122 results about "Environmental model" patented technology

A system and method for estimating the position of wireless devices within a wireless communication network combines measured RF channel characteristics for the wireless device with one or more predicted performance lookup tables, each of which correlates an RF channel characteristic to some higher order network performance metric and/or a position within an environmental model. Measured RF channel characteristics for wireless devices are compared against the performance lookup tables to determine the sent of lookup tables that most closely match the measured RF channel characteristics. The positions within the environmental model corresponding to the selected set of matching lookup tables are identified as possible locations for the wireless device. The performance lookup tables are uniquely constructed by site-specific location, technology, wireless standard, and equipment types, and/or the current operating state of the communications network.

A system and method are provided for receiving speech and/or non-speech communications of natural language questions and/or commands and executing the questions and/or commands. The invention provides a conversational human-machine interface that includes a conversational speech analyzer, a general cognitive model, an environmental model, and a personalized cognitive model to determine context, domain knowledge, and invoke prior information to interpret a spoken utterance or a received non-spoken message. The system and method creates, stores and uses extensive personal profile information for each user, thereby improving the reliability of determining the context of the speech or non-speech communication and presenting the expected results for a particular question or command.

An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.

The invention discloses a travelling robot positioning system based on a single camera. In the system, a point model is adopted for representing an environmental model, an off-line map is calibrated, an action model and an observation model are established for carrying out position updating and road sign calibration, Monte Carto particle filter technology is adopted, particle swarm distribution with weights is adopted for representing robot pose estimation, the weights and the distribution of particles are updated through road sign matching processing, field particle distribution is rasterized, and a sub-region with maximal particle density is selected for positioning the robot. As an independent platform, the system greatly improves the map calibration technology on the environmental model, has great flexibility on the identification of ground line sections, and just needs re-calibration but not needs model re-establishment after environment change. The model reduces the matching complexity in visual processing and improves calculation efficiency. The Monte Carlo localization algorithm is expanded on the information integration processing technology, thus ensuring the real-time property and robustness of the system.

The invention discloses an indoor simultaneous locating and environment modeling method for an unmanned aerial vehicle. According to the method, flying tracks of the unmanned aerial vehicle can be located, and an indoor three-dimensional environmental model can be drawn fast. An operation platform and an operation method of the unmanned aerial vehicle are constructed, an RGB-D sensor carried by the unmanned aerial vehicle is utilized for collecting data, a visual odometry is adopted for estimating the indoor flying tracks and positions of the unmanned aerial vehicle, and an extended kalman filtering algorithm is adopted for obtaining the more accurate flying tracks and the positions of the aerial vehicle. Furthermore, the data transmission functions of the unmanned aerial vehicle and a ground communication device are utilized for feeding information collected by the sensor on the aerial vehicle back to ground operating personnel in real time, and a three-dimensional data display method of a computer is utilized for calculating and processing the collected data and carrying out indoor three-dimensional environment modeling and displaying.

The invention discloses a geographical environmental characteristic map construction and navigation method based on data mining, and belongs to the field of automatic control. The method comprises the following flow: firstly performing processing and matching on a current 3D laser-point cloud of the surrounding environment of a platform and a panoramic picture, to acquire characteristic vectors of each object in the platform surrounding environment; secondly inputting the characteristic vectors of each object into a neural network which classifies the characteristic vectors and outputs a characteristic environmental model; thirdly according to the characteristic environmental model, establishing a current local map or updating an original local map; and finally based on a current position of the platform and a predicted next-moment position, selecting a routine for driving according to the local map. If the platform does not reach a final goal, the flow is repeated; and if the platform reaches the final goal, the flow is finished and the final local map is a global map. The method is applicable to geographical environment map construction and navigation of a ground unmanned mobile platform.

