101results about How to "Reduce external distractions" patented technology

An EEG monitoring apparatus (2) adapted to be carried continuously by a person being monitored comprises means adapted for measuring at least one EEG signal from the person carrying the apparatus and a signal processing means for analysing said at least one EEG signal and adapted to identify or predict predetermined biological incidents in said person based on said analysis. The EEG monitoring apparatus (2) further comprises a decision means adapted to decide when information is to be presented to said person and a message selection means for selecting a voice message providing said person with information, as well as an acoustic transducer adapted for presenting the selected voice message to the person. The invention also provides a method for presenting voice messages.

The invention provides a security vulnerability detection method and apparatus based on an industrial control system. The method comprises the following steps: performing ping scanning on industrial control devices within a set address range to obtain an IP address list of online industrial control devices; sending information request data packets to the corresponding online industrial control devices according to the IP address list; determining the device information of the online industrial control devices according to the response information of the online industrial control devices and apreset device information base, wherein the device information comprises multiple of a system manufacturer identifier, product series and model numbers, a firmware version, a device address and a device name; and searching for the vulnerability information of the online industrial control devices from a preset vulnerability information base. By adoption of the security vulnerability detection method and apparatus provided by the invention, the industrial control devices can be comprehensively and effectively detected in an active scanning manner, the practicability is relatively good, and thevulnerability information of different types of devices are searched, so that the safety and stability of the industrial control devices are improved.

The invention provides a muscle fatigue dynamic prediction method based on multi-channel sEMG. An sEMG signal is susceptible to external interference, so an average value of all channels is selected to be a reference value; a difference is made between the new reference value and the original multi-channel sEMG, so external interference can be effectively reduced; a time-scale least square method is translated according to time reference to achieve dynamic update and predict muscle fatigue time; MPF and MF parameters are important parameters reflecting muscle fatigue, so reliability is provided for muscle fatigue prediction; the MPF and the MF two parameters are employed for prediction of muscle fatigue time, so instability of single parameter prediction can be avoided and prediction robustness can be enhanced; and the muscle fatigue dynamic prediction method based on multi-channel sEMG has high accuracy, fast calculation speed, simplicity and important application values.

The invention discloses a residual current transformer which comprises a magnetic core component, a coil component and a shielding component. The coil component surrounds the outer surface of the rectangular magnetic core component and comprises a test coil and a measurement coil. The measurement coil is positioned outside the test coil, surrounds the outer surface of the magnetic core component and comprises a left winding coil, a right winding coil, two upper winding coils and two lower winding coils, wherein the left winding coil is wound along a first direction, the right winding coil is wound along a second direction, the two upper winding coils are wound along the first direction and the second direction respectively, and the two lower winding coils are wound along the first direction and the second direction respectively. The left winding coil and the right winding coil are in parallel connection and positioned between the two upper winding coils in parallel connection and the two lower winding coils in parallel connection. By the aid of the residual current transformer, saturation of the shielding component can be restrained, measurement errors are reduced, and reliability of a circuit breaker is improved.

The invention discloses a public transport vehicle intersection priority pass control system and method based on edge computing, and the method comprises the steps: 1, receiving a bus priority pass demand, and judging whether the demand needs to carry out the priority pass control or not; 2, carrying out resource allocation on edge computing according to the requirements of priority pass control;3, obtaining a public transport vehicle intersection priority pass control scheme through edge computing; and 4, controlling the direction of the bus to be green and the conflict phase to be red according to the priority pass control scheme of the bus intersection. The edge computing technology is applied to intersection control, part or all of tasks originally executed in the cloud center can betransferred to the edge equipment to be executed, the pressure of the cloud center can be relieved, meanwhile, response time delay is reduced, data exposure is reduced, and external interference is reduced.

