264 results about "Jacobian matrix and determinant" patented technology

The invention relates to a water turbine blade blank profile measuring and machining allowance analyzing method capable of effectively solving the problem of water turbine blade blank profile measurement and machining allowance analysis to ensure the manufacturing quality and precision of the water turbine blades, comprising the following technical solutions: measuring the blade blanks by using a digital close range photogrammetry to obtain the measuring point cloud data shapes of the blank profiles consequently, aligning a measuring coordinate system where the measuring point clouds are located to a design coordinate system where a CAD design model is located, establishing a differential relation of free-form surface parameters with respect to rigid rotation parameters by using an analytic method derived by the multivariate of Newton iteration method to obtain a Jacobian matrix and Hessian matrix which are available for a target equation; then performing the numerical optimization calculation based on the LM method and Newton iteration method, and performing report or graphical output and print on the result. The inventive method is scientific, advanced, stable and reliable, and has high accuracy, thereby ensuring the hydraulic stability, production efficiency and cavitation property, and bringing enormous economic and social benefits.

The invention relates to an optimal power flow optimization method of distributed power supplies. The optimal power flow optimization method of the distributed power supplies includes the following steps: A, variable in a distribution network is initialized; B, load flow calculation is carried out on the distribution network; C, lines are judged to be overloaded or not, and active output force and reactive output force of an engine and the distributed power supplies are judged to overstep the boundary or not; D, if constraint equations are all met, a step E is continued, otherwise a step F is continued; E, an objective function is judged to be the minimum or not, if the objective function is the minimum, a step J is continued, otherwise a step F is continued; F, net loss correlation coefficients are corrected; G, a Jacobean matrix and a Hessian matrix are calculated; H, a problem of sequential quadratic programming is formed and the search direction and a step size are solved; I, output force at the position of a balancing node bus and output force of each distributed power supply are corrected, and the step B is jumped to; and J, an optimal power flow result is output. The optimal power flow optimization method of the distributed power supplies provides basis of access capacity calculation for determining the distributed power supplies to be connected in a power distribution network, is simple in calculation and low in complexity, and can rapidly calculate the output force of the distributed power supplies.

An image reconstruction algorithm begins with an initial acquisition of a preoperative imaging volume followed by a second imaging sequence subsequent to an applied deformation. A computational domain (model) is generated from the preoperative image series and boundary conditions are derived from a pre-post deformation comparison, as well as from information gathered from deformation source application (i.e., displacement and/or force). Using boundary conditions, a series of model-based image deformations is accomplished while varying model material properties. A calculation of a Jacobian matrix relating the change in regional mutual information is performed with respect to the change in material properties. Upon completion of this process, matrix regularization techniques are used to condition the system of equations and allow for inversion and subsequent delivery of model-property adjustments.

The invention discloses a location and environment modeling method of an intelligent movable robot, and the method comprises the steps of firstly forming correction iteration expanded Kalman filtering algorithm and determining a number of iterations, then establishing a movement model and an observation model of the movable robot, initializing the status of the movable robot, calculating a position jacobian matrix, controlling and inputting the jacobian matrix to calculate, observing the jacobian matrix and the like; and finally solving a Kalman gain matrix, updating a status estimation equation and a covariance matrix by resolving Kalman gain matrix, and repeating partial steps. The method is centralized on the expanded Kalman filter algorithm which is widely used in the simultaneous location and environment modeling field of the movable robot, and the algorithm is improved, so that the performance of the algorithm is greatly improved, and the algorithm can better meet the application in the SLAM (simultaneous location and mapping). The method also provides powerful technical support for the autonomous navigation and completion of complicated intelligent tasks of the movable robot in an unknown environment.

A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera (1) for capturing a 2-dimensional (or 3-dimensional) image (4) including at least a part of the real object (3), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object (3) and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object (5) as included in the 2-dimensional (or 3-dimensional) image (4), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (3). Further, in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process, and determining the pose of the camera (1) with respect to the real object (3) using the transformation matrix (T) determined at the end of the iterative minimization process. As a result, the camera pose can be calculated with rather low computational time.

