85 results about "Curve smoothing" patented technology

The invention discloses a method and a device for planning a robot time optimal trajectory based on a dynamic model. The method for planning the robot time optimal trajectory comprises the following steps: converting joint motion constraint and geometric path constraint to a parameter space through a robot motion trajectory predetermined by dynamics modeling and parameterization; taking shortest time as an objective structural optimization problem, and solving through a numerical integration method to obtain an optimal motion parameter of the robot; and carrying out spline curve smoothing on acceleration for three times on a phase plane by considering the problem of joint vibration caused by sudden change of the acceleration. Compared with the conventional trapezoid acceleration trajectoryplanning method, the motion parameter of the robot can be optimized under the joint motion constraint and the geometric path constraint; the high-speed motion of the robot can be achieved; the performance of a joint motor is fully used; the motion speed of the robot can be further improved; pitch time for executing tasks is reduced, so that the operation efficiency of the robot is improved; and the method and the device have great significance to improvement of overall performance of the robot.

The invention discloses a time-series data cleaning method for pipe net modeling. The time-series data cleaning method for the pipe net modeling comprises the steps of searching and elimination of duplicate values, data dispersion degree analysis, judgment of outliers, denoising noisy points of curve smoothing, interpolation completion of missing data. The time-series data cleaning method for the pipe net modeling introduces variation coefficient to achieve standardization processing of pressure information and flow data of different dimensions, judges the dispersion degree of arrays and screen the dispersion degree of arrays at the same time. The time-series data cleaning method for the pipe net modeling is characterized in that outlier data at first is searched and processed by a utilizing three times standard deviation method and then is fitted by a least square method, which greatly reduces the effects of outliers on fitting results. At the same time, data smoothing of the noisy points is processed by fitting functions, which can further reduce the presence of outlier data. The least square method can satisfy the data processing which does not conform to the normal distribution. Compared with linear interpolation, cubic spline interpolation utilized in the end can make the data inserted more smooth. The time-series data cleaning method for the pipe net modeling has the advantages of preprocessing the data before the data is imported into a model for calculation, achieving the effect of data cleaning, and providing a guarantee for the calculation of the model.

The invention is directed towards cutting inserts having a top surface, a bottom surface, at least three side surfaces extending from the top surface to the bottom surface, and a nose corner connecting two adjacent side surfaces. The intersection of the cutting insert may include an intersection of the nose corner and the top surface wherein at least a portion of the intersection defined by a multi-segment spline curve. The multi-segment spline curve may be a B-spline curve. The intersection may also be defined by two arcs at each end of the B-spline curve. The invention also includes a method of designing a turning insert having the steps of designing a nose corner with multi-segment spline curve. The multi-segment spline curve may be a B-spline curve. The method may be a computer implemented method of designing a turning insert having the steps of determining the shape and size of the desired turning insert, determining the desired contact mode between the turning insert and the machining surface at a specific lead angle, and developing a B-spline curve that is smoothly and tangentially connected to the two arcs symmetrical to the bisector line of nose corner.

The invention discloses an oil-immersed type transformer solid insulation moisture content assessment method based on return voltage, comprising the following steps: 1) preparation work: the temperature of a transformer is lowered without forced oil circulation; an outgoing line terminal and a line of each winding sleeve are separated; and each phase of a high voltage winding and neutral points are in short circuit and grounded; 2) wire connection: each measured winding is in grounded insulation; 3) parameter configuration; 4) test end judgment: a polarized spectrum curve raises smoothly and then declines, when the peak value of the polarized spectrum curve appears, test is ended; when the tested polarized spectrum curve has serious jump or a plurality of peak values, the test is ended when the charging time Tc equals to 100s; 5) moisture content is judged according to a main time constant of the polarized spectrum curve; and 6) when the moisture content is less than 1%, the insulation state is good; when the moisture content ranges from 1% to 2.5%, the insulation state is general; and when the moisture content is higher than 2.5%, the insulation state is very poor. The invention can accurately assess brackish moisture content in insulation paper and judge the insulation and aging state of oil paper without suspended core and sampling and destroying the insulation material.