The invention discloses an automatic-tracking double paraboloids light-concentrating, power-generating and heating system, which comprises a big parabolic reflecting surface and a small parabolic reflecting surface. The concave surfaces of the two paraboloids are opposite to each other, and the normal axes are on a same straight line with focal points or focal lines superposed with each other. An infrared filter plate is arranged on or adjacent to the focal points of the two paraboloids; a photovoltaic electroplate is fixed on the bottom of the concave surface of the big parabolic reflecting surface; the photovoltaic electroplate is connected with a metal heat-conductive sheet; a cooling metal slim tube is attached to the metal heat-conductive sheet; the photovoltaic electroplate is connected with the rotating shafts of transverse direction and longitudinal direction via a mechanical supporting mechanism. A look-down detector is arranged in front of the small parabolic reflecting surface, and the spherical axis of the detector is parallel to the axis of the paraboloid; the look-down detector is connected with a controller which is connected with an actuating motor for controlling the rotation of transverse rotating shaft and the longitudinal rotating shaft. The system is reasonable in structure, solves the problems of much interference, low precision and poor stability of the existing sunlight tracking system, reduces detection error and improves tracking precision and stability.

The invention relates to a reflective wrist oximeter with an electrocardiograph function, which comprises a blood oxygen acquisition module, an electrocardiosignal acquisition module, a processing module, a display module, a shell and wrist bands, wherein the blood oxygen acquisition module comprises a light-emitting driver, a light-emitting tube and a photosensor; the light-emitting tube and the photosensor are arranged at the same side of a position to be detected, and an included angle having preset degrees is formed between the light-emitting tube and the photosensor; the electrocardiosignal acquisition module comprises a first electrode and a second electrode and is used for acquiring electrocardiosignals; the processing module is used for processing pulse blood oxygen data acquired by the acquisition module and the electrocardiosignals acquired by the electrocardiosignal acquisition module; the display module is used for displaying information processed by the processing module to a user; the wrist bands are connected to both sides of the shell; the first electrode is arranged at one side of the shell, which is in contact with the wrist; the display module is arranged at the other side of the shell, which is opposite to the first electrode; the second electrode is arranged outside the display module; and the blood oxygen acquisition module is arranged inside or outside the second electrode. The reflective wrist oximeter delicately combines the reflective blood oxygen technology and the electrocardiograph technology, and is convenient to operate.

The invention relates to a body core temperature monitoring method, a motion early warning method applied to a high-temperature and high-humidity environment and a motion early warning system applied to the high-temperature and high-humidity environment. According to the core temperature monitoring method, a heart rate signal of a subject is acquired by virtue of a heart rate sensor, and the core temperature of the subject is calculated depending on heart rate data through a formula: Tc=0.02HR+34.66; according to the motion early warning method, the core temperature of an exerciser is monitored on the basis of the body core temperature monitoring method of the invention in the high-temperature and high-humidity environment, and the motion early warning method alarms when the core temperature of the exerciser exceeds a preset threshold; the early warning system is capable of achieving early warning by virtue of the motion early warning method of the invention; the early warning system comprises a wearable chest strap, a heart rate sensor and an intelligent mobile terminal, and the heart rate sensor is arranged on the chest strap and the intelligent mobile terminal is communicated with and connected to the heart rate sensor. The body core temperature monitoring method, the motion early warning method and the motion early warning system disclosed by the invention can achieve real-time monitoring on body core temperature under a motion state conveniently and effectively with low cost, and can alarm when the core temperature exceeds the certain threshold.

