199results about How to "Taking into account stability" patented technology

The invention relates to a system start-up technology in the field of data communication, and discloses a main/back-up embedded type bootstrap start-up method, and the method solves the problems that in a traditional technology, two pieces of norflashes are adopted to store a main bootstrap and a back-up bootstrap respectively, the cost is high, two pieces of nandflashes are adopted to store the main bootstrap and the back-up bootstrap respectively, and stability is poor. The method includes the steps that a, device electrifying is conducted, and a system reads and loads the main bootstrap from the nandflashes; b, the system judges whether loading is successful or not, if yes, a procedure is ended, and if not, step c is entered; c, a device is restarted, and the system reads and loads the back-up bootstrap from the norflashes. The main/back-up embedded type bootstrap start-up method and system are suitable for starting up the embedded device.

The invention relates to a microbial carrier and a preparation method thereof. The microbial carrier is a hydrogel which can interpenetrate the network and is prepared by polymerization equipment; an interpenetrating network structure of the hydrogel comprises a main body network part and an interpenetrating part, wherein the main body network part is formed by water-soluble monomers through radical polymerization; and the interpenetrating part exists by macromolecules with interaction radicals in a linear or cross-linking form and respectively forms a full-interpenetrating network and a half-interpenetrating network. The compression ratio of the microbial carrier with the interpenetrating network structure in the embodiment of the invention can reach 95 percent. The microbial carrier is simple, convenient and feasible to embed microorganism. The obtained microorganism has stable quality and excellent activity and diffusivity.

The invention relates to an amphibious robot, in particular to an amphibious robot with integrally-driven wheel paddle legs. The amphibious robot comprises a front buoy, a middle-front buoy, a watertight electronic cabin, a middle-back buoy, a back buoy, a frame and wheel paddle leg driving modules, wherein the front buoy, the middle-front buoy, the watertight electronic cabin, the middle-back buoy and the back buoy are sequentially arranged on the frame; the frame is provided with a plurality of groups of wheel paddle leg driving modules; two wheel paddle leg driving modules are combined into one group and are symmetrically arranged at two sides of the frame; each wheel paddle leg driving module comprises a wheel paddle leg direct driving joint and a rotary joint, and the wheel paddle leg direct driving joint is rotatably connected with the rotary joint. By adopting three groups of symmetric wheel paddle leg driving modules, the requirement of multiple movement modes of crawling and floating of the robot under the amphibious conditions is met, stability, quickness and harmony of movement of the robot are realized at the same time, and the amphibious robot has the advantages of flexible movement, strong environment adaptation, outstanding obstacle-detouring ability and the like.

The present invention provides a road crossing signal dynamic regulation method based on online traffic simulation. The method comprises: calculating the current traffic operation parameters in the current signal timing scheme according to the current traffic flow data; performing signal optimization timing calculation according to the current signal timing scheme and the traffic data, and obtaining an optimized signal timing scheme; performing traffic simulation aiming at the optimal signal timing scheme, and obtaining simulated and outputted traffic operation parameters; and finally, comparing the simulated traffic operation parameters with the current traffic operation parameters, if the simulated traffic operation parameters exceed a presetting threshold, outputting the optimal signal timing scheme, and performing road crossing signal timing through adoption of the optimal signal timing scheme. The road crossing signal dynamic regulation method, device and system are able to provide different signal timing schemes for signal lights at the crossing aiming at road traffic flow at different time periods so as to improve the passing efficiency of a crossing and ensure that the crossing is able to operate in the optimal mode all the time in the condition that the road crossing operates at the optimal timing scheme.

The invention discloses a variable transmission ratio optimization design method of a multi-mode drive-by-wire power steering system and a special system thereof. The method comprises the following steps: 1) establishing a drive-by-wire power steering system dynamic model; 2) establishing road feel and sensitivity evaluation indexes of the steer-by-wire system; Step 3) starting to increase progressively at the speed of 25km/h, and setting 10 groups of vehicle speeds; 4) taking the steering transmission ratio as an optimization variable, determining the transmission ratio under the fixed yaw velocity gain and the fixed lateral acceleration gain according to the automobile parameters and the automobile speed, taking the transmission ratio as a design space of the transmission ratio, and taking the steering road feel and the steering sensitivity as optimization objectives to establish a multi-objective optimization model; Step 5) According to the transmission ratio optimization result, adopting the smooth curve to perform fitting to obtain an optimized design result. According to the transmission ratio optimization method of the steering system, through further optimization design ofthe transmission ratio of the steering system, the road feel and sensitivity of automobile steering are considered, the comprehensive performance of the steering system can be effectively improved, and the driving experience of a driver is improved.