An image upscaling algorithm jointly optimizes estimating pixel color, classifying it into one of multiple regions, and estimating region boundaries subject to region continuity and edge-configuration constraints. The joint solution of constraints at multiple levels of image abstraction leads to improved image reconstruction quality. The algorithm involves subdividing the image signal into multiple distinct regions, including an upper region and a lower region, and at least one transition zone between the upper and lower regions; constructing a plurality of separate curves, one for each region; smoothing each curve independently of the other curves; and reconstructing the image signal from the smoothed curves such that the reconstructed image signal has no segment in any transition zone.

The invention discloses a Delaunay triangular net-based road center line extraction method, and belongs to the technical field of geographic information data processing. The method comprises the steps of establishing buffer regions of road line data, and performing buffer region fusion; performing node encryption based on a graphic layer of the established buffer regions, and establishing a Delaunay triangular net by utilizing encrypted nodes; classifying triangular elements forming the triangular net according to geometric features, thereby obtaining feature points of all the triangular elements; connecting the feature points in sequence to obtain single-line data, and obtaining a final result through curve smoothing. Single-line road network data is obtained by single and double-line mixed road data, so that complex manual processing or a data re-collection process is avoided when data is obtained in the field of scientific research such as road network analysis and the like or application, a topological relation of the road data can be well kept, and result data meeting the requirements is obtained.

The invention relates to a strip steel section shape detecting and identifying method, belonging to the technical field of steel rolling quality control. The method comprises the following steps of: dividing a detector into three groups and fitting three intervals of the width of the strip steel into three polynomial approximation curve functions; enabling the three polynomial approximation curves to be in smooth and transition connection; establishing an initial constraint condition and simultaneous equation adding the constraint condition and calculating the polynomial approximation coefficient of the three polynomial approximation curve functions; and using the strip steel section shape curve described by the three approximation curve functions as the detection result to determine the needed feature parameter of the strip steel section. The method can obtain the actual thickness data of the strip steel at a plurality of measurement passages in real time, carries out necessary processing and identifying on the discrete thickness detection data at the passages to obtain the feature parameter of the strip steel section output to a plate-type front feedback control system to improve the plate-type quality of a cold rolling outlet.

The invention discloses a decision method for rolling optimization of wind and light storage cooperative scheduling. The decision method comprises the following implementation steps of: acquiring day-ahead prediction values of load, wind power of wind power farms and output power of photovoltaic power stations and data such as charging demand of each electric automobile recharging station; arranging a day-ahead plan of a next-day charging plan of each electric automobile recharging station, wherein the plan can meet energy demands of electric automobiles of each electric automobile recharging station and reduce the peak valley difference rate of equivalent load curves, so that the peak pitching pressure of the conventional machine sets is reduced, and the energy access level of renewable energy is improved; and continuously modifying the rolling of the charging plan of each electric automobile recharging station in rest time period of a current day in real time through the updated predication data acquired every hour such as the load, the wind power of the wind power farms and the output power of the photovoltaic power stations of the rest time period of the current day in the operation of the current day, so that the problem that an actual equivalent load curve smoothing effect of the current day is weakened by the charging plan of each electric automobile recharging station due to prediction errors is solved as possible.

The invention provides a double-taper working roll and a roll shape design method thereof, and belongs to the technical field of plate and strip rolling. The working roll comprises five curves, namely, a middle portion convexity degree control section, curve transition sections and edge portion contour control sections, and the roll shape curves are symmetrically arranged. The middle portion convexity degree control section and the edge portion control sections are smoothly connected through the curves of the transition sections. Special roll shape curves are adopted for the edge portion curvecontrol sections, and effective control over the shape of the edge portions of hot-rolled strip steel is achieved. The quadratic parabola form is adopted for the middle portion convexity degree control section, and the control requirement for the convexity degree of the strip steel can be met. By means of the roll shape curves and roll shape parameters provided by the method, a double-taper rollshape with the strip steel edge portion contour control capacity can be flexibly designed according to requirements of hot rolling field production.