The invention discloses a multiplexing-oriented embedded software testing method. According to the method, a model library is arranged in a testing system, a tested software model, a crosslinked environmental model, a testing exemplar model, a testing execution model and a testing result model are stored in the testing system, and testing is finished in the converting process of each model. The software testing method is an effective testing method specific to embedded system software; in a testing process, multiplex testing products can be produced, and multiplex products in the model library can be directly used simultaneously, so that the testing efficiency is increased, the generation of a plurality of man-made errors and undefined factors is avoided, and the controllability and the specificity of a simulated testing process are ensured. During testing of difference software, the testing model becomes a multiplex effective assembly in a testing process, so that repeated work in the testing process can be reduced greatly in particular for production line software, and the testing efficiency is increased to the maximum extent.

Provided is a domestic service robot path programming method based on a walking trajectory. The invention discloses a service robot navigation method based on a human walking trajectory. Firstly, the method of describing the trajectory of pedestrian movement is discussed; a key point extraction and trajectory expression method based on kernel density estimation is proposed; the pedestrian movement trajectory classification is realized by the similarity measurement of the trajectory in space distance, motion direction and velocity; secondly, in order to avoid the expansion of a path search algorithm in the global space and improve the real-time performance of the algorithm, an improved RRT-Connect algorithm based on a trajectory gravitational function is proposed to realize the path search scheme which is oriented to the pedestrian walking trajectory; and finally, double-layer path programming based on a topology-grid environmental model is realized; and the navigation efficiency is raised on the basis of safety navigation.

A system of properly displaying chroma key content is presented. The system obtains a digital representation of a 3D environment, for example a digital photo, and gathers data from that digital representation. The system renders the digital representation in an environmental model and displays that digital representation upon an output device. Depending upon the context, content anchors of the environmental model are selected which will be altered by suitable chroma key content. The chroma key content takes into consideration the position and orientation of the chroma key content relative to the content anchor and relative to the point of view that the environmental model is displayed from in order to accurately display chroma key content in a realistic manner.

The invention discloses a dual-fuel engine controller simulation test system, and is used for realizing an HIL test of an HPDI engine controller. The system includes a real-time simulator and an engine controller, wherein the real-time simulator is used for operating an environmental model, a driver model and a full vehicle model, sending vehicle environment parameters output by the environmental model, driver behavior parameters output by the driver model and each vehicle operating parameter output by the full vehicle model to the engine controller, and receiving a control signal sent by the engine controller, and continuing to operate the environmental model, the driver model and the full vehicle model according to the control signal, and the full vehicle model includes a dual-fuel engine model (including a gas circuit model, a fuel supply model, a cylinder combustion model, and a heat balance model), an accessory model, a drive system model, and a vehicle longitudinal power model. The engine controller is used for determining the operating condition of the engine according to the vehicle environment parameters, the driver behavior parameters and the vehicle operating parameters and generating and sending the control signal.

The invention relates to a teleoperation robot adaptive control method based on a master-slave reference model. The system of the invention is composed of a master side circuit, a slave side circuit and a communication delay link, wherein the master side circuit is composed of an operator, a main robot and a master side environmental model; the slave side circuit is composed of an environment, a slave robot, a slave side environment model, a model parameter correcting module and a delay-simulating module; the side environment model provides reference force signals, the reference force signals and the force signals fed back by the environment are input the model parameter correcting module for comparison; by utilizing the error, an adjustable gain pc(t) is output from the model parameter correcting module, passes through the communication delay link and adjusts the master side master side environmental model; the master side environmental model provides feedback force signals for the operator; and the adjustable gain pc(t) passes through the delay-simulating module, adjusts the slave side environmental model and performs continuous circulation; and the master side environmental model and the slave side environmental model continuously approximate the real environmental model and form the teleoperation which can overcome the influence of delay and ensure the system to obtain the stable control.

