment cost is low, and the software deployment quality is good.

The invention discloses a method and device for realizing interference alignment based on design and selection of codebooks, wherein the method comprises the following steps that: a receiving end and a transmitting end pre-design a codebook set of a pre-coding matrix, wherein the codebook set contains codebooks of different sizes; the receiving end or the sending end selects a codebook conforming to a specified condition from the codebook set, takes the codebook as the current codebook, and informs an opposite end in a display or implicit manner; the receiving end designs a pre-coding matrix V and a receiving matrix U for realizing interference alignment based on obtained ideal channel state information and an interference alignment condition; the receiving end selects a matrix V' having the highest similarity with the pre-coding matrix V from the current codebook, and takes the matrix V' as a finally quantified pre-coding matrix V'; the receiving end calculates the receiving matrix U again according to the interference alignment condition based on the quantified pre-coding matrix V' so as to obtain a receiving matrix U'; the transmitting end is used for transmitting a signal according to the quantified pre-coding matrix V' based on feedback information; the receiving end filters the signal according to the receiving matrix U'; and thus, interference alignment is realized.

The invention relates to a method of scanning in short time and by sections with a combined sea controllable vibroseis, comprising the following steps of: placing a sealed controllable vibroseis array in the sea to enable vibration exciters of the controllable virboseis to be coupled with the sea water completely; computing source code (S(t)) according to a target zone, dividing a Chirp signal with a set frequency interval into N sections, controlling the frequency sections of scanning signals of the N controllable vibroseises to enable the N controllable vibroseises to complete the scanning of different long frequency sections in short time, performing related processing to reflected signals received by a collecting system and obtaining a seismic profile with a conventional seismic processing software. The method of scanning the sea in a short time and by sections with a combined controllable vibrosei solves the problem of low resolution in sea seismic exploration due to the effect of the seismic exploration carrier, improves the Signal to Noise Ratio so that the effect of the seismic exploration carrier to the seismic exploration is reduced to the most lowest point, realizes the seismic exploration of high resolution at shallow layer of the sea and also solves the problem that only fixed point scanning can be adopted on the prior sea controllable vibrosers and the movement of the seismic exploration carrier affects the resolution of the seismic exploration during the sea seismic exploration.

The embodiment of the invention discloses a flow quantity prediction multi-time-sequence model generation method, an information sending method and an information sending device. A specific embodiment of the method comprises: obtaining a historical flow volume set of a target article in a preset time period; inputting the historical flow quantity set into each flow quantity prediction time sequence model to obtain a predicted flow quantity set; determining each historical flow in the predicted flow set and the historical flow set in each back-test time granularity as an input parameter of a preset linearization objective function to generate a to-be-solved objective function; based on the constraint condition set, solving the to-be-solved target function to obtain a model weight coefficient set; and according to the model weight coefficient set, performing weighted combination processing on the flow prediction time sequence model corresponding to each model weight coefficient in the model weight coefficient set to obtain a flow prediction multi-time sequence model. According to the embodiment, the accuracy, robustness and stability of flow prediction are improved, and the model determination process is simplified.

The invention discloses a real-time multi-modal language analysis system and method based on mobile edge intelligence, and the system comprises three types of mobile edge intelligent servers: a mobilebase station (MGS), an unmanned vehicle (UGV) and an unmanned aerial vehicle (UAV), and the computing resources of the three types of mobile edge intelligent servers are sequentially reduced, and themoving flexibility is sequentially improved. According to the real-time multi-modal language analysis system, language data of a user is divided into three modalities, namely characters, voice and images, and a calculation task is allocated to a proper MEI server to be executed according to the calculation and analysis difficulty and the size of required calculation resources. According to the method, a real-time multi-modal language analysis and calculation problem in a dynamic environment is constructed, then a task unloading matrix and a resource allocation matrix are generated through a deep learning online optimization method, and meanwhile, movement path planning of an MEI server is automatically implemented according to channel conditions and interference during communication. Thetrained DNN can be suitable for a dynamic scene in which the number of multi-modal computing tasks changes, and has very high practicability.

The invention relates to a geological knowledge base establishing method based on numerical simulation. The method includes: according to a mathematical equation and a boundary condition of hydrodynamics, superposing the deposition amount and the denudation amount which are obtained by simulating the hydrodynamic process and the sediment transmission process; obtaining a new sedimentary model, comparing and analyzing a simulation result and geological parameters of a target layer, performing geological dissection on the simulation result when the comparison and analysis results are consistent,extracting the geological parameters, and summarizing a geological phenomenon and a distribution rule of geological data, thereby establishing a corresponding geological knowledge base. Therefore, the material cost is saved, the constraint condition required by geologists to construct the geological model can be met, and the problem that the cost is high when a sedimentary physics simulation experiment is carried out through modern sedimentary investigation is effectively solved.