The embodiment of the invention discloses a method and device of obtaining a banknote security thread boundary. By utilizing the characteristic that the gray value of a security thread must be the smallest, according to the characteristics of narrow self width and small searing amount of the security thread, a new banknote security thread integrity detection method is designed. A gray value column projection method is employed to obtain the characteristics of the security thread; the security thread is preliminarily positioned according to the stable and obvious feature that a gray value lowest column must be on the security thread, thereby improving accuracy and eliminating interference. The method and device perform searching from a minimum column to the left and right; the searching at a curve steep portion is not influenced by a curve smooth portion, thereby eliminating the influence of security thread inclination, security thread edge darkening, etc. to integrity detection.

The invention relates to the field of digital signal processing, and discloses a method and a system for converting time domain signals into frequency domain signals. According to the method, the time domain signals are subjected to curve smoothening and are then regenerated into approximate simulation signals to be transmitted to a resonance system carrying out damped forced simple harmonic vibration, and in addition, the resonance intensity of the resonance system is calculated and is used as the intensity of the frequency domain signals. Any frequency point can be selected for calculation, so when only the signals of one special frequency point or several special frequency points need to be calculated, the calculation quantity is much lower than that of the traditional calculation method. Further, a time-frequency distribution diagram is obtained through calculating the frequency domain signal intensity change process, and the frequency domain signal intensity of the frequency point can be obtained through superimposing the frequency domain signal intensity at the corresponding moments of all sampling points of the corresponding frequency points, so the time domain signals are successfully converted into the frequency domain signals. The calculation is carried out on each sampling point one by one, so the time response can reach up to the sampling period, and in addition, the response amplitude is adjustable.

The invention provides a retrieval method and system for a hydrofracture microseism focal mechanism. The retrieval method comprises the steps of P wave amplitude curve pickup, P wave amplitude curve correction, P wave amplitude curve smoothing and fault nodal plane solution retrieval extraction. By establishing an amplitude correction factor and a median filter operator, a pickup P wave amplitude curve is processed and a grid point search algorithm is used for retrieval of a fractured fissure foal mechanism. The method is stable and effective and can promote the development of the hydrofracture ground microseism monitoring data processing technology to a certain extent.

The invention provides a method for detecting a solution leaching scope and a groundwater pollution scope of acid in-situ leaching of uranium. The method comprises the steps of: (a) distributing measuring lines in a detecting area and setting measuring points on the measuring lines; (b) transmitting signals of different frequencies through a transmitter, receiving signals of electric field and magnetic field which are coupled via the ground through a receiver, and converting the signals into collection data after the signals are subjected to calibration of scale values; (c) sequentially subjecting the collected date to curve smoothing, near field correction, one-dimensional inversion, two-dimensional inversion and electric property geological integrated interpretation to form a geophysical inversion result and a geological interpretation map of every measuring line; (d) subjecting the detecting area to three-dimensional geological modeling and subjecting the model to slicing display of different depths; and (e) combined with physical property data of the detecting target area, obtaining the solution leaching scope and the groundwater pollution scope of the acid in-situ leaching of uranium and the points where leakage occurs. The method for detecting the solution leaching scope and the groundwater pollution scope of the acid in-situ leaching of uranium is quick, economical, effective and simple to operate, and does not need constructing monitoring well and sampling analysis.

The invention relates to a three-dimension microscopic observation method of plant leaf stoma in vivo. The method comprises the following steps that: firstly, optical amplifier components are connected with a focusing guide rail and a varifocus lens is connected with a CCD image acquisition sensor; the focusing guide rail is connected with a connection plate and the connection plate is connected with a horizontal fine tuning guide rail; then, a measured plant is placed on a measured-object load-bearing platform and a observation area of a measured leaf is fixed; the CCD image acquisition sensor is connected with an upper computer so as to real-timely collecting and observing leaf stomata through image acquisition software; finally, an image of a leaf surface can be acquired through automatically focusing or manually focusing and a three dimensional image of leaf surface stoma states can be obtained after performing image denosing, curve smoothing and curve fitting on collected data. By using the method of the invention, when the plant leaves are not separated with the plant body, stoma state images can be continuously collected, and normal plant growth state can be two-dimensionally observed or leaf stoma change status under a specific experiment state can be two-dimensionally observed. Therefore, maximum information of the leaf stomata can be guaranteed.

