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461 results about "Barrier function" patented technology

In constrained optimization, a field of mathematics, a barrier function is a continuous function whose value on a point increases to infinity as the point approaches the boundary of the feasible region of an optimization problem. Such functions are used to replace inequality constraints by a penalizing term in the objective function that is easier to handle.

High-rise curtain wall cleaning robot and high-rise curtain wall cleaning method

The invention discloses a high-rise curtain wall cleaning robot and a high-rise curtain wall cleaning method and belongs to the field of wall-climbing robots. The high-rise curtain wall cleaning robot and the high-rise curtain wall cleaning method have the advantages that horizontal and longitudinal movement of the entire cleaning robot is realized by the aid of alternative adsorption of an external adsorption walking mechanism and an internal adsorption walking mechanism on a curtain wall, the curtain wall cleaning robot can rotate freely through rotational movement of the internal adsorption walking mechanism, 360-degree omnidirectional movement is realized, and non-dead angle cleaning of specially-shaped curtain walls can be realized; meanwhile, sucking disks in the external adsorption walking mechanism and the internal adsorption walking mechanism are telescopic, a good barrier function of the curtain wall cleaning robot is achieved, and the curtain wall cleaning robot is applicable to cleaning of medium and high-level frameless glass curtain walls and framed glass curtain walls; a cleaning mechanism can be lifted or depressed to be better attached to the surface of the curtain walls, the optimum cleaning effect is achieved, and after the cleaning mechanism is uplifted, the curtain wall cleaning robot can walk and cross obstacles on the curtain walls flexibly.
Owner:CHANGZHOU INST OF TECH

Longitudinal-transverse-vertical force cooperative control method of distributed electrically driven vehicle

The invention relates to a longitudinal-transverse-vertical force cooperative control method of a distributed electrically driven vehicle. The method is implemented by a vehicle control system: 1) formulation of expected resultant force and moment; 2) optimal distribution of longitudinal, transverse and vertical forces of four wheels; 3) specific execution of the forces. The expected values of the resultant force and the moment of the whole vehicle are obtained by utilizing various information of the vehicle, an integrated tyre force optimization problem is formed by establishing a constraint condition and an objective function, and an optimization solution algorithm is designed for the problem, wherein the optimization algorithm comprises a constraint optimization method which adopts a barrier function method and a Newton method, and a feasible region planning method based on vehicle state continuity. The method does not need to implement different control strategies according to different work conditions of tyres, realizes unified optimal distribution and control of the longitudinal, transverse and vertical forces of the tyres, comprehensively improves the operation stability and the driving posture of the vehicle, and can be applied to driverless operation of vehicles in the future.
Owner:TSINGHUA UNIV

Establishment and characterization method of in-vitro blood brain barrier model based on microfluidic chip

The present invention provides an establishment and characterization method of in-vitro blood brain barrier model based on microfluidic chip. The microfluidic chip mainly comprises a cell inlet pool (1), collagen inlet pools (2), a cell culture chamber (3) and a waste liquid pool (4). The upper of the cell culture chamber (3) is connected with the cell inlet pool (1). The lower of the cell culture chamber (3) is connected with the waste liquid pool (4). Each collagen inlet pool respectively includes four observation chambers. The collagen inlet pools are communicated with the cell culture chamber (3). According to the invention, construction and characterization of the in-vitro blood brain barrier model and evaluation of the barrier function are integrated into a chip of a few square centimeters, and the chip can be used for in-vitro simulation and subsequent applications of the blood-brain barrier model. Compared the present invention with a Transwell small chamber co-culture model, the cell co-culture model secondary vaccination and time-consuming problems are solved, the flow conditions are added, the chip is closer to the true in-vivo microenvironment, the cell and reagent consumption are significantly reduced, and a plurality of experiment parameters can be obtained once and simultaneously.
Owner:DALIAN INST OF CHEM PHYSICS CHINESE ACAD OF SCI

Method for preparing potassium hexatitanate whisker composite SiO2 aerogel heat insulating material

The invention discloses a method for preparing potassium hexatitanate whisker composite SiO2 aerogel thermal insulation material, which comprises the steps of adopting a potassium hexatitanate whisker as a reinforcing phase, utilizing a coupling agent for the surface modification of the potassium hexatitanate whisker, preparing a SiO2 gel precursor at the same time, mixing and stirring the modified potassium hexatitanate whisker and the SiO2 gel precursor, keeping stand to gelatinate, aging to obtain SiO2 gel containing the potassium hexatitanate whisker, then performing supercritical drying and heat treatment through a high pressure kettle, and obtaining the potassium hexatitanate whisker composite SiO2 aerogel thermal insulation material. The composite thermal insulation material has good barrier function on solid heat transfer and air convection heat transfer, can effectively block infrared radiation heat transfer at the same time, has heat conductivity coefficient of between 0.01 and 0.015w/m.k at normal temperature, and improves 3 to 5 times of strength than SiO2 aerogel. The method has wide application range, and can meet operating requirements of more harsh thermal protection conditions of aviation, spaceflight, military affairs and civil use.
Owner:深圳市汇元佳实业发展有限公司
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