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330 results about "Distance error" patented technology
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An error in the binary code moving from one system to another can mean that information is not conveyed properly, which could cause lots of issues for the computer user. Hamming distance is a way of understanding how codes differ. This can then be used to correct errors.
System, method, and computer program product for representing proximity data in a multi-dimensional space
A system, method and computer program product for representing precise or imprecise measurements of similarity / dissimilarity (relationships) between objects as distances between points in a multi-dimensional space that represents the objects. Self-organizing principles are used to iteratively refine an initial (random or partially ordered) configuration of points using stochastic relationship / distance errors. The data can be complete or incomplete (i.e. some relationships between objects may not be known), exact or inexact (i.e. some or all of the relationships may be given in terms of allowed ranges or limits), symmetric or asymmetric (i.e. the relationship of object A to object B may not be the same as the relationship of B to A) and may contain systematic or stochastic errors. The relationships between objects may be derived directly from observation, measurement, a priori knowledge, or intuition, or may be determined indirectly using any suitable technique for deriving proximity (relationship) data.
Owner:3 DIMENSIONAL PHARMA
Moving distance sensing apparatus for robot cleaner and method therefor
InactiveUS20060100741A1Accurate movement distanceProgramme controlCarpet cleanersMicrocomputerShortest distance
Disclosed are a moving distance sensing apparatus for a robot cleaner and a method therefor capable of determining a precise moving distance with respect to the robot cleaner by setting a long distance sensor and a short distance sensor having respectively different sensing method from each other on the same sensing line in the robot cleaner to sense the long distance and the short distance for the same direction, and then by determining coherency to each moving distance on the basis of information provided by the two different sensors, the moving distance sensing apparatus comprising: a long distance sensor for sensing a moving distance with respect to a long distance; a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor.
Owner:LG ELECTRONICS INC
Weld characteristic communication system for a welding mask
Owner:ILLINOIS TOOL WORKS INC
Location detection method, location detection system and location detection program
InactiveUS6865394B2Increase in powerIncrease in timeBeacon systems using radio wavesRoad vehicles traffic controlLocation detectionPropagation delay
A positioning method, which is related to a technique to measure a correct position of a terminal by preventing time required for the position measurement, of calculating a position of a receiver according to signals from a plurality of wireless transmitters includes a first step of measuring propagation delay time of the signal from each of the wireless transmitters and calculating a position of the receiver and a standard deviation about measuring distance error, a second step of calculating a positioning error of the receiver a third step of determining, according to the positioning error calculated by the second step, wireless transmitters in directions nearer to a direction in which the positioning error is large, and a fourth step of re-detecting signals from the wireless transmitters determined by the third step and thereby re-calculating the position of the receiver.
Owner:HITACHI LTD
Weld characteristic communication system for a welding mask
Methods and systems for transmitting a torch angle and / or a torch-to-workpiece distance error to a welding operator when these parameters are outside of a preset optimal range via real time visual and / or audio cues are provided. One embodiment of the present disclosure relates to weld characteristic communication via intuitive arrays of visual indicators located on the periphery of a lens, which indicate to the welding operator the direction and severity of the torch angle error. In one embodiment, audio cues, such as pulsed or continuous tones may be used to communicate torch-to-workpiece distance to the welding operator. In certain embodiments, vertical visual indicator arrays may be used to indicate additional weld or auxiliary information, such as battery charge state, torch speed and so forth, to the welding operator. All the components of the communication system may be located in or on the welding helmet or the components may be split between the helmet and a belt pack.