The invention discloses an ultrasonic image renal artery blood flow spectrum signal curve classification method. By comprehensively using a curve extraction technique, a curve smoothing technique and a curve characteristic extraction technique in image processing, the method for blood flow spectrum signal curve classification can be used for extracting blood flow spectrum signal curves under more complex image backgrounds, the curves are accurately extracted and the classification accuracy is high. The method comprises the following steps of: firstly extracting renal artery blood flow spectrum signal curves in acquired ultrasonic Doppler images; then normalizing and smoothing the blood flow spectrum signal curves and extracting the cycles of the blood flow spectrum signal curves; computing the characteristics of the blood flow spectrum signal curves; and finally training and classifying the blood flow spectrum signal curves through a classifier according to the characteristics.

The invention provides a spectral reconstruction method based on sample feature matching, which is characterized by comprising the following steps of: firstly, obtaining color response values of a training sample set and a test sample through digital imaging equipment under an ambient light source; screening the training sample set by using a sample feature matching method to obtain a clustering training sample color response value set and a spectrum set; performing normalization processing on the clustering training sample color response value and the test sample color response value, and performing calculation by using a least square method to obtain a coefficient matrix; and finally, reconstructing the spectral reflectivity of the surface of the object by using the coefficient matrix and a curve smoothing method. The spectral reconstruction method provided by the invention is high in reconstruction precision and simple in calculation, fully considers the physical characteristics ofspectral reflectance, and utilizes the characteristics of the sample to screen.

The invention relates to a quality control method for conversion of power grid special area raster data into vector data. The method includes the following steps that (1) special area raster data are classified according to power grid special area grading standards; (2) on the basis of power grid special area classified information, the special area raster data are converted into vector data by means of a GIS data conversion algorithm; (3) a GIS elimination algorithm is adopted to merge small and broken pattern spots; (4) a GIS geometric feature transformation algorithm, a space curve smoothing algorithm and a space curve planarization algorithm are adopted to process boundary sawteeth; (5) a GIS topological processing algorithm is adopted to correct topological errors. The quality control method for conversion of the power grid special area raster data into the vector data is formulated, so that the accuracy rate and speed are high in conversion of the power grid special area raster data into the vector data, data quality and precision can be well guaranteed, and effective and reliable bases are provided for disaster prevention and reduction of a power grid.

An approximate curve generation method according to the present invention generates an approximate curve as smooth as an original curve from point group data obtained by approximating a curve shape, and includes: an approximate polygon shape range determining step of sectioning point group data for each line segment of an approximate polygon shape which is generated when the point group data approximating the curve shape are obtained, and sorting the point group data close to a section boundary as valid point group data, and the point group data inside the valid point group data as invalid point group data; and an approximate curve generating step of regarding only the valid point group data, and generating an approximate curve passing through or close to the regarded valid point group data as an approximate curve to be finally obtained.

The present invention belongs to the technical field of geometric modeling, and discloses a method and a system for constructing an interpolation curve or a curved surface based on a B-spline. The system comprises: a function deployment module, a telescopic translation module, a curve generation module, a central processing module, a curve smoothing module, a curve fitting module, a data storage module, and a display module. According to the technical scheme of the present invention, by using the curve smoothing module, a smoothing operation is performed on the curve in the image, the unsmoothcurve segment in the image can be effectively smoothed, and the curve after being subjected to the smoothing operation has substantially no defect with respect to the original curve, does not deviatemuch from the actual curve, and can adjust the degree of smoothness of the curve by adjusting the interval size by itself; and at the same time, by using the curve fitting module, the mapping reconstruction of the rotary part along the direction of the rotation axis can be realized, the data processing process can be simplified in a facilitated manner, and the consumption of computer resources can be reduced.