The invention discloses an EMI-filter-based electromagnetic interference noise measuring and suppressing system. The system comprises a linear impedance stabilization network, a signal selection module, a noise amplification module, a filter module, an A / D sampling module, a central control module and a serial port communication module, wherein an extraction signal output end of the linear impedance stabilization network passes through the signal selection module and is input into the input end of the noise amplification module; the output end of the noise amplification module sequentially passes through the filter module and the A / D sampling module and is in two-way connection with the central control module; the central control module communicates with an upper computer by virtue of the serial port communication module; the signal selection module comprises a noise separation circuit and an external relay normally-closed contact K1-1, a relay normally-opened contact K1-2 and a relay normally-opened contact K2-1; the relay normally-closed contact K1-1 and the relay normally-opened contact K1-2 serve as mutually reverse action contacts. The EMI-filter-based electromagnetic interference noise measuring and suppressing system has the advantages that the data can be sampled and regulated, the noise modal is quickly and accurately separated, the external interference is resisted, and the interference of the system on other devices can be simultaneously suppressed.

The invention discloses a low prevention zone difference transmission structure employing a silicon through hole and an interlayer interconnection structure. In the low prevention zone difference transmission structure and the interlayer interconnection structure, excellent electric transmission performance of the difference silicon through hole is shielded while thermodynamics characteristics ofa difference silicon through hole transmission structure are improved. Reduction of a prevention layout zone can be caused by mismatching thermal stress when the difference transmission structure employing the silicon through hole, and integrated level improvement of transistors in a large scale array can be facilitated. In actual application of a three dimensional integrated circuit, the low prevention zone difference transmission structure and the interlayer interconnection structure normally relate to difference signal transmission between multilayer structures. Aimed at improving transmission efficiency, the invention discloses a cross-connect method for interlayer structures.

An alternating voltage-current converter comprises a standard capacitor and a meter amplifier, wherein the standard capacitor is set as an external connection type; the input bias current of the meter amplifier is less than 1pA, while the input impedance is more than 10<13> Ohm; the standard capacitor is connected with the meter amplifier through a fourwire access method. The fourwire access method is as follows: a capacitor end IH is used as an external voltage signal input end; a capacitor end VH is led to the positive input end of the meter amplifier; a capacitor end VL is connected with the negative input end of the meter amplifier; and a capacitor end IL is used as a signal output end. The alternating voltage-current converter adopts the standard capacitor to realize accurate conversion from alternating voltage to alternating current, and also provides a device and a method for realizing accurate verification of an AC small ammeter; moreover, the alternating voltage-current converter effectively solves the origin problem of AC low current.

An electric connector and a difference signal set thereof. The difference signal set comprises two pairs of difference signal sheets arranged in a row, and any one difference signal sheet comprises a plurality of cooperation portions arranged in a column and a plurality of installation parts arranged in the a column. In the pair of difference signal sheets, each difference signal sheet includes a grounding pin and an offset grounding pin arranged on the two opposite ends adjacent to the column of installation parts, each offset grounding pin and corresponding column of installation parts are arranged in an offset way, the two installation parts on the two ends of each difference signal sheet respectively define two signal installation portions, and the two signal installation portions of each difference signal sheet cooperate respectively with the two signal installation portions of the other difference signal sheet to transmit difference signals. The grounding pins and the offset grounding pins wrap adjacent signal installation portions to reduce external interference and improve high-frequency transmission efficiency.

The invention aims at providing a muscle disease monitoring method based on multi-channel surface electromyography (sEMG). The method comprises the steps that preprocessing is conducted on multi-channel sEMG signals firstly, a first channel is selected as a reference, and differencing is conducted on the signals of other channels and the signal of the first channel; then distribution moments are extracted through a K-means clustering convolution kernel compensation (KMCKC) method, and a single waveform is extracted; finally, multiple features of the waveform are fused, and the muscle state is evaluated. Due to the fact that external interference has influence on all electrodes, by meas of differencing between the signal of the first channel and the sEMG signals of original multiple channels, the external interference is effectively reduced, subsequent detection results cannot be affected, and the accuracy of muscle detection is improved. By means of application of the multi-feature parameters, the instability of single-parameter monitoring is effectively avoided, and the monitoring robustness is promoted. By means of the muscle disease monitoring method based on the multi-channel surface electromyography (sEMG), the defects in the prior art are effectively overcome, and important application value is achieved.