Owner:ILLINOIS TOOL WORKS INC
Vehicle multi-target coordinating lane changing assisting adaptive cruise control method
ActiveCN103754224AEnsuring the safety of changing lanesEnsure lane change safetyExternal condition input parametersExternal condition output parametersTime domainDriver/operator
The invention relates to a vehicle multi-target coordinating lane changing assisting adaptive cruise control method. The method comprises the following steps that 1) LCACC combination property indexes are set according to two-front-vehicle traceability, multi-vehicle movement safety and longitudinal driving comfort requirements, and the LCACC combination property indexes comprise a cost function and I / O constraints; 2) a multi-target coordinating optimal control problem is built, solving is carried out through a rolling time domain optimization algorithm, the optimal control quantity is obtained, and optimal control is achieved. The LCACC cost function is set according to the following steps that a) a traceability cost function is built through a two-norm linear combination of the vehicle distance errors and vehicle speed errors of the own vehicle and two front vehicles; b) a comfort cost function is built by restraining longitudinal acceleration. The LCACC I / O constraints are set according to the steps that a) in the respect of tracking performance, vehicle following error constraints which are used for limiting the vehicle speed errors and the vehicle distance errors and allowed by a driver are obtained through driver experimental data in a statistic mode; b) in the respect of safety performance, the safety distance between the own vehicle and multiple surrounding vehicles is restrained in the view of vehicle following and collision avoidance; c) in the respect of comfort performance, the expected longitudinal acceleration data range is restrained.
Owner:TSINGHUA UNIV
Industrial robot calibration method based on distance error models
InactiveCN103231375ACalibration method is simpleThe calibration method is practicalProgramme-controlled manipulatorSimulationHomogeneous transformation matrix
The invention discloses an industrial robot calibration method based on distance error models. The method comprises: establishing a robot MDH (modified Denavit-Hartenberg) kinematic model; subjecting the errors of a matrix to homogeneous transformation; establishing a robot distance error calibration model; measuring the end actual pose of a robot; calibrating geometrical parameter errors of every connecting rod of the robot; and performing experimental verification. The industrial robot calibration method based on the distance error models has the advantages of being simple, practical, high-efficiency and rapid, is applicable to any series articulated robots, has a strong commonality, and can improve the positioning accuracy and the distance accuracy of an industrial robot simultaneously.
Owner:SUZHOU UNIV
Control device and method for PTZ camera with altitude self-calibration function
ActiveCN104469292ARealize automatic correctionTelevision system detailsColor television detailsMicrocontrollerThermal expansion
Owner:SHANGHAI MUNICIPAL ELECTRIC POWER CO +1
Robot kinematics calibration method based on vision measurement and distance error model
InactiveCN105773609ASimple kinematic calibration methodKinematic calibration method is practicalProgramme-controlled manipulatorKinematicsSimulation
The invention discloses a robot kinematics calibration method based on vision measurement and a distance error model. The method includes the steps that a corrected robot D-H model is established; the distance error model is established; a robot kinematics calibration model is established; simultaneous calibration of a hand-eye relation and kinematics parameters is performed; measurement of an actual coordinate position of a tail end is performed; robot D-H parameters are corrected; and experimental verification is conducted. The robot kinematics calibration method based on vision measurement and the distance error model and provided by the invention has the advantages of being simple, efficient and fast; a non-contact measurement mode of vision detection is adopted; meanwhile, repetitive errors of hand-eye calibration are considered, and the calibration model is simplified through a mode of an equidistance model; and accordingly, the positioning precision and distance precision of an industrial robot can be greatly improved, the robot kinematics calibration method is universally suitable for series connection joint-type robots, and certain practical significance is achieved.
Owner:NANJING UNIV OF TECH
High resolution spotlight SAR self-focusing imaging method based on two-dimensional self-focusing
The invention belongs to the radar technology field, discloses a high resolution spotlight SAR self-focusing imaging method based on two-dimensional self-focusing and mainly solves a problem that excellent focusing of a uniform imaging area can not be realized through a self-focusing algorithm in the prior art. The method comprises steps that an original echo signal of a target is received, after distance pulse pressure of the echo signal is carried out, crude envelope error and phase error compensation for the signal is carried out; distance direction FFT and azimuth solution linearity frequency modulation operation and two-dimensional interpolation operation are carried out; after distance direction IFFT of a result after two-dimensional interpolation is carried out, distance migration of a distance skipping unit is evaluated, and envelope error correction is accomplished; V non-superposed distance sub blocks are formed through uniform division along the distance direction, and a phase error of each sub block is evaluated; corresponding weights of distance units are respectively calculated, distance errors of the distance sub blocks are evaluated respectively, space-variant error evaluation is accomplished, azimuth direction IFFT of the data after correction is carried out, and thereby SAR images having the excellent focusing effect are acquired.