The invention relates to a three-stage impulse excitation and feature extraction-based ultrasonic distance measurement method. According to the method, three-stage pulse alternating excitation is carried out on an ultrasonic transmitter, and at the same time, a 12-bit A / D synchronous and high-speed acquisition is performed on ultrasonic received signals in a certain period; envelope extraction is performed on the ultrasonic received signals, the envelope line of the signals is extracted through sine fitting; on the basis that the envelope line is smoothed, a maximum envelope peak, that is, the location of a middle envelope peak, is found through global search; with the maximum envelope peak adopted as a starting point, in a local interval, a transition valley point is found through a minimum value forward search method; and a measurement distance is calculated through the calibration relationship of the position of the transitional valley point and the measurement distance. With the three-stage impulse excitation and feature extraction-based ultrasonic distance measurement method of the invention adopted, the problem of slow oscillation decay under unidirectional pulse excitation can be solved; and a three-stage pulse alternating excitation mode is adopted, namely, a forward excitation-reverse excitation-forward excitation mode is adopted, and therefore, an ultrasonic receiver can be in a non-oscillation state before next measurement is performed.

A method to detect testing signals of basic structure dynamically. It contains the following steps: (1) Equip sensors on both sides of pile body below the tested pile block symmetrically. (2) Knock the top of pile foundation to get a signal while testing. (3) Record the signal by sensors. (4) Signals from the two sensors are transferred to signal smoothing module. Treat and combine the two signals based on the swing and sound rate and implement curve smoothing on the high frequency part of the signal. (5) Utilize low band filter to realize signal silence. (6) Transfer the silent signal to signal treatment module for integrality analysis of pile foundation. The invention provides a method to detect testing signals of basic structure dynamically, which can eliminate noise effectively and has high testing accuracy.

The invention, which belongs to the advanced control field of the industrial process, provides a 2D input-output constraint control method for intermittent process with reliance on time delay. The method comprises the following steps: step one, for a single stage in the batch process, establishing a two-dimensional system model with a state time lag based on a state space model of a controlled object; and step two, for a two-dimensional closed-loop system model constructed in a step 1.3, designing an iterative learning prediction controller. The method has the following advantages that: the tracking error value is small and the convergence speed is fast; rapid convergence to the stable state is realized within about ten batches; the curve of the tracking error after stable state reaching becomes smooth and the smoothness is close to zero error; a set reference track is tracked within short time; the change rate is obvious larger than that of the traditional one-dimensional method; andwhen the system has a sudden change, the curve reaction becomes sensitive.

A simple curve smoothening method based on secondary B-spline curves belongs to the computer auxiliary design and image processing technology field. The method comprises the following steps: conducting binarization on an image, changing curves existing in the image into single-pixel curves through refinement, conducting interval sampling from a starting point to an ending point on each curve Vi in the image, removing points that do not belong to sampling points from the curves Vi to obtain new curves Vi, circularly selecting three points each time as control points for each new curve Vi to draw a secondary B-spline curve, and smoothening the curves that are not smooth in the image. According to the method, the curves in the image can be smoothened, unsmooth curves in the image can effectively become smooth, the smoothened curves have no defect compared with the original curves and will not considerably deviate from the actual curves, and the smooth degree of the curves can be regulated and controlled through automatic interval adjustment.

The present invention discloses a dynamic planning based humming melody extracting and matching search method. The humming melody extracting and matching search method comprises the specific steps of: acquiring a section of a song hummed by a user through a microphone in a form of audio signal; solving a logarithm energy curve of an input signal and smoothing the curve; dynamically estimating an energy threshold value of an audio region according to a maximum value and a minimum value of the curve; cutting off sections with continuous sounds and enabling each section to correspond to each hummed note; solving a base frequency of each frame of hummed signal based on a time domain self-correlated method, and carrying out down type conversion on the base frequency to obtain a half-tone unit; calculating the pitch of an audio frame by adopting a rule based method, and carrying out melody curve smoothing to remove noise sections, so as to finally obtain effective humming melodies; aiming at the representation of three stages of pitch outline line melodies, carrying out melody matching on indexed network audio files based on a recursive calculation method for a minimum editing distance between pitch outline lines; and taking the plurality of network audio files with the highest total point in similarity as a searching result to be returned back to the user.