The invention discloses a moon observation system which is composed of an astronomical telescope, a ground-based microwave radiometer, a two-dimensional scanning mechanism and a controller. The systemis simple in structure and easy to implement. The ground-based microwave radiometer is installed on a two-dimensional turntable, the pitch angle of the initial position of the moon is obtained by theastronomical telescope, the initial position is calibrated by the controller, and the two-dimensional turntable is controlled to automatically track and scan the track of the moon; the moon brightness temperature signal is reflected by the antenna to enter an antenna feed system and enters a radiation receiver after polarization separation, and a voltage acquisition signal and a variance curve can be obtained in real time after detection and the moon brightness temperature value can also be calculated and thus the test efficiency can be effectively improved. The moon observation system has certain universality and can be applied to moon brightness temperature measurement based on ground-based microwave radiometers of different frequency bands to explore the stability and time distributioncharacteristics of microwave radiation characteristics.

The invention relates to an adjustable T-type characteristic guided wave welding line detecting device. The adjustable T-type characteristic guided wave welding line detecting device comprises a T-type main frame with a scale strip, a guided wave receiving probe loading arm with a reverse-T-type sliding block, two guided wave stimulating probe loading arms with reverse-T-type sliding blocks, two magnetism gauge bases with the reverse-T-type sliding blocks, two guided wave stimulating probes with sliding grooves, and a guided wave receiving probe with a sliding groove, wherein the two guided wave stimulating probes are parallelly arranged on the two sides of a to-be-detected welding line; the guided wave receiving probe is placed on the to-be-detected welding line, the three probes are arranged in a triangle manner and are fixed by a device magnetism gauge base, the probes and a to-be-detected body are contacted in a rigidity manner, a built-in spring is provided with pressing force, and the positions of the three guided wave probes are adjusted and are suitable for different width standards of the welding lines. The adjustable T-type characteristic guided wave welding line detecting device provided by the invention has the advantages that the two guided wave stimulating probes are simultaneously stimulated, the echo intensity in a required guided wave mode is greatly strengthened, the reflectivity is improved, meanwhile, the external disturbance is reduced, a measuring range is widened, and the detection efficiency and the detection accuracy are improved.

The invention discloses a sensor fixing device for detecting a welding line by ultrasonic guided waves. The sensor fixing device comprises a plurality of sensing units, a fixed belt and two clamping units, wherein the fixed belt is vertical to the welding line in the length direction; the plurality of sensing units which are side by side are symmetrically arranged on the welding line and welding plates at two sides of the welding line 4; the upper ends of the plurality of sensing units are fixed at the middle lower part of the fixed belt respectively; the lower ends of the plurality of sensing units are abutted against the arc-shaped convex welding line and the welding plates at the two sides of the welding line respectively; the clamping units are used for respectively fixing the two ends of the fixed belt on the welding plates; a sensor is embedded into a sensor clamp. The sensor fixing device is simple in structure, convenient to operate, stable, reliable and relatively strong in applicability; all the sensors mounted on the welding line and the welding plates at the two sides of the welding line are not limited by the shape and the size of the welding line, the strength of receiving echoes is enhanced and the length of the measureable welding line is greatly improved, so as to provide a reliable way for efficiently detecting the far-distance welding line. The measurement range is enlarged, and the detection efficiency and the detection precision are improved.

A machine tool table movement control method includes the steps: acquiring a spindle safety following area; acquiring the current spindle speed in real time; calculating the offset angle of a spindle according to response lag time of a table servo driver and the spindle speed to obtain a new spindle following area for controlling a table; and dividing the new spindle following area into an accelerating section, a constant-speed section and a decelerating section in sequence, correspondingly changing the impulsing frequency of the table servo driver by a controller when the angle of the spindle is respectively positioned in the accelerating section, the constant-speed section and the decelerating section, and controlling the table to respectively run in accelerating, constant-speed and decelerating modes. By the aid of characteristics of the spindle following area, the rotating angle of the spindle serves as a triggering condition of the controller without depending on an upper sensor and a lower sensor, external interference factors are decreased, so that control is more accurate, damage and the scrap rate of workpieces are reduced, and the moving area is divided into three sections which are respectively controlled so that more stable movement of the table is ensured.