Owner:XIDIAN UNIV
Method for creating 3D map based on 3D laser
ActiveCN108320329AHigh precisionAvoid the problem of inconvenient filtering and denoisingImage enhancementDetails involving processing stepsInformation processingVoxel
The invention discloses a method for creating a 3D map based on a 3D laser, and belongs to the technical field of data processing. The method comprises the steps of performing rich information processing on point cloud data obtained by a 3D laser sensor to obtain an ordered laser point cloud data frame; performing feature extraction on the point cloud data frame to obtain feature points of the point cloud data frame; optimizing a transformation matrix according to an LM algorithm, and enabling the transformation matrix capable of enabling the sum of squares of distance errors of the matching of all feature points to be the minimum to serve the pose of radar; transforming each frame of the point cloud data into a point cloud map under a global coordinate system according to the pose of theradar, and transforming the point cloud map into a map expressed by voxels. According to the invention, rich information processing is performed on the original laser data, thereby providing a data basis for the creation of the 3D map. The method avoids a problem that it is inconvenient to perform filtering and denoising by adopting a point cloud map through adopting an expression mode of the voxel map, and the definition of the 3D map is improved.
Owner:维坤智能科技(上海)有限公司 +1
Control method for robots
InactiveUS20090069936A1Accurate and fast and robustEasy to implementResistance electrode holdersProgramme-controlled manipulatorManipulatorIndustrial engineering
A method of an industrial robot including a control unit and a manipulator including a tool including a defined tool center point and a device for determining a distance error between an inaccurately programmed position for a spot on a surface of a work piece and a corresponding actual position.
Owner:ABB (SCHWEIZ) AG
Novel general obstacle avoidance module for UAV (unmanned aerial vehicle) and steps
ActiveCN104656665AAvoid collisionSimple structurePosition/course control in three dimensionsMicrocontrollerMicrocomputer
The invention discloses a novel general obstacle avoidance module for a UAV (unmanned aerial vehicle). The module consists of a range sensor, an inertial sensor, a single-chip microcomputer and a wireless communication module, wherein a connecting structure is as follows: the range sensor, the inertial sensor and the wireless communication module are connected with the single-chip microcomputer respectively; the single-chip microcomputer is also connected with a UAV flight control and a remote-control receiver respectively; the range sensor is used for detecting the distance between the UAV and an obstacle; the inertial sensor is used for compensating a distance error caused by inclination of the UAV during flight; the wireless communication module is responsible for transmission of the flight state of the UAV; the single-chip microcomputer is used for processing data. The module has the benefits that the module is simple in structure, stable, reliable, higher in universality and capable of effectively preventing the UAV from colliding with the obstacle and can be mounted on various UAVs through simple setting.
Owner:YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
Error corrector for radar timing systems
InactiveUS20070210955A1Reduce biasOvercome limitationsRadio wave reradiation/reflectionPhase correctionRadar
A feedback loop corrects timing errors by reducing deviations from a constant radar sweep rate. Errors are detected and fed back to a phase corrector in a high gain feedback system. A precision radar rangefinder can be implemented with a direct digital synthesizer (DDS) that includes feedback error correction for reducing range errors by, for example, 100 times, or to 0.1 mm. An error-corrected DDS swept timing system can enable a new generation of highly flexible, repeatable and accurate radar, laser and guided wave rangefinders.
Owner:MCEWAN TECH
Visual online image ferrography imaging system
InactiveCN103983543ACorrect focus errorIncrease brightnessInvestigating moving fluids/granular solidsParticle and sedimentation analysisCamera lensFull field
The invention discloses a visual online image ferrography imaging system, which comprises an image acquisition device, a lens base, a focusing mechanism, an LED (Light Emitting Diode) annular reflection light source and a bicolourable ultra-thin LED backlight source; the image acquisition device is sleeved and fixed at the upper part of the focusing mechanism through the lens base; the bottom of the focusing mechanism is connected with an oil flow channel in ferrography through a thread; the LED annular reflection light source is fixedly connected with a threaded lens cone in the focusing mechanism; the bicolourable ultra-thin LED backlight source is adhered to a sedimentary slide in the oil flow channel in the ferrography. According to the invention, the object distance and the image distance are respectively adjusted through the focusing mechanism; the focal distance error of the lens is corrected; ferrography imaging with the fixed rate of 1.8 times can be realized; simultaneously, high-brightness and uniform illumination can be provided by adopting the LED annular reflection light source; the bicolourable ultra-thin LED backlight source as the transmission light source is wide in illumination range; the full-field ferrography imaging can be realized; the visual online image ferrography imaging system disclosed by the invention has the characteristics of being small in volume, high in imaging quality and easy for extracting visual abrasive particle characteristic information.