A total floor reaction force required correction amount by which an error between an observed value of a total floor reaction force acting on a mobile object 101 and a desired total floor reaction force approaches zero is converted to a spring displacement amount of a position/posture of a representative contact surface representative of ground surfaces of the mobile object 101. A correction amount of a displacement amount of each joint of the mobile object 101 is determined by multiplying the spring displacement amount by a pseudo inverse matrix of a Jacobian matrix representing a relation between a change amount of the position and posture of the representative contact surface per unit time and a change amount of a generalized variable vector per unit time. The displacement amount of each joint is controlled according to a corrected desired joint displacement amount obtained by correcting a desired joint displacement amount.

Source-receiver compression is used to help design surveys and mitigate the computational costs of data set inversion. The source-receiver compression is based on data redundancy and sensitivity. More particularly, a compressed source array is produced for minimum redundancy and maximum sensitivity to reservoir model parameters. The synthesized transmitter array has a reduced number of sources, thereby reducing the number of forward model simulations needed to carry out the inversion. Furthermore, the data collected at the receivers employed in the survey can be compressed. This has the implication of reducing the computational cost of constructing the Jacobian matrix and inverting the corresponding Hessian matrix.

The present invention provides an animation creation program whereby the posture of a structure comprising a plurality of links can be determined by means of a simpler and easer operation. In accordance with the movement of one link in the structure comprising a plurality of links, the animation creation program of the present invention automatically determines the spatial positions of the other links of the structure so that the structure retains a posture that is as natural as possible. The animation creation program of the present invention uses, for example, inverse kinematics computation that is a computation method for controlling a human-type robot (humanoid) and is based on a matrix known as a Jacobian and the inverse matrix thereof which is known as the Singularity-Robust Inverse (SR-Inverse). By using this computation method in an animation creation program, in the creation of an animation of a structure comprising a plurality of links, it is possible, when moving one link of a structure displayed on a screen, to automatically determine the positions of the other links of the structure so that the posture of the structure as a whole does not become unnatural, and to create an animation of the structure comprising a plurality of links by means of a simpler and easer operation.

The invention relates to the field of robot trajectory planning, and provides a smooth transition method of multi-space trajectory planning of a teaching robot, aiming at solving the unsmooth problemin the trajectory switching process. The smooth transition method comprises the steps that a teaching program of the teaching robot is analyzed, the switching direction of the trajectory planning is judged, if the trajectory planning is that the switching direction is from cartesian space to joint space, a tail end of cartesian space trajectory planning is acquired, according to the requirements on a path and a velocity, a first posture and a first velocity at the tail end are acquired, first angular velocities of various joints are obtained by employing a jacobi matrix, and by taking an angleindicated by the first posture as a starting angle and the first angular velocities as starting velocities, joint space trajectory planning is carried out; or else, a starting point of the cartesianspace trajectory planning is acquired, a second posture at the starting point and second angular velocities of the various joints are obtained, and by taking an angle indicated by the second posture as a terminal angle and the second angular velocities as terminal velocities, the joint space trajectory planning is carried out. Smooth transition of the trajectory planning in space switching is realized.

The invention relates to a moving horizon method-based multi-unmanned aerial vehicle cooperative attack task allocation method and belongs to the multi-unmanned aerial vehicle coordinated control technical field. The method includes the following steps that: the ability function of unmanned aerial vehicles is established, a calculation method of a multi-unmanned aerial vehicle cooperative attack position is provided through the jacobian matrix of the ability function; a unmanned aerial vehicle damage cost index function, a voyage cost index function and a multi-unmanned aerial vehicle cooperative task assignment model are established; and a moving horizon method is utilized to model a maneuver decision-making problem into an optimized control problem, and a whole maneuver target approach process is discretized temporally and spatially, optimal maneuver strategies can be solved piecewise, and an optimal decision-making method for a multi-unmanned aerial vehicle cooperative attack task can be provided. With the horizon method-based multi-unmanned aerial vehicle cooperative attack task allocation method of the invention adopted, a higher target gain value and damage efficiency can be obtained, and multi-unmanned aerial vehicle cooperative attack ability can be improved.