Provided is a power supply apparatus for a hot petroleum pipeline leakage detection system and a control method for the apparatus. The invention is directed to the field of pipeline detection technology. The apparatus comprises a thermocouple, an intermediate conductor, a filtering rectification module, a charger, a charging power supply, a sensor communication apparatus and a DSP control module. The sensor communication apparatus comprises an accelerometer and a wireless communication module. The control method of the apparatus comprises: 1, calculating an open time t in one period; 2, converting an electromotive force signal into a rated voltage signal and inputting the rated voltage signal into the A / D sampling channel of the DSP control module; 3, determining the size of a pressure and whether a change curve is a abnormal pressure signal or not and 4, always running a program. The advantages of the invention are good power-saving and anti-shock performance, large temperature measurement range, simple manufacturing process and inexpensive price. Besides, the accuracy of the measurement is improved, the external interference from an extraneous environment is reduced and the rate of false alarm is substantially lowered.

The invention discloses a device and method for monitoring pultrusion process parameters of a composite material in real time. An upper computer is connected with a temperature sensor, a friction force sensor and a pressure sensor; the upper computer is configured to obtain temperature data in a mold through the temperature sensor arranged on the mold, obtain friction force data in the mold through the friction force sensor arranged on the mold, and obtain pressure data in the mold through the pressure sensor arranged on the mold; and the upper computer preprocesses the temperature data, the friction force data and the pressure data, and performs curve representation and fault alarm on the three kinds of data. In order to meet the monitoring requirements of a composite material pultrusion process, a multi-parameter data acquisition and analysis method and system are developed, various indexes, such as temperature, pressure and friction force in a composite material pultrusion process forming mold, which influence the pultrusion process are monitored and obtained, and a reliable basis is provided for ensuring the quality of a product and optimizing a subsequent process.

The invention discloses a simulation monitoring method and system in regard to a C / S structure service system. According to the method and system, the HOOK technology is utilized, and service processes are modeled; then a request command is sent to a server end according to a user demand, XML files of corresponding service processes are obtained and dispatched by a simulation engine in a roll polling mode, and the service processes are played back; secondary analysis is carried out on simulation data through an analysis engine, corresponding early warning information is produced, the server end queries a database in real time to obtain corresponding early warning information, early warning is conducted through a multi-way and multidimensional mode, and a corresponding data analysis view is generated. Compared with a traditional service system monitoring method, the simulation monitoring method and system have the advantages of supporting simulation of the C / S structure service system, being capable of intercepting and capturing windows information, and enabling modeling data to be more accurate and a modeling process to be more convenient and faster on the basis of the principle of script recognition. A service simulation playback process is not limited by peripheral conditions, the system is convenient to erect and deploy, and generalization performance is higher.

The invention discloses a civil aviation customer service scoring method and device. According to the method, the voice data of civil aviation customer service staff is subjected to total analysis, so that external interference factors during manual casual inspection are reduced, scoring is performed from the aspects of the accuracy of customer service staff answers and the emotion degree in thedialogue process, and the comprehensive score of the customer service staff is obtained according to the scoring result of each dimension. That is to say, the scoring method can reflect the working condition of civil aviation customer service in a richer, more objective and more comprehensive manner.

The invention discloses a double isolation device and method for multipath AD acquisition and belongs to the technical field of measurement and control. In the prior art, AD acquisition is realized with analog signal isolation or digital signal isolation being considered independently. The provided double isolation device isolates analog quantity of the input end of an AD convertor, so that influence of external noise is reduced, and input precision of the analog signal is improved; through digital isolation of the output end and control signals, safety of the AD acquisition is ensured; and the device has obviously-high reliability, highly-safe electric isolation, simple structure, flexible use, wide application range and higher application value.

