207results about How to "No mutation" patented technology

The present invention provides an S-shaped acceleration and deceleration control method for changing speed and position of an object on line. The method comprises the acceleration phase speed planning, the deceleration phase speed planning, the constant speed phase speed planning, the real speed reduction point predication, the maximum speed processing, the surplus distance compensation, the online object speed changing algorithm and the online object position changing algorithm. An acceleration and deceleration discretization speed planning method is employed and the user input parameters are combined to calculate the operation time of a seven-phase speed planning phase. It is determined whether the maximum acceleration and the maximum speed can reach the criterion or not, the integration problem of a sampling period Ts according to the acceleration/deceleration acceleration, the acceleration/deceleration speed and the final position L after discretization is considered, and the real reachable acceleration/deceleration acceleration, the acceleration/deceleration speed and the feed rate are corrected. The S-shaped acceleration and deceleration control method for changing speed and position of the object on line greatly simplifies an original calculation formula and saves lots of operation time of a computer, and the surplus distance employs a one-time compensation method in the speed reduction process.

The invention discloses a robot trajectory planning method based on a genetic chaos optimization algorithm. The method comprises the following steps: performing interpolation in a starting point and an ending point in Cartesian space to obtain a series of middle position points; establishing a D-H parametric model and solving angle values of joints of a robot corresponding to the position points in joint space; initializing a time interval sequence between every two nodes in the joint space; constructing values of angles passed by polynomial interpolation joint space and controlling themotion form of each joint; constructing a time optimal fitness function, optimizing the time interval sequences with the robot trajectory planning method based on the genetic chaos optimization algorithm until end conditions are met, and outputting the optimal time interval sequence; planning a motion trajectory and finishing set motion. With adoption of the method, the optimal running time of the robot can be obtained, the working efficiency of the robot is increased, curves of the motion trajectory, speed and acceleration are smooth without sudden change, and the service life of the robot is prolonged.

The invention relates to a rubber thin sheet grinding wheel and a preparation method thereof. The rubber thin sheet grinding wheel comprises the following raw materials in part by weight: 4 to 6 parts of natural rubber emulsion, 0.5 to 1.5 parts of zinc oxide, 4 to 6 parts of sulfur, 0.5 to 2.5 parts of epoxy resin, 0.4 to 0.6 part of anti-ager, 0.3 to 0.7 part of accelerant, 6 to 8 parts of silicon carbide, 2 to 4 parts of diamantane, 2 to 4 parts of chromium corundum, 1 to 3 parts of resin powder, 0.5 to 1.5 parts of resin liquid and 3 to 5 parts of coagulator. The rubber thin sheet grinding wheel of the invention has the advantages of high wear resistance, heat resistance, self-sharpening property, heat conductivity, corrosion resistance, toughness, hardness and working efficiency and long service life; in addition, the rubber thin sheet grinding wheel prepared by the preparation method of the rubber thin sheet grinding wheel of the invention is very thin and has low loss and high accuracy during cutting.

The invention discloses a medical hyperbaric oxygen chamber therapy system, which comprises a hyperbaric oxygen chamber, and an oxygen supply system, an air supply system and a waste oxygen exhaust system which are connected with the hyperbaric oxygen chamber, and also comprises a computer monitoring and control system, wherein the computer monitoring and control system comprises a controller and a computer terminal which is connected with the controller and controls the controller, and the controller is respectively connected with the hyperbaric oxygen chamber, the oxygen supply system, the waste oxygen exhaust system and the air supply system. The oxygen supply system, the air supply system and the waste oxygen exhaust system of the hyperbaric oxygen chamber are controlled by the computer monitoring and control system, and oxygen pressure, air pressure, pressurization rate, exhaust rate, temperature and other parameters in the hyperbaric oxygen chamber are precisely monitored, so that the hyperbaric oxygen environment in which a patient is positioned smoothly changes, and does not suddenly change, and thus the possibility of generating barotrauma is reduced, and an oxygen concentration sensor controls intake and outtake pneumatic diaphragm valves to regulate the environment in the chamber based on actual pressure and temperature so as to achieve the best therapeutic effect.

The invention discloses a method for rapidly simplifying and drawing a complex leaf. The method comprises the following steps of: inputting a tree model and extracting leaf information so as to complete first-time simplification on the complex leaf in leafage; iteratively combining the leaves so as to complete second-time simplification; iteratively combining the leaves in a crown so as to complete third-time simplification; calculating the density of the leaves; respectively storing leaf geometric information and simplification information in two arrays and reading the information; according to a current viewpoint and a pixel error, secondarily searching for the arrays storing simplification information; and determining a proper detail level model drawing image of a canopy. The invention is fit for simplifying the complex leaves of different shapes. The simplification speed can be promoted by using distance limitation so as to realize efficiently abstracting and drawing of the detail level model of the canopy. The drawing speed can be improved by establishing a multi-resolution con-existing model of the crown by using density factors. The method of the invention can maintain the shape of the crown, efficiently overcome the deformation phenomenon and finally realize real-time roaming in a forest of tens of thousands of plants.