A system and method for identifying the position and orientation of a vehicle. The method includes obtaining an environmental model of a particular location from, for example, a map database on the vehicle or a roadside unit. The method further includes detecting the position of the vehicle using GPS signals, determining range measurements from the vehicle to stationary objects at the location using radar sensors and detecting visual cues around the vehicle using cameras. The method includes registering the stationary objects and detected visual cues with stationary objects and visual cues in the environmental model, and using those range measurements to the stationary objects and visual cues that are matched in the environmental model to determine the position and orientation of the vehicle. The vehicle can update the environmental model based on the detected stationary objects and visual cues.

The invention relates to a semi-physical simulation system of a dynamic positioning ship. According to the semi-physical simulation system of the dynamic positioning ship, ship movement is simulated on land, and detailed experimental verification is carried out on devices before the devices are shipped, so that reliability of a system is ensured after the system is shipped. The semi-physical simulation system of the dynamic positioning ship comprises a simulation computer, a 1# data processing module, a 1# control module, a 2# data processing module, a 2# control module and a semi-physical system, wherein the semi-physical system is composed of a three-freedom-degree simulation experiment platform, a six-freedom-degree movement device, a sensor module and a data receiver, the sensor module comprises a GPS module, a compass and an MRU, the sensor module is installed on the six-freedom-degree movement device, and the three-freedom-degree simulation experiment platform is installed on the six-freedom-degree movement device. The semi-physical simulation system of the dynamic positioning ship is used for simulating a dynamic positioning system of the surface ship through combination of the platform, a swing platform material object, a six-freedom-degree ship mathematical model and an environmental model so that experimental verification of the devices can be achieved before the devices are shipped.

The invention discloses a method and a system for intelligent planning the path of a multi-working condition wall climbing robot. The optimal path of the wall climbing robot is found by an ant colonyalgorithm in an environment with known barriers. An environmental model is preprocessed, a pheromone limiting strategy, a goal orientation strategy and a reward and punishment excitation strategy areintegrated into the ant colony algorithm, and the improved algorithm has good convergence speed and optimization ability; a speed control strategy and a smallest turning frequency-based safety strategy are respectively provided according to the different working requirements of the wall climbing robot on a horizontal plane and a vertical wall, and are fused with the improved ant colony algorithm to form the method for planning the path of the wall-climbing robot under multiple working conditions; and the system for planning the path of the wall climbing robot is designed based on C++. The method and the system for planning the path realize the planning of the path of the wall climbing robot under different working conditions on the basis of the improved ant colony algorithm, and have theoretical values and practical significance.

A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.

The invention discloses a method for constructing a transparent mine and particularly relates to a method for constructing a three-dimensional transparent mine with highly integrated data of upper andlower topography, construction, equipment, stratum, mining environment, monitoring and the like of mine wells. The method includes constructing a full-automatic model building rule base, a topology association rule base, a dynamic matching method base and an equipment model base; constructing a basic database; constructing an initial irregular triangular network geological model and a three-dimensional roadway, equipment, mining environment, an earth surface plant model; drawing an envisaged section line; performing plane-profile corresponding analysis and dynamic adjustment; modifying the plane, so that the profile changes, and modifying the profile, so that the plane changes; performing partial updating and reconfiguring the irregular triangular network geological model. According to the method for constructing the three-dimensional transparent mine, the transparent mine comprising well up-and-down full environmental models such as the self-adaptive three-dimensional geological model and the equipment model can be formed, the design is reasonable, the constructed three-dimensional model can be dynamically partially updated, and the method has good promotion value.

The invention relates to a device for predicting the maximum usable frequency (MUF) of a short-wave communication, comprising a user input module, an environmental model module, a space distribution module for establishing a refractive index according to a magnetoionic theory, a ray tracking characteristic calculation module and a predicated maximum usable frequency expansion module; the calculation method for predicting the maximum usable frequency of the short-wave communication comprises the seven steps of: 1. confirming an initial value of a ray equation; 2. establishing electronic concentration distribution by utilizing international feference ionosphere (IRI); 3. introducing a geomagnetic field model of International geomagnetic reference field (IGRF) and establishing a function relation; 4. solving a differential equation; 5. extracting ray parameters that reach the ground; 6. screening ray tracking results; and 7. selecting 85 percent of MUF as the frequency used by the short-wave communication. The invention solves the method for acquiring form parameters of the ionized layer model and establishes the electronic concentration distribution over the position according to longitudes and latitudes at any time and place. The invention has wide practical value and application prospects in the technical field of short-wave communications.