The invention provides a comparison method and device for secondary ion mass spectrometry analysis curves. The comparison method and device is used for diagnosing whether ion implantation is abnormalor not. The method comprises the following steps of S1, finely adjusting a machine table; S2, in a first decision-making stage, carrying out ion implantation dose deviation self-checking by the machine table, if an ion implantation dose deviation is less than 1%, going to the step S3, and if the ion implantation dose deviation is larger than or equal to 1%, going to the step S1; S3, performing abnormal point detection and removal; S4, performing curve smoothing processing and performing model diagnosis; S5, calculating relevant non-parameter quantitative indexes and comparing the secondary ionmass spectrometry analysis curves according to the indexes; and S6, if the indexes meet a threshold value, determining that the current ion implantation is normal, and if the indexes do not meet thethreshold value, determining that the current ion implantation is abnormal, and going to the step S1. The problems that comparison parameters of the secondary ion mass spectrometry analysis curves areexcessively subjective and analysis of an ion implantation result is incomprehensive in the prior art are solved; and early detection is effectively realized and employees are guided to timely develop solutions, so that the influence of the deviation is reduced.

A method, computer readable storage, and apparatus for improving subdivision schemes for subdivision surfaces. The present method can correct distortion from the base mesh caused by prior art subdivision and smoothing schemes. In one embodiment, the method includes: (a) subdividing a curve having original vertices producing additional vertices; (b) smoothing the curve into smoothed vertices comprising smoothed original vertices and smoothed additional vertices; and (c) adjusting positions of the smoothed vertices.

The invention discloses a method for suppressing speckle noise of an OCT image. The method for suppressing speckle noise of an OCT image includes the steps: acquiring an OCT image of a target object by an OCT system, performing curve smoothing on column data, performing wavelet transformation on a column of data after curve smoothing, constructing four window functions with different window width,performing windowing processing on the column data after wavelet transformation, solving weighted average for the four windowed data, then performing wavelet inverse transformation to obtain column data after noise suppression, and performing stitching processing on each column of data to obtain an OCT image after noise suppression. The method for suppressing speckle noise of an OCT image maximally maintains the detail features, improves the detail quality of OCT imaging, is conductive to improvement of the speed of noise reduction, and can be used for online noise reduction applications.

The invention discloses a method for calculating the buried depth of an underground magnetic body. The method comprises the following five steps: carrying out sampling point data homing; carrying out curve fitting; carrying out curve smoothing processing; carrying out a feature point of a magnetic abnormal smoothing curve; and calculating a buried depth h of a magnetic body by using a tangent method. According to the invention, treatment and homing are carried out on field magnetic survey data by using a cubic spline method; and a requirement of the equal interval of sampling points at a measuring line during upward and downward extension of a space domain is met. According to the method, the method is operated simply; the calculation precision is high; and the geophysical prospecting worker can carry out magnetic method explanation conveniently.

The invention discloses an AR drawing method combined with a physical illumination model, and the method comprises the following steps: S1, enabling an ARkit to capture a current AR scene, enabling the ARkit to be rendered to a texture through an OpenGL, and enabling the texture to serve as a background texture; S2, establishing a Scene scene by using Metal + Scene kit; S3, recording 2D screen track coordinates of the paintbrush, obtaining a current camera V matrix and a current camera P matrix, and sequentially converting the 2D screen track coordinates into 3D space coordinate tracks; S4, generating a uniform and smooth 3D space trajectory coordinate by adopting an interpolation and curve smoothing algorithm; S5, calculating data such as vertex coordinates, normal lines, tangent lines, texture coordinates and RGB (red, green and blue) according to the 3D space trajectory coordinates, deducing and constructing 3D geometric figure nodes with a deformation effect according to an ellipsecalculation formula, and adding the nodes into the Scene scene; S6, adopting a PBR physical illumination model to calculate the illumination effect, carrying out multiple sampling to eliminate sawteeth, rendering a Scene scene through Metal, and rendering a 3D graph to OpenGL and Metal shared textures; and S7, fusing the background texture and the shared texture, and rendering the final pattern to the screen by the OpenGL.