The invention relates to a partial discharge monitoring system for a switch cabinet. The system comprises a plurality of field testing modules, a monitoring center module and a plurality of remote terminals; each field testing module comprises an ultrasonic measuring unit, a transient state ground radio wave measuring unit, a microprocessor and a field data server, wherein the ultrasonic measuringunit, the transient state ground radio wave measuring unit and the field data server are connected with the microprocessor; the monitoring center module comprises a database server and a WEB server,the database server is connected with the WEB server, the database server is in communication connection with the field data servers, and the WEB server is in communication connection with the multiple remote terminals. On the basis of the ultrasonic and transient state ground radio wave principle, partial discharge detection of the switch cabinet is achieved, due to the fact that the measuring units are placed inside the switch cabinet, a sensor is slightly disturbed externally, the abnormal condition inside the reaction cabinet can be truly reflected, secondly, monitoring display, analysis pre-warning and unified management of equipment are achieved, and workers can find and handle problems in time conveniently.

The invention discloses an optical fiber dispersion measurement method. The method comprises the following steps of: taking optical signals filtered from broadband optical signals by an optical band-pass filter as optical carriers, performing intensity modulation on the optical carriers by using reference microwave signals, and filtering out first-order sidebands on one sides of the generated intensity-modulated optical signals to obtain probe light; converting the probe light into electric signals after enabling the probe light to pass through a to-be-measured optical fiber, measuring the phase difference between the electric signals and the reference microwave signals, calculating the group delay of the to-be-measured optical fibers corresponding to the current optical carrier wavelength according to the phase difference, and further calculating the dispersion coefficient of the to-be-measured optical fiber corresponding to the current optical carrier wavelength. The invention further discloses an optical fiber dispersion measuring device. Compared with the prior art, the method and device of the invention have the advantages of low noise, high power and small external interference.

The invention provides a preparation method of a fuel cell catalyst. The method comprises the steps of (I) sequentially adding a carbon support and a platinum source into a mixed solution of ethyleneglycol and deionized water, dispersing evenly to form mixed slurry, and then adding an ethylene glycol solution of potassium hydroxide into the mixed slurry until the pH of the mixed slurry is adjusted to 9-11; (II) introducing nitrogen into the finally obtained mixed slurry until oxygen in the mixed slurry is completely discharged, injecting the mixed slurry into a spray reactor at 120-150 DEG Cfor carrying out spray reaction and cooling a reaction product to room temperature; (III) transferring the reaction product cooled to the room temperature into a positive pressure filter, filtering and purifying the reaction product through a continuous microporous membrane of the deionized water until the total ion concentration of filtrate is reduced to below 10ppm and obtaining catalyst filtrate; and (IV) injecting the catalyst filtrate into a spray dryer for carrying out spray drying and preparing a Pt / C catalyst. The method provided by the invention is simple in process, fast in reactionand high in product purity, and continuous production can be implemented.

The invention discloses an intelligent fuse. The intelligent fuse comprises a shell, lower three-phase line terminals, upper three-phase line terminals, a power switch, a display screen, an alarm light, a relay alarm speaker, and a control module, the lower three-phase line terminals are arranged at the lower part of the shell, the upper three-phase line terminals are arranged at the upper part of the shell, the power switch, the display screen, and the alarm light are arranged on the front surface of the shell, the power switch is arranged on the middle position of the shell, the relay alarm speaker is arranged at the right side of the shell, a control unit is fixedly arranged in the shell, and the lower three-phase line terminals of the fuse are connected with the intelligent control module. According to the intelligent fuse, the structure is simple, the usage is convenient, the intervention with a communication unit is prevented, the fuse and a power supply can be automatically separated, and the intelligent fuse can be widely applicable to various fusing circuits.