The invention relates to an assembly line balance method drawing complexity into consideration, in order to obtain a distribution solution of each working element of an assembly line in each working station. The method comprises the following steps: (1) defining working element complexity and working station complexity; (2) acquiring a constraint condition of a multi-target optimization model, and establishing the multi-target optimization model by targeting at the maximum balance ratio and the minimum working station complexity balance index according to the working element complexity and the working station complexity; (3) solving the multi-target optimization model by adopting a genetic algorithm to obtain an optimal distribution solution. Compared with the prior art, the assembly line balance method has the advantages of balancing the working time of each working station, balancing the complexity of each working station, avoiding balance failures of the assembly line, caused by accumulation of uncertainty factors, improving the robustness of the balance solution of the assembly line and the like.

The invention discloses a positioning method based on a coal mine underground wireless sensor network. The positioning method is characterized by arranging anchor nodes on the unilateral wall of a laneway at equal distances, dividing blocks by utilizing the intervals of the anchor nodes, firstly performing block local vector positioning on a target node, and further combining with ID (identity) conversion of the anchor nodes to form global coordinates of the laneway. According to the positioning method disclosed by the invention, the coal mine underground non-GPS (global positioning system) positioning limiting conditions can be met, positioning precision and convenience can be improved, the principle is simple and easy to implement, and equipment cost required for positioning is greatly reduced.

The invention discloses a multi-unmanned aerial vehicle cooperative task scheduling method based on an improved discrete particle swarm optimization algorithm, and solves the problem of unmanned aerial vehicle cooperative multi-target attack task scheduling according to the position of an enemy target and basic information of an unmanned aerial vehicle. According to the method, the constraint condition of task scheduling is fused into particle updating, the particle iteration mode is improved by using cross mutation, and the algorithm is prevented from falling into a local extreme value by using mutation operation. According to the invention, an improved discrete particle swarm optimization algorithm is used to carry out comparative study on a scheduling scheme according to the voyage costof finishing tasks by the unmanned aerial vehicle and the maximum exposure time of the unmanned aerial vehicle, and an optimal task scheduling scheme is obtained through multiple iterations.

The invention discloses a constraining force robust servo control method and device for an under-actuated flexible mechanical arm system. Under the basic framework of Udwadia and Kalaba, the constraining force robust servo control method obtains a constraining force closed-loop form which can be applied to the design of the control device, which is feasible for servo constraint; in addition, a virtual control is nested to divide the whole system into two subsystems, then through an analogous Udwadia-Kalaba control part control method and a robust control part control method, so that the angleof a connecting rod approximately follows a given constraint, meanwhile, the consistent boundary performance of the control device and the consistent final boundary performance of the whole control device are ensured.

The invention relates to a communication network structure optimization method based on node use probability. Communication network index Cmax is reduced through a genetic reconnection optimization method, and an approximate global optimal solution is obtained. The genetic reconnection optimization process comprises the following steps: S1) coding and setting initial parameters of the genetic optimization process; S2) initializing network individuals; S3) selecting the individual reserved to the next generation; S4) carrying out mating to obtain a new individual; S5) carrying out variation to obtain a variant new individual; and S6) calculating fitness indexes of M network individuals, iterating the steps S3)-S5) until meeting end conditions, and outputting the network individual, the Cmax of which is smallest, optimization being finished. The method can improve network communication transmission performance to the maximum degree under the condition of ensuring communication transmission efficiency without additionally increasing communication transmission mediums or ports.

The invention provides an econometrics and heuristic intelligence combined automobile sales prediction method and system. The method comprises the following steps of: storing data required by automobile sales prediction through establishing a database, wherein data comprises economic indexes, brand automobile sales and automobile sales, which are called as prediction variables; connecting the database and the automobile sales prediction system through the data so as to obtain required prediction variables, and verifying structural relationships between the variables so as to obtain endogenousvariables with a long-term equilibrium and causal relationship; establishing a vector error correction model for the endogenous variables; optimizing coefficient of a prediction model by utilizing a heuristic intelligence algorithm; and finally storing the obtained prediction model into a sales prediction application system, and generating a sales prediction result after inputting corresponding economic variables, brand automobile sales data and former-year automobile sales data. According to the method and system, a model suitable for long-term prediction is found, and the characteristic of high precision of the heuristic intelligence can be utilized at the same time, so that the automobile sales prediction precision is effectively improved.

The invention discloses an efficient milling parameter optimization method for rough machining of a difficult-to-machine material fused with tool wear monitoring. The method comprises the steps that firstly, an optimization problem characterization model with the machining efficiency as a target and the spindle rotating speed, the radial cutting width and the axial cutting depth as optimization variables is established, and multiple constraint conditions such as a basic parameter feasible region, stability, spindle torque and power are considered; secondly, the problem of tool abrasion caused by the difficult-to-machine material is considered, the quantitative relation between the three-phase current of the main shaft and the milling force is established, and real-time estimation of the tangential specific shear force coefficient is achieved; furthermore, a numerical solution method based on random vector search is provided, an optimization process integrating offline optimization and real-time monitoring is given, and optimal processing parameters are obtained. According to the parameter optimization method provided by the invention, the rough machining efficiency of the difficult-to-machine material can be greatly improved, and efficient flutter-free milling machining is realized.