Owner:XI AN JIAOTONG UNIV
Efficient closed loop feedback navigation
ActiveUS8721655B2Reduce harmEar treatmentSurgical navigation systemsClosed loop feedbackTrial and error
Owner:STEREOTAXIS
Human perception model for speed control performance
ActiveUS7895135B2Digital data processing detailsAutomatic steering controlSteering anglePerception model
Owner:DEERE & CO
Stratospheric airship plane path tracking control method based on model predictive control
ActiveCN104317300AEasy to controlAvoid saturationPosition/course control in three dimensionsAdaptive controlDecompositionDynamic equation
A stratospheric airship plane path tracking control method based on model predictive control comprises a step of desired tracking value giving; a step of guidance error calculation in which the distance error and angle error between a desired position and an actual position are calculated; a step of vertical and horizontal dynamic equation decomposition in which only the horizontal state quantity is adopted in controller design; a step of discrete system equation solving in which a stratospheric airship lateral continuous system obtained by the steps above is linearly processed, error derivatives are linearly processed, then, the airship lateral state quantity and error are taken as an extended quantity, and an extended continuous state space equation is discretized; a step of system future prediction in which the state or output quantity of a future period of time is predicted according to the current state quantity obtained by a combined inertial navigation sensor and the like; and a step of model predictive control objective function construction in which an objective function is constructed with a predicted state quantity, and the function is solved by a standard QP algorithm to obtain the system input quantity.
Owner:BEIHANG UNIV
Muti-constraint-based high-precision binocular camera calibration method
ActiveCN108053450AHigh precisionImprove stabilityImage enhancementImage analysisGeometric errorCamera image
The invention discloses a muti-constraint-based high-precision binocular camera calibration method. The method comprises the steps that initial binocular camera parameters are calculated through a Zhang zhengyou calibration method, and re-projection errors and polar line errors are calculated, and then according to feature point coordinates in left and right camera images and the binocular cameraparameters, three-dimensional feature points are rebuilt; 3D geometric errors formed by adjacent distance errors, collinear errors and right angle errors are calculated. An optimized objective function formed by re-projection error cumulative sum, adjacent distance error cumulative sum, collinear error cumulative sum and right angle error cumulative sum is built, the optimized objective function is solved through a Levenberg-Marquardt method, and the optimal binocular camera parameters are obtained. Compared with the Zhang zhengyou calibration method, a binocular camera is calibrated, the distance measurement errors, collinear errors and right angle errors are obviously lowered.
Owner:ZHEJIANG UNIV
Vehicle steering control method and performance
InactiveUS7769512B2Steering initiationsDigital data processing detailsSteering controlDistance error
Owner:DEERE & CO
Single classifier anomaly detection method based on multilayer random neural network
InactiveCN109858509AEasy to handleImprove feature extractionCharacter and pattern recognitionNeural architecturesAlgorithmHigh dimensional
The invention discloses a single classifier anomaly detection method based on a multilayer random neural network. The the method comprises: only inputting a training data set of a normal class; through multilayer ELM-AE autoencoder and decoding processing, input sample data obtaining a reconstructed characteristic value; inputting the reconstructed characteristic value into the last layer of ELM to obtain actual output; sorting the obtained distance error vectors of the actual output and output tags from large to small, and determining a threshold for separating a normal class from an abnormalclass according to a set threshold parameter; and finally, inputting the test data into the multi-layer random neural network single classification abnormity detection model, and testing the recognition effect of the model. According to the method, main information is extracted more quickly and efficiently, dimensionality reduction is carried out, and then recognition and classification are carried out. And the speed is higher, the accuracy is higher, and the generalization performance is better. The method is not only suitable for small data sets, but also suitable for high-dimensional largedata sets, and has universality. And the method has important significance for practical application in future.