The invention discloses a supercritical unit coordinated predictive function control algorithm. It is difficult for a conventional PID control system to consider the rapidity of load and stability of pressure and temperature at the same time, the quality of a coordinated control system needs to be improved. According to the supercritical unit coordinated predictive function control algorithm, predictive function control is applied to a pressure closed loop of a supercritical unit coordinated control system, a main steam pressure predictive function control system is formed. A control valve instruction and a coal quantity instruction are taken as a disturbance signal source of the whole pressure system. The predictive function control is applied to a temperature control loop of the supercritical unit coordinated control system, and an overhigh temperature prediction function control system is formed. A water supply instruction is taken as a disturbance signal source of a whole temperature system. According to the supercritical unit coordinated predictive function control algorithm, the control quality of the supercritical unit coordinated system is improved, and the rapidity of load and stability of pressure and temperature are considered at the same time.

The invention provides an electronic parking system and an electronic parking redundancy brake control method, which comprises the following steps: a controller is integrated with an electronic parking control unit and an automatic driving control unit which work independently; Two electronic parking brakes respectively arranged on two front wheels of the whole vehicle; Four wheel speed sensors ontwo front wheels and two rear wheels of the vehicle; the electronic parking control unit is connected with an electronic parking switch through a communication line, and the electronic parking brakeand the wheel speed sensor are connected with each other. The automatic driving control unit is connected with the radar controller and the camera controller signals on the whole vehicle. In autopilotmode, the autopilot control unit operates and the electronic parking control unit, electronic parking brake and wheel speed sensor are used as redundant backup braking systems. The electronic parkingcontrol system fully meets the requirement of automatic driving redundant braking backup, and can realize redundant braking in automatic driving mode.

The invention provides an active queue self-adaptive management method ASRED. Active queue management AQM has always been a hot issue in the research of Internet congestion control. Although the traditional AQM algorithm can effectively predict and control the occurrence of network congestion, however, the traditional AQM algorithm relies on parameter setting too much and the sensitiveness is high, in different networks, the algorithm performance is unsteady and the performance difference is greater. Aiming at the above problems, a new active queue management algorithm ASRED is designed on the basis of GRED (Gentle RED) and ARED (Adaptive RED) algorithm thoughts, and a nonlinear function is adopted to calculate the probability of packet loss, and the quantity of packet loss is controlled more reasonably in a smooth curve growth mode; meanwhile, due to the characteristic of self-adaptive adjustment of max

, the active queue self-adaptive management method ASRED provided by the invention can better adapt to the changes of the network environment, predict and prevent the occurrence of congestion, and can adequately guarantee the network throughput rate for the changeable network environment.

The invention provides a grabbing method for industrial stacked parts, terminal equipment and a readable storage medium. The method comprises the steps that a series of grabbing poses of the industrial parts placed under a standard pose in a stacking scene are generated, and a pose estimation result is obtained; the pose estimation result is evaluated by adopting a grabbing property evaluation function, wherein an expression of the grabbing property evaluation function is as follows: f1 is an evaluation value of grabbing position accessibility, f2 is an evaluation value of the relative heightof one industrial part to be grabbed, f3 is an evaluation value of the stability of the industrial part to be grabbed, f4 is an evaluation value of the grabbing angle of an end effector, and alpha i is a weight parameter corresponding to the evaluation values; and the grabbing sequence and the grabbing pose corresponding to each industrial part are determined. The grabbing stability and efficiencyare improved, and the industrial requirement is met.

The present invention provides a refrigerator oil containing a base oil, a compound represented by general formula (1), and an epoxy compound. [In formula (1), R1 and R2 each independently represent a monovalent hydrocarbon group, R3 represents a divalent hydrocarbon group, and R4 represents a hydrogen atom or a monovalent hydrocarbon group.]

The invention discloses a multifunctional polypeptide/liposome/hyaluronic acid assembled viroid nucleic acid carrier. The specific building method of the carrier comprises the steps that multifunctional polypeptide and cationic liposome are mixed, and then nucleic acid is added in the mixture for self-assembling to form nanoparticles with positive charge on the surface; polyanions are wrapped on the surfaces of the nanoparticles through the electrostatic interaction, and therefore the viroid nucleic acid carrier is assembled. The carrier has the advantages that by means of the human body safe biological materials, the novel non-viral carrier is built, wherein the novel non-viral carrier can tightly wrap nucleic acid and in-vivo long-term cycle and efficient targeting cancer cells, smoothly break through a cytomembrane and an endosome membrane to enter cytoplasm through the lipidosome membrane melting effect, release nucleic acid in the subacid cytoplasm through disassembling and self-degradation or enter a cell nucleus in a nanoparticle mode by changing a polypeptide sequence.