In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.

The present invention models a software application to be used in an environment and includes an environmental model creating portion, a behavioral model creating portion, a design model creating portion and a run-time model creating portion. The environmental model creating portion is operable to enable a user to create an environmental model comprising a first set of attributes of the environment, wherein each of the first set of attributes has a declaration and a decomposition into environmental classes. The behavioral model creating portion is operable to enable the user to create a behavioral model to describe behavior of the software application at a boundary of the software application and the environment, wherein the behavioral model comprises a second set of attributes, which may include the first set of attributes, and wherein each of the second set of attributes has at least one of a declaration and function. The design model creating portion is operable to enable the user to create a design model comprising a first decomposition of the second set of attributes into a first plurality of groups. The run-time model creating portion is operable to enable a user to create a run-time model comprising a second decomposition of the second set of attributes into a second plurality of groups, wherein the run-time model is operable to record the decomposition of the software application into run-time components.

The invention discloses a ship attitude motion testing platform. A three-dimensional rotating platform comprises a three-dimensional rotating outer layer and a three-dimensional rotating inner layer, the locking or unlocking of the inner layer and the outer layer is controlled by a motion lock, and the inner layer and the outer layer are respectively provided with a three-degree-of-freedom sensor. An environmental model computer receives current sea state input through a keyboard command, simulates the influence of external interference on ship attitude through calculation and sends a command to control the outer layer to simulate the sea state, and the sensor feeds back the attitude of the outer layer; a ship motion controller sends a corresponding control command to a rudder and a fin according to the ship (central platform) attitude fed back by the sensor; and a ship model computer receives the control command, calculates out the due ship attitude obtained under the action of the current rudder angle and fin angle, and sends a command to control the inner layer to simulate the motion of the ship under the action of the rudder and the fin. According to the invention, the ship parameters and the sea state can be set freely, and a hardware-in-the-loop simulation test on ship attitude control and automatic stability control of warship canons is realized.

The invention relates to a general simulation testing platform for software of ship equipment and a construction method of the general simulation testing platform. The testing platform comprises a testing main control machine, a testing simulation machine and a testing simulation machine extension unit, wherein the testing main control machine is used for establishing and managing a simulation testing crosslinking environmental model and a testing use case model according to testing requirements on the software of the ship equipment, configuring a testing environment by using a scheduling testing environment model, carrying out a test by scheduling a testing use case and storing and analyzing data of a testing result; the testing simulation machine is used for receiving a control command of a system of the main control machine, configuring a simulation testing environment, automatically driving the testing use case to be carried out, correcting the data of the testing result and transmitting the data to the system of the main control machine in good time; and the testing simulation machine extension unit is adaptively extended into a plurality of simulation testers according to a complex peripheral crosslinking environment of the software of the ship equipment.

The invention relates to an automatic driving longitudinal unified planning method and system. The automatic driving longitudinal unified planning method comprises the following steps that (1) expected acceleration is planned in real time in the vehicle running process based on a unified environmental model describing information of the environment around a vehicle; and (2) longitudinal movement of the vehicle is controlled according to the expected acceleration and actual acceleration. According to the automatic driving longitudinal unified planning method, local optimal longitudinal planningbased on environmental constraints, performance indexes and driving behaviors can be achieved, and compared with the prior art, the automatic driving longitudinal unified planning method has the advantages that good applicability to different traffic scenes is achieved, and the optimality of final longitudinal movement is ensured.