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Joint torque determination method for four-footed wall-climbing robot with different postures

The invention discloses a joint torque determination method for a four-footed wall-climbing robot with different postures. The method comprises the steps that adsorption posture information of the robot is described by adopting an adsorption posture; the robot adsorption posture and the leg tail end position are determined; the gravity of the robot is processed in a centralized mode based on the force translation principle and a centroid formula, and an overall force spiral balance equation of the robot under any adsorption posture is established; a static flexibility model of the leg supporting chain sub-assembly is established by utilizing finite element analysis to obtain a leg static flexibility model under any adsorption posture and linear deformation of the leg tail end through linear transformation, then a constraint equation is obtained and foot end force is solved; after the foot end force is obtained, joint torques of the robots with different postures can be obtained through mechanical analysis. According to the method for determining the joint torque of the four-foot wall-climbing robot with different postures, the foot end force of the four feet of the robot can be rapidly obtained, the torque of each joint of the robot can be determined, the method can be used for joint motor model selection and checking, and the research and development process of the robot is further accelerated.
Owner:SOUTH CHINA UNIV OF TECH

Method for automatically detecting system I2C address abnormity based on sequence traversal

The invention provides a method for automatically detecting system I2C address abnormity based on sequence traversal. The method comprises the steps of designing a detection process of current BMC I2Cbus address abnormality based on layer sequence traversal, automatically scanning all slave devices under a BMC I2C bus layer by layer according to the detection process, determining actual addressesof the slave devices under the current BMC I2C bus, obtaining a preset address table, comparing the actual address of the slave device under the current BMC I2C bus with the preset address table, determining whether the current I2C address is abnormal or not,if the I2C address is not abnormal, marking the equipment as an effective level,and if the I2C address is abnormal, carrying out early warning and outputting an abnormal equipment address, and ending the detection process. The method has the beneficial effects that the method is used for effectively improving the detection efficiency of the address exception under the BMC I2C bus, saving manpower and material resources and accelerating the project research and development process, and is also suitable for the situation that other devices serve as hosts and downlink hitching is conducted on numerous I2C devices.
Owner:INSPUR SUZHOU INTELLIGENT TECH CO LTD

Physical simulation and calibration device and method for formation pressure testing

The invention discloses a physical simulation and calibration device and method for formation pressure testing. The physical simulation and calibration device comprises a rock core clamper and furthercomprises a confining pressure simulation module, a formation pressure simulation module, an annulus pressure simulation module, a suction system, a pushing force simulation module and a driving control system; the rock core clamper is internally provided with a rock core, the pushing force simulation module is provided with a thrust rod, and the thrust rod penetrates through the cavity wall of one side of the rock core clamper; the front end of the thrust rod is provided with a simulation probe, and the suction system is connected to the thrust rod; and the confining pressure simulation module, the formation pressure simulation module, the annulus pressure simulation module, the pushing force simulation module and the suction system are all connected with the driving control system. Thephysical simulation and calibration device has the beneficial effects that the physical simulation and calibration device can simulate the physical environment of the formation pressure testing, physical simulation of formation pressure testing is achieved, a formation pressure tester can be corrected and calibrated, and the formation pressure testing ability and control precision are improved.
Owner:SOUTHWEST PETROLEUM UNIV

Software-and-hardware integrated satellite navigation signal processing method

The invention relates to a software-and-hardware integrated satellite navigation signal processing method. The method comprises the following steps of: (1), receiving data from two sources including asource containing intermediate frequency data collected by a receiving antenna and a radio frequency front end and a source containing data inputted by a data input module; (2), inputting the collected intermediate frequency data into a hardware correlator or a software correlator for related processing; (3), designing a single-channel correlator for each satellite signal, driving the hardware correlator by a clock signal, driving the software correlator by a logic clock signal, and enabling the mathematical models of the hardware correlator and the software correlator to be consistent and tohave the same functions; and (4), inputting a result of the correlator into a subsequent baseband processing and navigation resolving module, and adopting an HAL design for a baseband processing andnavigation resolving program to enable a receiving algorithm designed based on a software receiver to be directly transplanted to a hardware receiver module. According to the invention, the foundationis provided for direct application of a receiving algorithm result researched and developed based on a software receiver to a hardware receiver.
Owner:南京喂啊游通信科技有限公司

Method and device for predicting charging and discharging performance of battery cell, storage medium and electronic equipment

ActiveCN113011065ASimple designDesign parameters; optimized according to the cell designForecastingDesign optimisation/simulationProcess engineeringBattery cell
The invention relates to a method and device for predicting charging and discharging performance of a battery cell, a storage medium and electronic equipment. The method comprises the steps: in the process of predicting the target performance of a to-be-produced target battery cell, for multiple different preset environment temperatures, obtaining the voltage actual measurement data and battery cell temperatures, measured at multiple moments at the preset environment temperatures, of the small soft package battery cell, wherein the target performance comprises the charging performance or the discharging performance; calibrating model parameters of a preset small soft package battery cell model corresponding to the preset environment temperature according to the voltage measured data and the battery cell temperature to obtain a target small soft package model after parameter calibration; obtaining battery cell design parameters corresponding to the target battery cell; establishing a target battery cell model corresponding to the target battery cell according to the battery cell design parameters and the target small soft package model; and predicting charging and discharging performance parameters of the target cell during constant-current rate charging or discharging through the target cell model.
Owner:SVOLT ENERGY TECHNOLOGY CO LTD

Wire holder for low-voltage fixed-type circuit breaker

The invention relates to a wire holder for a low-voltage fixed-type circuit breaker, and the wire holder comprises a plurality of independent wiring terminals, a cover plate, and positioning parts at two ends. A guide rail passes through the positioning parts, the guide rail installation holes on all substrates and the cover plate to be connected with the positioning part. Moreover, each wiring terminal comprises a substrate, a long contact piece, a short contact piece, a wire pressing plate, a bolt, and a nut. Each substrate comprises a partitioning plate and a seat body, which are integrated together. The vertical side of each seat body is provided with short and long contact piece grooves from the front to the back, and each seat body is provided with a guide installation hole for allowing the guide rail to pass. The long contact pieces are disposed in the long contact piece grooves of the seat bodies, and the bolts pass through the via holes of the wire pressing plates and the long contact pieces to be connected with the screws in external limiting grooves. The short contact pieces are disposed in the short contact piece grooves of the seat bodies, and the bolts pass through the via holes of the wire pressing plates and the short contact pieces to be connected with the nuts in internal limiting grooves. The wire holder is simple in structure, is convenient to install, can achieve miniaturization, is suitable for different current levels, and can meet the vertical wiring demands of a user.
Owner:JIANGSU LUOKAI MECHANICAL & ELECTRICAL
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