The invention discloses a porous magnesium alloy three-dimensional reinforced absorbable medical compound material and a preparation method thereof. The compound material is prepared by compounding a porous magnesium alloy structural member which has a three-dimensional mesh structure and serves as a reinforcing body and absorbable high polymer material polylactic acid which is compounded and filled into the holes of the porous magnesium alloy reinforcing body and serves as a substrate. Degradable polymer substrates such as polylactic acid and the like are mixed with the wild phase of the porous magnesium alloy structural member, are molded or extruded into bars or plates under certain pressures, and are treated with subsequent machining, so that various degradable biological medical compound materials can be obtained. The method has the characteristics of mild processing condition and easiness for operating; the product has high mechanical performance, high biocompatibility and wide application prospect, and is suitable for orthopedic internal fixation products of various shapes; the production degradation is safe, stable and controllable; and the pain to a patient caused by secondary operation or advanced invalidation of the conventional orthopedic product is avoided.

The invention relates to an indoor robot positioning algorithm based on Kalman filtering. The indoor robot positioning algorithm comprises the following steps: 1) a distance model is created; 2) an indoor robot positioning model is arranged based on Kalman filtering: 2.1) iterative execution of a Kalman filtering process is achieved; 2.2) Kalman filtering work is carried out; and 3) filtering parameters are optimized by a Kalman filtering indoor robot positioning algorithm, the corresponding parameters which are input of a feedback system are read after the network is initialized, then an observation value is solved, the Kalman filtering algorithm is executed and finally an optimal state estimation value is outputted. According to the Kalman filtering algorithm, a proper state error matrixand a proper observation error matrix are selected, the positioning precision is optimized, and the positioning performance of the indoor robot is improved.

The invention provides a method for correcting a lithium battery SOC according to dynamic voltage. The method comprises the following steps of S1, obtaining the corresponding relation between dynamicend voltage and SOC of a battery under different temperatures and different multiplying powers through experiments; S2, according to the characteristics of the battery, selecting calibrated points inthe charging process and the discharging process; S3, in the traveling car discharging process, when it is judged that the continuous setup frequency that the current is smaller than a set threshold value and the voltage is smaller than a threshold value corresponding to the current temperature reaches a set threshold value in real time, if the current SOC is larger than the SOC corresponding to the calibrated point, calibrating the current SOC to the SOC corresponding to the calibrated point; S4, in the charging process, when it is judged that the current is smaller than the set threshold value, and the voltage is smaller than the threshold value corresponding to the current temperature in real time, if the current SOC is smaller than the SOC corresponding to the calibrated point, calibrating the current SOC to the SOC corresponding to the calibrated point. In the traveling car process, algorithm operation is performed in real time, a program does not reply on the special standing working condition, and in the SOC calibration process, it is ensured that SOC smoothness changes cannot change suddenly.

The embodiment of the invention discloses a robot smooth obstacle avoiding movement scheduling method based on tangent recursion. The method is suitable for a super-redundancy robot. The method includes the following steps of firstly, establishing a spherical obstacle in a task space, forming a recursion tangent for the obstacle to intersect with a safety distance circle so as to obtain obstacle avoiding non-collision route points; secondly, obtaining the position inverse solution of the super-redundancy robot through a ridgeline modal method so as to obtain joint space postures correspondingto the non-collision route points; thirdly, conducting seven times of B spline interpolation on the postures to obtain a robot smooth obstacle avoiding movement route. The obtained robot movement route is smooth, and the speeds, accelerations and jerks of all driving joints of the robot in the movement process are continuous without sudden changes. When the redundancy of the robot is increased, the method has the more remarkable advantage of being small in computation amount.

The invention relates to a pig pseudorabies virus natural low-virulent C strain and a heatproof preservation method thereof. The microbe collection registry number of the strain is CCTCC NO: V201114. According to the invention, various cryoprotectant substrates are mixed and blended according to a certain ratio; the cryoprotectants are respectively subject to aseptic processing; cryoprotectant components that can be subject to high-pressure sterilization are dissolved in bi-distilled water, and are sterilized for 15-30min under a temperature of 108-121 DEG C; cryoprotectant components that can not be subject to high-pressure sterilization are dissolved in bi-distilled water according to a certain formula, and are sterilized by using a filter membrane with a size of 0.22mum; all the cryoprotectant components are then mixed into a heatproof cryoprotectant; the heatproof cryoprotectant is mixed with a pseudorabies virus liquid according to a ratio of 1:1-1.2; and the mixture is lyophilized with a corresponding lyophilization curve. Compared to prior arts, the C strain provided by the invention has good stability. In a fifth generation animal of continuous back-procreation, the genetic sequence is stable, and no mutation is found. Therefore, the strain provided by the invention provides a good resource for the researches of pig pseudorabies low-virulent vaccines. The strain can bepreserved for 24 months under a temperature of 2-8 DEG C, and the virus titer is reduced by no more than 1 titer.