The invention aims to solve the problem of a counter-attack countermeasure optimal strategy for a multi-unmanned plane cooperative strike task and belongs to the technical field of multi-unmanned plane cooperative control. The invention combines a capability function with a multi-unmanned plane cooperative strike counter-attack countermeasure model and provides a counter-attack countermeasure method for the multi-unmanned plane cooperative strike. Firstly, the capability function of an unmanned plane is established; then by means of a jacobian matrix of the capability function, a calculation method for the position of the multi-unmanned plane cooperative strike is created; and the multi-unmanned plane cooperative strike counter-attack countermeasure model is established further, and a solving method for a n-person limited strategy static counter-attack countermeasure model and the pure-strategy nash equilibrium is created. The invention achieves the counter-attack countermeasure optimal strategy for the multi-unmanned plane cooperative strike, obtains great assessment profit value and strike strike efficiency, and improves the multi-unmanned plane cooperative strike capability.

The invention provides an accurate linearization method of a measurement equation for electric power system state estimation. The accurate linearization method is characterized by including steps of establishing a network model and calculating a nodal admittance matrix; selecting state vectors and measurement vectors; and forming a jacobian matrix so as to get the accurately linearized measurement equation. The accurately linearized measurement equation is obtained by selecting the state vectors and the measurement vectors, and the state vectors can be solved by means of any types of existing state estimation according to the accurately linearized measurement equation, and estimation values such as all branch power and node injection power in the network can be acquired, so that complexity of the state estimation model is reduced greatly and the equation is easy to solve.

A computer system (30) and method of operating the same to model worst case performances of an analog circuit is disclosed. The computer system (30) includes disk storage devices for storing a process parameter data base (32), design of the circuit (31), and program instructions for performing the modeling method (33). Under the control of the program instructions, the system computer (22) retrieves the process parameters and desired performances, and performs a designed experiment to determine a Jacobian matrix of the dependence of the performances upon the process parameters. Singular value decomposition of the Jacobian matrix provides a set of singular values and a rotation vector, from which the coefficients of a worst case vector of the process parameters for each of the circuit performances are then derived. The system computer (22) then applies the simulation to the worst case vectors, to evaluate the worst case performances of the designed circuit.

The invention discloses a load flow calculation method of a rectangular coordinate newton method. The load flow calculation method comprises the following steps: inputting original data and initializing a voltage; forming a node admittance matrix; calculating power and a voltage deviation; forming a jacobian matrix J; solving a modified equation and modifying a real part e and an imaginary part f of the voltage; and outputting nodes and branch data. The calculation formula of partial elements (i=j) of the jacobian matrix obtained in a manner of load flow calculation by utilizing the rectangular coordinate newton method is modified and improved, so that the problem of astringency of the load flow calculation of the rectangular coordinate newton method during the analysis of branch systems containing small impedance is solved. As compared with the fact that the astringency of the small impedance branch systems cannot be realized by adopting the load flow calculation of the conventional rectangular coordinate newton method, the reliable astringency of the small impedance branch systems can be realized by utilizing the load flow calculation disclosed by the invention; and the load flow calculation to normal systems can be carried out at the same time, so that harmful effects are avoided.

An Identification method for intelligent distribution network topology based on synchronous phasor measurement, which comprises the following steps of: 1) acquiring node quantity and number of a powerdistribution network, and inputting a termination condition parameter; 2) acquiring the measuring data of the synchronous phasor measurement device; 3) constructing a sensing matrix so that the linenumber of the power flow Jacobin matrix m=1; 4) calculating a voltage correlation coefficient vector; 5) iteratively solving the least squares estimation problem until the termination condition is satisfied; 6) judging whether the estimation of all the rows of the Jacobin matrix is finished, if yes, then entering into the step 7), otherwise m=m+1, then returning to the step 4); 7) constructing a topological identification 0 and1 integer programming model; 8) solving 0 and 1 integer programming model to obtain the network topology of the distribution network. The invention realizes the accurateidentification of the power distribution network topology based on the measurement information completely to avoid the dependence of the estimation problem on the line parameters and effectively reduce the error identification result caused by inaccurate line parameters.

The invention provides a kinesthesis teaching control method based on vision sense for remote control of a robot. The steps comprises the steps of using stereoscopic vision technology to identify an onsite operation object and a background environment (an obstacle) and extract space information; constructing virtual attraction of the operation object to the robot by using the pose relation of the operation object and the tail end of the robot calculated through vision identification as a parameter; constructing the obstacle repulsive force exerted by the robot by using the distance of the tail end of the robot and the background environment (the obstacle) along the speed direction of the robot as a parameter; combining the virtual attraction of the operation object, the obstacle visual repulsive force and the real acting force of the robot when the robot clamps objects into the teaching force of the robot; and through the jacobian matrix between a main end system and a sub end system, feeding back the teaching force to an operation handle, and therefore kinesthesis teaching to an operator is achieved. The kinesthesis teaching control method can effectively improve the intellectuality, the safety and easy handling of a main robot system and a sub robot system.