Owner:HANGZHOU DIANZI UNIV
Moving distance sensing apparatus for robot cleaner and method therefor
InactiveUS7706921B2Accurate movement distanceProgramme controlMeasurement devicesShortest distanceEngineering
Disclosed are a moving distance sensing apparatus for a robot cleaner and a method therefor capable of determining a precise moving distance with respect to the robot cleaner by setting a long distance sensor and a short distance sensor having respectively different sensing method from each other on the same sensing line in the robot cleaner to sense the long distance and the short distance for the same direction, and then by determining coherency to each moving distance on the basis of information provided by the two different sensors, the moving distance sensing apparatus comprising: a long distance sensor for sensing a moving distance with respect to a long distance; a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor.
Owner:LG ELECTRONICS INC
Machining Method for Hard-Fine Machining of Noise-Optimized Gears on a Gear-Cutting Machine
ActiveUS20140256223A1Improve uniformityAvoid and at least minimize vibration excitationAutomatic control devicesGrinding feed controlRotational errorEngineering
The present invention relates to a method for hard-fine machining of tooth flanks with corrections and / or modifications on a gear-cutting machine, wherein respective toothed wheel pairings which mesh with one another within a transmission or a test device are machined while taking account of the respective mating flanks, and wherein the tooth flanks of the relevant workpieces are provided with periodic waviness corrections or waviness modifications. In accordance with the invention, the rotational error extent is determined by means of rotational distance error measurement of the toothed wheel pairs in a gear measuring device and / or transmission. This measurement result serves as an input value for defining the amplitude, frequency and phase position for the periodic flank waviness corrections on the tooth flanks of the toothed wheel pairings for production in the gear-cutting machine.
Owner:LIEBHERR VERZAHNTECHNIK GMBH
TOF depth camera distance calibration method and device
ActiveCN109143252ALower requirementImprove accuracyElectromagnetic wave reradiationDistance errorLight source
The invention discloses a TOF depth camera distance calibration method and device. The method comprises the steps: S1, delaying a modulation clock signal of a TOF camera by a delay circuit, and driving a light source to emit an optical signal by using the delayed modulation clock signal; S2, reflecting the emitted optical signal to a plurality of pixels on the TOF camera sensor through a to-be-calibrated target; S3, building a distance error calibration table for a plurality of different delay amounts according to the theoretical distance and the actual distance between each pixel point and the to-be-calibrated target; S4, performing the distance compensation for each pixel by using the distance error calibration table in the actual measurement. The above technical solution of the presentinvention can solve the problem of the difference between pixel points, so that each pixel point maintains consistency within the measurement range of the TOF depth camera, and can effectively improvethe accuracy of the TOF depth camera for spatial target measurement.
Owner:CHINA HEFEI TAIHE OPTOELECTRONICS TECH
Precision pulse detection system for radar sensors
ActiveUS20080048905A1Improve accuracyGood anti-noise performanceAmplitude demodulation by homodyne/synchrodyne circuitsResistance/reactance/impedenceHandwritingPhase detector
A precision pulse detection system for time-of-flight sensors detects a zero axis crossing of a pulse after it crosses above and then falls below a threshold. Transmit and receive pulses flow through a common expanded-time receiver path to precision transmit and receive pulse detectors in a differential configuration. The detectors trigger on zero axis crossings that occur immediately after pulse lobes exceed and then drop below a threshold. Range errors caused by receiver variations cancel since transmit and receive pulses are affected equally. The system exhibits range measurement accuracies on the order of 1-picosecond without calibration even when used with transmitted pulse widths on the order of 500 picoseconds. The system can provide sub-millimeter accurate TDR, laser and radar sensors for measuring tank fill levels or for precision radiolocation systems including digital handwriting capture.