The present invention provides a 3D NAND memory and a formation method thereof. In the formation method, the density of a channel through hole formed in a channel through hole regulation region is smaller than that of the channel through hole formed in a core region outside the channel through hole regulation region to reduce the difference between the density of a dummy channel through hole formed in a dummy channel through hole regulation region and the density of the channel through hole formed in the channel through hole regulation region, correspondingly, the density of a storage structure in the channel through hole in the channel through hole regulation region is smaller than that of a storage structure in the channel through hole in the core region outside of the channel through hole regulation region, so that the difference of the stress of a film in stack structures at the two sides of or near the junction of a step region and the core region, when the stack structures at thejunction of the step region and the core region are etched to form a gate isolation groove, the side walls of the gate isolation groove at the junction of the step region and the core region cannot be inclined or the inclination degree is greatly reduced, and it is avoided that the gate isolation groove is in short circuit with the channel through hole.

The invention discloses a stator of an automobile power steering pump and a method for designing a stator curve. The cross section of the outer surface of the stator is of a regular round structure; the circumferential curve of the cross section of the inner surface of the stator, namely the stator curve of the stator, consists of a big circular arc ala2, a big circular arc a3a4, a small circular arc b1b2, a small circular arc b3b4 and four sections of transition curves for connecting the four circular arcs; and the transition curves consist of simple harmonic trapezoidal subsection combined motion law curves. The designing method comprises optimization of optimized target function acceleration Am, simulation solution and final obtaining of the optimized simple harmonic trapezoidal subsection combined motion law curves. The stator curve designed with the method does not generate 'hard impact' or 'rigid impact', does not cause 'soft impact' or 'flexible impact' due to the abrupt change of the acceleration, meets the requirements of the stator curve on no vibration impact and low noise, effectively eliminates the steering noise in a cab, and prolongs the service life of the power steering pump.

The present invention discloses a kind of indoor air smell-cleaning agent, including two portions of component A and component B. The compount A is a solid active agent formed from one or several kinds of oxalic acid, tartaric acid, amino acid, citric acid, aminosulfonic acid, isonicotinic acid and camphoric acid, and the component B is a stable solution formed from one or several kinds of potassium chlorate, sodium chlorate, magnesium chlorate, sodium hypochlorite, calcium hypochlorite, sodium chlorite, sodium perchlorate, potassium perchlorate, sodium dichloroisocyanurate and sodium trichloroisocyanurate. The component A can be added in the component B. The substances of nascent state oxygen, nascent state chlorine or chlorinedioxide can be released so as to eliminate harmful smell pollution due to building, decoration and furniture in the room.

The invention discloses an incremental steady-state layout method for time-varying network data. The incremental steady-state layout method comprises the following steps: loading network structure data; preprocessing the data; generating an initial static graph by adopting a multi-level method; initializing node positions for newly added nodes; adjusting the length of the edge for the newly-addededge; calculating the level attribute of the node; partitioning the nodes, calculating the repulsive force in the form of pseudo nodes, and simplifying the layout updating process of the force guidingalgorithm. According to the invention, a stable layout method for time-varying network data is designed as a starting point; a force guide graph is used as a basic visual presentation mode; network structure characteristics such as'node level 'are introduced, it is guaranteed that focus of interest of a user does not change suddenly in the large-range change process of the network topology structure, the stability and continuity of the cognitive process of the user are kept, the user is helped to understand the topology structure of a complex network more effectively, and the understanding difficulty of the time-varying network topology structure is reduced.

The invention provides an electronic expansion valve comprising a valve body having a valve port and a valve needle matched with the valve prot to adjust flows for the electronic expansion valve. The electronic expansion valve is characterized in that the valve port orderly comprises a first conical surface part, a straight section part and a second conical surface part, wherein the height of the first conical surface part and the height of the straight section part are in a relationship of =<d1/d2=<10; d1 represents the height of the first conical surface part; and d2 represents the height of the second conical surface part. When the valve needle leaves the valve port to a position with at least 250 pulse, a flow path with an annular cross section is formed between the first conical surface of the valve needle and the first conical surface part of the valve port; the annular ring area is gradually increased from the valve port to the inner cavity of the valve seat, so circulation area from the valve port to the inner cavity of the valve seat is smoothly changed; and when fluid flows through the valve port, jumping changes of the circulation area can be avoided, so bubbles can be prevented and noise can be reduced.