The invention discloses a method for coordination control over satellite arms of a space robot based on an expanded Jacobian matrix. The method achieves integrated coordination control over a space manipulator operating in orbit and a base satellite. The method comprises the steps of computing kinetic parameters and dynamic parameters of the space robot, establishing a mathematical model of the space motor based on the expanded Jacobian matrix, designing a coordination controller of the satellite arms of the space robot, conducting parameterization on the trajectory of the tail end of the manipulator, optimizing the trajectory of the manipulator, and computing an angular velocity instruction of a single gimbal control moment gyro system of the space robot. According to the method, hysteretic feedback control conducted by a satellite according to attitude measurement is not needed, overall mathematical modeling is conducted on the coupled motion of the satellite arms, the angular velocity instruction of the single gimbal control moment gyro system is directly computed according to the input trajectory of the tail end of the manipulator, the single gimbal control moment gyro system is used for compensation, needed by the satellite, for manipulator motion, and then overall coordination control over the satellite arms is realized; the trajectory of the tail end of the manipulator is optimized, so that the energy consumed by a satellite state control system for compensating for the restoring torque of the manipulator is small.

The present invention introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. The proposed system requirements are 4DOF parallel mechanism consisting of two RPS and two UPS limbs with two rotational and two translational motions. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.

The invention relates to a multi-sensor quantitative fusion target tracking method based on a variational Bayesian method and a strong tracking information filtering method. According to the multi-sensor quantitative fusion target tracking method, a structure including a primary processor and a secondary processor are provided. In the primary processor, an enhanced measurement matrix H(k) and enhanced global information z (upsilon, k) are constructed; one-step prediction (k|k)-1) and corresponding covariance P(k|k-1) are calculated, global information predication z (k|k-1) is calculated, and a z (upsilon, k, 1), the (k|k)-1 and the P(k/k-1) are sent into the secondary processor. In the secondary processor, information noise variance is calculated, and (upsilon, k, 1) is sent to the primary processor, and in the primary processor, fusion estimation and corresponding covariance can be obtained through calculation, wherein please see the instruction for the formula of fusion estimation and corresponding covariance. Due to the fact that the variational Bayesian method and the self-adaptive strong tracking information filtering method are adopted in the multi-sensor quantitative fusion target tracking method, the high tracking capacity is achieved, unknown variance of noise can be estimated and measured, and the self-adaptive function can be achieved. Meanwhile, an attenuation coefficient can be estimated through an iterative method without calculating a jacobian matrix.

The invention discloses a Newton method power flow calculation method which changes a Jacobi matrix with iteration and node types. A PQ node calculates a Jacobi matrix element by using an ai value and a bi value which are calculated by given values Pis and Qis in the first-time iteration. A PV node and all nodes in the subsequent iteration calculates the Jacobi matrix element by using a conventional method. The method solves a convergence problem of a rectangular coordinate Newton method power flow calculation method in the analysis of a power system containing a low impedance branch in such a way that the PQ node adopts the Jacobi matrix calculation method in the first iteration process and which is different from that in the subsequent iteration processes. The method of the invention can be reliably converged when he conventional rectangular coordinate Newton method are not convergent, is less than the number of iterations than the prior art. The Newton method power flow calculation method can not only solve the convergence problem of the rectangular coordinate Newton method power flow calculation method in the analysis of a power system containing a low impedance branch, but also can calculate the power flow of the normal power system without any adverse effect.

The invention relates to a robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation. The method comprises the following steps that step 1, an omnidirectional mobile robot system dynamics model is established; step 2, an extended state observer is designed according to the dynamics model; step 3, an auto-disturbance rejection controller is designed according to an analytic acceleration control method, wherein the auto-disturbance rejection controller is composed of two parts, one part is used for compensating for the total disturbance of asystem, the other part is used for the trajectory tracking control over a robot, proportional differential feedback is introduced, and the model-free adaptive controller is obtained according to a false Jacobian matrix estimated value to add model-free adaptive control into the extended state observer.