The invention discloses a test trolley for a vehicle terramechanics soil bin test bed, which comprises an underframe. The top part of the underframe is fixed with a box body; a front guide rail is arranged at the front end of the top part of the box body along a horizontal direction; a rear guide rail is arranged at the rear end of the top part of the box body along a horizontal direction; the left side of the box body is provided with an electric dynamometer; the base of the electric dynamometer is arranged on the underframe; the rotating shaft of the electric dynamometer is connected with a power input shaft of a power-measuring speed reducer via a coupler; the power output shaft of the power-measuring speed reducer is sleeved with a speed reducer driving sprocket; and the speed reducer driving sprocket is in transmission connected with a speed reducer driven sprocket via a transmission chain. According to the test trolley for the vehicle terramechanics soil bin test bed disclosed by the invention, driving resistance states of wheels of various structural sizes in various soil conditions can be measured, data obtained through the test are precious, various necessary parameters can be provided for vehicle wheel optimization design, and the vehicle wheel performance is optimized.

The invention discloses an intelligent fuse. The power switch is located in the middle of the front of the housing, and the left and right sides are respectively provided with a display screen and an alarm lamp. The right side of the housing is provided with a relay alarm horn. The built-in control circuit board is located inside the housing; an intelligent control unit is provided in the intelligent fuse, and the intelligent control unit is connected to the auxiliary power supply; The unit includes a fuse state detection unit, a fuse current detection unit, a central control unit, a light alarm output circuit and a relay alarm output circuit, and both the fuse state detection unit and the fuse current detection unit are connected to the central control unit. The intelligent fuse can perform circuit alarm and relay light alarm on the circuit in time, which is safer, adopts separate communication unit circuit and sub-communication unit circuit, less external interference is received, and is more reliable.

The invention relates to the technical field of bionic fishes, in particular to a robotic fish path tracking method and device fused with a BP-RBF neural network. The method comprises the following steps: giving an initial position to be tracked, an expected speed and an expected path of a robotic fish, inputting the initial position, the expected speed and the expected path into a control information generation module, generating error information, an expected speed control rate and an expected path control rate, and inputting the error information, the expected speed control rate and the expected path control rate into an ADRC control module; optimizing the ADRC control module by using a BP neural network and an RBF neural network in a parameter optimization module; judging whether the deviation meets performance indexes or not, if yes, conducting corresponding adjustment according to the deviation, and then outputting the final control quantity to the robotic fish again; generating a trajectory of the robotic fish using a trajectory generation module. According to the invention, the robotic fish has a high-quality tracking control effect underwater, the phenomena of buffeting, overshoot and the like caused by external interference can be well inhibited, and a target tracking task is completed.

The invention relates to a reflection type oximetry-electrocardiograph integrated machine and a testing method thereof. The reflection type oximetry-electrocardiograph integrated machine comprises a blood oxygen acquisition module, an electrocardiographic acquisition module, a processing module and a display module, wherein the blood oxygen acquisition module is used for acquiring pulse blood oxygen data and comprises a light emitting driver, a light emitting tube and a photosensor, the light emitting driver is used for driving the light emitting tube, the light emitting tube and the photosensor are arranged on the same side of a tested part, an included angle with a predetermined angle is formed between the light emitting tube and the photosensor, and the photosensor acquires data through receiving the reflected light of the tested part; the electrocardiographic acquisition module is used for acquiring electrocardiographic signals; the processing module is connected with the blood oxygen acquisition module and the electrocardiographic acquisition module and used for processing the pulse blood oxygen data acquired by the blood oxygen acquisition module and the electrocardiographic signals acquired by the electrocardiographic acquisition module; and the display module is connected with the processing module and used for displaying the information processed by the processing module to a user. The reflection type oximetry-electrocardiograph integrated machine smartly integrates reflection type oximetry technology and electrocardiograph technology, and is simple for operation.