Owner:MCEWAN TECH
Method for creating distance map based on monocular camera machine vision
ActiveCN101789123ASolve the problem of difficult to create, expensive distance measurement equipmentImage enhancementImage analysisBoundary detectionVisual perception
The invention discloses a method for creasing a distance map based on monocular camera machine vision, which comprises the following steps: carrying out red component extraction on an image collected by a car camera for obtaining a baseline image; utilizing an edge detection operator for carrying out boundary detection on the baseline image, and further carrying out Hough transform on discontinuity points in the boundary for detecting a boundary line; carrying out the Hough transform on the boundary detection result for finding out straight lines in the image, then carrying out statistical weighting on end points of a plurality of straight lines approaching a vanishing point, taking the average value of detected column coordinates of a group of the straight lines as the column coordinate of the vanishing point of an optical axis of the camera, and taking the average value of row coordinates as the row coordinate position of a vanishing line; and respectively filling distance information from a projection line of the optical axis to the boundaries on the two sides, carrying out approximate treatment on scenes being far away from the vanishing line, eliminating the impacts of long-distance errors on defogging treatment and obtaining the distance-depth map of the scenes. The utilization of the method can solve the problems of difficult creation of the distance map and expensive distance measuring equipment during model defogging.
Owner:INST OF SEMICONDUCTORS - CHINESE ACAD OF SCI
Integrated real-time correction device for atmosphere convection layer and ionized layer radio wave refraction error
ActiveCN103076616AOvercoming the inability to simultaneously probe the troposphereOvercoming the disadvantages of ionospheric parametersSatellite radio beaconingICT adaptationRefractive indexMicrowave radiometer
The invention discloses an integrated real-time correction system for atmosphere convection layer and ionized layer radio wave refraction errors, which comprises a microwave radiometer, a single-station GPS (Global Positioning System) and an integrated real-time correction unit, wherein the microwave radiometer is used for detecting a convection layer refractivity profile; the single-station GPS is used for detecting an ionized layer electron density profile in real time; and the integrated real-time correction unit is used for calculating radio wave refraction error corrections in real time by adopting a ray tracing method based on the convection layer refractivity profile, the ionized layer electron density profile and the apparent distance and the apparent elevation angle parameter of a detection target, wherein the radio wave refraction error corrections comprise a distance error correction, an elevation angle error correction and a speed error correction. The integrated real-time correction device for atmosphere convection layer and ionized layer radio wave refraction errors overcomes the defect that the parameters of a convection layer and an ionized layer cannot be simultaneously detected by adopting the traditional method, realizes the real-time correction of the radio wave refraction errors of the convection layer and the ionized layer, has the advantages of high accuracy, good real-time performance, unattended operation, strong mobility, low cost, simplicity in operation and the like, and provides a technical support for improving the accuracy of systems for aerial survey, deep-space survey, ballistic trajectory measurement and the like in China.
Owner:THE 22ND RES INST OF CHINA ELECTRONICS TECH GROUP CORP
Perception model for trajectory following autonomous and human augmented speed control
ActiveUS20080195293A1Steering initiationsDigital data processing detailsSteering anglePerception model
A speed control method of a vehicle including the steps of obtaining a steering angle, a velocity error and a distance error. The velocity and the distance error being determined by mathematical combinations of a GPS position, a required path and speed set points. The steering angle, velocity errors and distance error are applied to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. An output from the velocity rule base is defuzzified to produce a speed signal.
Owner:DEERE & CO
Self-adaptive vehicle following method for auxiliary driving of electric automobile
InactiveCN109484407AGuaranteed stabilityGuaranteed comfortControl devicesState variableDynamic models
The invention provides a self-adaptive vehicle following method for auxiliary driving of an electric automobile, which can achieve multi-objective collaborative optimization. The method comprises thefollowing steps of: establishing a variable vehicle changing-lane time distance strategy based on the stability requirement of the vehicle distance; based on the kinematic characteristics of a vehiclein vehicle following process in combination with establishment of the vehicle changing-lane time distance strategy, establishing a self-adaptive vehicle following dynamic model by taken a vehicle distance error, a relative speed, a vehicle accelerated speed and an accelerated change rate as state variable and output variable, taken expected accelerated speed as control variable and a front vehicle's accelerated speed as disturbance; and determining a prediction model based on model prediction control based on the established self-adaptive vehicle following dynamic model, wherein the prediction model is used for achieving collaborative optimization of a plurality of target indexes, and the target indexes comprise economy, safety and comfort. The invention relates to the technical field ofvehicle.
Owner:UNIV OF SCI & TECH BEIJING
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