The invention discloses a quadrotor unmanned aerial vehicle trajectory planning method based on space-time joint optimization. The method comprises the following steps: searching a front-end path to obtain discrete path points, allocating a time interval to each section of path by adopting a trapezoidal time allocation method, and optimizing through an unconstrained polynomial coefficient to obtain an initial trajectory path; based on duration cost and energy consumption cost of the initial trajectory, carrying out proportional adjustment on the time interval under the condition that constraints are considered, solving an optimal adjustment proportion, and updating the time intervals of all trajectory segments; then, alternately carrying out two links of unconstrained polynomial coefficient optimization and proportional adjustment of a time interval, and when trajectory cost tends to converge, ending a circulation step; carrying out overall proportion adjustment on the whole trajectorypath, ensuring that the whole trajectory meets constraint conditions, and acquiring a final optimized trajectory; and enabling the unmanned aerial vehicle to follow the trajectory by using the path points obtained by time discretization of the polynomial trajectory. According to the invention, the space-time joint optimization of the trajectory is realized, and meanwhile, a calculation rate is greatly improved.

The invention relates to a method for removing hydrogen sulfide in natural gas. The method comprises the following steps: 1) using difference of different gases in water, taking water as absorption liquid, employing a first segment of a hydrophobic membrane for absorbing hydrogen sulfide in the sulfur-containing natural gas to water at the other side of the membrane, forming a sulfur-containing effluent; 2) employing a second segment of the hydrophobic membrane, pumping the negative pressure at membrane permeation side of the second segment of the hydrophobic membrane, extracting the hydrogen sulfide in the sulfur-containing effluent through the second segment of the hydrophobic membrane to the membrane permeation side, and collecting the material to remove the hydrogen sulfide in the natural gas. The method employs water as the absorption liquid, which is environmentally friendly, the problems of equipment corrosion due to solvent loss, foaming and degradation as well as solvent degradation by alkylol amine absorption in a natural gas chemical absorption process desulphurization technology can be solved, land occupation area of equipment is reduced, land occupation is saved, skid-mounted and modularization processing can be realized for the place-limited region.

A method for assigning channels in a wireless mesh network includes: creating channel assignment from initial topology of the network by iteratively determining a bottleneck node and expanding a channel; mer ging the channels of the chan nel assignment according to the occupancy of each channel until channel number of the channel assignment is equal to the maximum number of channels; distributing the merged channel assignment to the network. The present invention further discloses a device and a sy stem for assigning channels in a wireless mesh network. The requirement for planning of the frequency/radio assignment is given a tech nical solution.

The invention discloses a method for optimizing the volume of main equipment of a secondary circuit of a floating nuclear power station. The method comprises the following steps: (1) establishing a mathematical model for structural design of the main equipment of the secondary circuit; (2) selecting optimization parameters; (3) establishing a target function; (4) establishing constraint conditions; (5) establishing a secondary circuit thermodynamic scheme; (6) carrying out heat balance calculation; (7) calculating the total volume of the equipment to obtain a target function value; (8) optimizing parameters, namely optimizing the optimized parameters through an improved particle swarm algorithm, calculating the particle speed, obtaining the position of the next generation of particles, andupdating individual optimal particles and global optimal particles; and (9) repeating the steps (6)-(8) until the preset number of iterations is completed, and taking a group of optimization parameters enabling the target function value to be minimum as an optimal solution. The method provided by the invention ensures that the devices can be matched with each other when the structures of the devices are designed; and the adopted improved particle swarm algorithm can achieve global optimization.

The invention relates to a removal and resourceful treatment method for hydrogen sulfide in natural gas. The removal and resourceful treatment method comprises the following steps that firstly, water serves as absorption liquid, the hydrogen sulfide in the natural gas is absorbed into the water on the other side of a hydrophobe film through a first section of the hydrophobe film, and sulfur-containing outlet water is formed; and secondly, a second section of the hydrophobe film is adopted, negative pressure is pumped through the film permeation side, the hydrogen sulfide in the sulfur-containing outlet water is pumped out and collected through the second section of the hydrophobe film to the film permeation side, then the hydrogen sulfide enters an absorption tower for alkali liquor absorption, and a sodium bisulfide product is formed. Through the removal and resourceful treatment method for the hydrogen sulfide in the natural gas, the problems of solvent loss, foaming and degradation caused by alcohol amine absorption adopted in a natural gas chemical absorption method desulfurization process and equipment corrosion caused by solvent degradation are solved, meanwhile, recycling of the hydrogen sulfide is achieved, the occupied space of equipment is reduced, land is saved, and skid-mounted and modularized treatment can be achieved for areas with limited places.