2 results about "Euler method" patented technology

The application discloses a kind of gas-solid two-phase flow self-adapting simulation prediction method, system, medium and product, belong to the field of digital simulation of fluid dynamics, the method is: obtaining industrial equipment geometry, particle and fluid data, constructs gas-solid two-phase flow CMPPIC model;Wherein, continuous phase is with Euler method, discrete phase is with Lagrange particle bag representation;Perform time advance iteration to termination condition, output result, wherein each round of iteration includes mapping particle bag data to Euler cell, obtaining particle statistical information and marking fixed state particle according to rules;Freeze fixed cell particle volume fraction, calculate porous medium parameter, reconstruct its continuous phase momentum conservation equation;Based on reconstruction and unreconstructed equation, update flow field, while updating the particle motion of unmarked fixed state cell. By implementing the application, the problem that calculation efficiency and physical precision are difficult to consider in simulating fixed particle structure in the prior art can be solved.

The application discloses a cascaded large model robot motion planning method based on timing logic constraints, which comprises the following steps: a task planner receives user instructions and corresponding STL expressions, environment information, decomposes the user instructions and corresponding STL expressions, and obtains sub-tasks and corresponding STL expressions; whether the decomposed sub-tasks meet the logic constraints, time constraints and space constraints is detected by an STL checker; if yes, correct controllers are generated according to the sub-tasks; the generated correct controllers are integrated with a robot model, a Monte Carlo method is used to generate multiple groups of random parameters based on uncertainty factors, real environment disturbances are simulated, an Euler method is used to discretize and iteratively solve trajectories of the robot continuous kinematics equation, the trajectories are checked by the STL checker to make the trajectories meet the requirements of the user instructions, and finally correct trajectories are obtained. The application realizes user instructions containing space, time and kinematics constraints.