The invention discloses a positive electrode material. The positive electrode material comprises a positive electrode active material and a conductive agent--graphite, wherein the positive electrode active material can be reversibly extracted from and embedded into a first metal ion, and the graphite has a particle size of less than 50 [mu] m and a crystallization degree of no less than 90%. The invention also discloses an aqueous battery. The aqueous battery comprises a positive electrode, a negative electrode and an electrolyte, wherein the positive electrode comprises the positive electrode material. The conductive agent--the graphite of the invention has good stability and corrosion resistance, reduces self discharging rate of the battery and enhances the cycle performance of the battery.

The invention discloses a multi-mode space time nested dynamic output power adjusting method of a hydropower station under real-time load change, and belongs to the field of energy optimized operation of hydropower. In the method, different mode adjusting strategies are made according to real-time load change. When the power station receives a new load instruction, a corresponding adjusting mode is automatically entered. The method can be used to reduce the variation amplitude of the output power of the power station, effectively avoid vibrating areas, and reduce the frequency of crossing the vibrating areas, the total water consumption rate of the power station is very close to that is calculated by planned economical operation, no obvious extra water consumption exists. The method is stable, economical and effective at the same time, and is more economical, safer and more efficient compared with the prior art.

The invention relates to a one-step frequency modulation control method for a steam turbine, and aims to solve the problems in a rotating speed diversity factor of a current one-step frequency modulation function that if the rotating speed diversity factor is set to be smaller, the control and safety of the turbine can be influenced, and if the rotating speed diversity factor is set to be larger, the primary frequency modulation capacity of the turbine can be weakened, which is unfavorable for the stability of an electric grid. The control method comprises the following steps: step 1, regulating a system and calculating and monitoring deviation of rotating speed in real time; and step 2, performing one-step frequency modulation control according to a set rotating speed diversity factor. The one-step frequency modulation control method is applied to the field of the turbine regulation systems.

The invention discloses a dynamic human face tracking method. The method comprises the steps of S1, tracking a target by using a feature-based tracking algorithm, and when the tracking of the target is lost, going to and executing the step S2; S2, predicting a human face region position after the tracking is lost, establishing a feature point template, matching pixel points of the predicted humanface region position with the current feature point template, initializing an optical flow tracking algorithm by successfully matched feature points, tracking the target, and according to a loss stateof the feature points, updating the feature point template; and S3, when a target position which can be tracked by the feature-based tracking algorithm is restored, returning to and executing the step S1. The method can be suitable for human face tracking under complex conditions of deflection, shielding and the like, and has the advantages of simple implementation method, high tracking efficiency and precision, capability of taking stability and timeliness into account, high environmental adaptability, good anti-interference capability and the like.

The invention discloses a shallow slot negative bevel terminal structure applicable to a power metal oxide semiconductor (MOS) device, and a preparation method thereof. An active region is formed in the center of a chip and a terminal region is formed at the periphery of the chip; the bottom of an n+ substrate shared by the active region and the terminal region is provided with a drain of the device; an n- drift region is formed on the n+ substrate; a plurality of cells are arranged in the n- drift region of the active region; a p+ well region is formed on the lowermost part of each cell; a pbody region is formed on the p+ well region; an n+ source region is formed in the p body region; a source electrode is arranged on the n+ source region; the n+ source region is in short circuit connection with the p body region through the source electrode; a polysilicon gate is arranged between two adjacent source electrodes; a gate oxide layer is arranged under the polysilicon gate; and in the p+ well region of the terminal region, a slot of which the two sides are vertical and the bottom extends into the n- drift region is formed by a two-step etching method, and silicon oxynitride is filled in the whole slot. By the structure, breakdown voltage, terminal area, stability and mechanical strength are considered.

The invention discloses a package structure. According to the invention, a substrate provided with a device is welded on a base plate in an inverted manner, and pins of the device are electrically led outward to the base plate by metal convex blocks. The package structure is characterized in that the substrate is tightly wrapped by a first package layer, the first package layer is combined with the base plate so as to form a sealed structure which surrounds the substrate and the device, and the sealed structure is internally provided with a cavity; and the first package layer is a multilayer film. The air tightness and the stability of the package structure are considered, and the volume of the package structure is reduced as far as possible at the same time. In addition, the packaging process is simplified, and the packaging cost is reduced.

The invention discloses a subcritical unit coordination prediction function control algorithm based on a leading disturbance model. The conventional PID control system can not consider both the load quickness and the pressure stability, and the quality of a coordination control system needs to be improved. The prediction function control is applied to a pressure closed loop of the subcritical unit coordination control system, a prediction function control system is formed, and the pressure closed loop has a delay inertial link; the load closed loop of the subcritical unit coordination control system adopts PID control, and a load instruction adopts a datum line plus differential mode for a coal quantity feedforward system; an actual turbine control valve instruction serves as a disturbance signal source, and the optimal control law is acquired according to a prediction model of the prediction function control system; and simplification is carried out on the basis of the optimal control law, and a simplified optimal control law is obtained. The control quality of the subcritical unit coordination control system is improved, and both the load quickness and the pressure stability can be considered.

The invention discloses a human-simulated intelligent rotating speed control method for a brushless direct -current motor and belongs to the technical field of brushless direct current motor control.According to the method, control is realized based on the establishment of a system function and the determination and optimization of threshold parameters and control parameters; online characteristic identification and characteristic memorization can be realized; control strategies can be selected and determined on line on the basis of the characteristics of an error phase plane; a mode that a person adopts different control strategies for different situations is preliminarily simulated; the characteristic state of a system can be identified in real time according to a characteristic model which has an a priori property; a control strategy is determined; control output is generated; the precise mathematical model of a controlled object is not needed; and a rotating speed response curve obtained by the method has the advantages of smaller overshoot quantity, shorter response time and stronger anti-interference capability. The control method has certain universality and can adapt to the speed regulation control of various motors.

The invention relates to a blind source mixed signal accelerated separation method in engineering. Different kinds of signals have different inherent kurtosis values, so that when a mixed signal reaches the complete separation, each signal reaches the inherent kurtosis value; the kurtosis accumulation quantity of each separation signal reaches a stable value; by aiming at the defect of a blind source signal separation fixed step length natural gradient algorithm that the convergence speed and the steady state error characteristics cannot be met at the same time, the kurtosis accumulation quantity relevant to the separation signal is used for forming a proportional-differential control self-adaption variable step length algorithm; as long as in an allowed initial step length selection range, the acceleration step length can be regulated by the algorithm in a self-adaption way by freely selecting one initial step length value; and as the result, the separation speed can be accelerated, and the separation precision is ensured. The method provided by the invention only involves with the value of the selected step length initial value eta 0; the separation complete speed by the algorithm is higher than the fixed step length separation speed, and is almost identical; the ideal stable babbling errors are realized; and therefore the engineering use values are realized.

The invention discloses a control method for gear selecting and shifting of an automatic gearbox. The control method includes the following steps: adjusting speeds of an input shaft of the gearbox after gear removal, starting adjustment of working positions of a gear selecting cylinder on the condition that a rotating speed difference of the input shaft and an output shaft of the gearbox satisfies a range of threshold, and engaging a gear. Preferably, when the gear selecting cylinder is adjusted to be positioned in the middle, power sources at two ends of the gear selecting cylinder are kept connected; and gear shifting refers to that a gear shifting position is shifted to coincide with a side shifting-fork guide block along the direction of gear selecting, and the power sources at two ends of the gear selecting cylinder are disconnected. Preferably, before step 3, the rotating speed difference of the input shaft and the output shaft of the gearbox is controlled in real time to satisfy the range of the threshold. Compared with the prior art, the control method has the advantages that improved design of a control strategy is made, so that overall control cost can be greatly reduced, and service lives of function components can be prolonged effectively. On the basis, the invention further provides a vehicle applying the control method for gear selecting and shifting.

The invention discloses a method for blocking high stress in the upper part of an ore body by using a pressure relief groove, and is suitable for the technical field of deep mining. The method includes step (1) of determining pressure relief boundaries of upper and lower rock formations according to the rock formation movement range; step (2) of arranging rock drilling roadways respectively on theouter sides of the upper and lower top side pressure relief boundaries of the ore body along the trend, and causing upper and lower rock drilling roadways to be on the same horizontal line; step (3)of respectively horizontally forming a plurality of drilled holes in the sides of the upper and lower rock drilling roadways close to the ore body, and causing each drilled hole to be axially perpendicular to the side wall of the rock drilling roadway; step (4) of performing in-hole explosion in each drilled hole, and forming the continuous pressure relief groove in the upper portion of the ore body. By pre-tunneling the roadway at the top side of the ore body and drilling the top drill holes and carrying out in-hole explosion, the continuous pressure relief groove is formed at the top of theore body, the overlaying strata gravity stress is blocked off, and the pressure relief mining of the ore body in the high stress environment is achieved.

The invention provides a dynamic planning method of data center server resource, suitable for d servers configured by a data center. The data center comprises multiple pods, each pod comprises racks, each rack can be provided with multiple servers, and d represents a positive integer. Racks whose residual space is greater than or equivalent to d is searched from the racks, so that d servers are configured. If the racks cannot configure d servers, one of the pods is redistributed, so that one rack is vacated, the residual space of the rack is greater than or equivalent to d, and d servers can be configured. If the rack cannot be vacated, redistribution is carried out on another pod, a position of a corresponding server of the corresponding rack in the pod is vacated, so that residual space of the corresponding server position is greater than or equivalent to d to configure d servers.