291 results about "Kinetic control" patented technology

The present invention provides methods, systems and system components for transferring, assembling and integrating features and arrays of features having selected nanosized and/or microsized physical dimensions, shapes and spatial orientations. Methods of the present invention utilize principles of ‘soft adhesion’ to guide the transfer, assembly and/or integration of features, such as printable semiconductor elements or other components of electronic devices. Methods of the present invention are useful for transferring features from a donor substrate to the transfer surface of an elastomeric transfer device and, optionally, from the transfer surface of an elastomeric transfer device to the receiving surface of a receiving substrate. The present methods and systems provide highly efficient, registered transfer of features and arrays of features, such as printable semiconductor element, in a concerted manner that maintains the relative spatial orientations of transferred features.

Improved adsorbent sheet based parallel passage adsorbent structures for enhancing the kinetic selectivity of certain kinetic-controlled adsorption processes, such as PSA, TSA and PPSA processes, and combinations thereof, are provided. The enhancements in kinetic selectivity made possible through the implementation of the present inventive improved adsorbent structures may unexpectedly enable significant intensification of selected kinetic adsorption processes relative to attainable performance with conventional adsorbent materials in beaded or extruded form. Such process intensification enabled by the present inventive adsorbent structures may provide for increased adsorption cycle frequencies, and increased gas flow velocities within the adsorbent beds, which may increase the productivity and/or recovery of a kinetic adsorption system incorporating the inventive adsorbent structures.

The invention relates to a position/force hybrid control method for a space manipulator, which is a double-loop control method combining a Cartesian space and a joint space. Compared with a conventional control method on the basis of an integral model, which has the problems of oscillation of the transition process and algorithm complexity, the position/force hybrid control method for the space manipulator has the advantages that the position/force hybrid control problem is decomposed into the planning problem of the Cartesian space and the control problem of the joint space; a position/force kinematic plan from the Cartesian space to the joint space and kinematic control of the joint space are given out; an internal and external loop control system is formed; and position control on a free space at the tail end of the manipulator and contact force control in a space restrained by the environment are implemented. A simulation result for a SDOF ( Seven Degrees of Freedom) redundant manipulator proves that the method disclosed by the invention is simple to operate, is effective and is easy for engineering realization.

The invention relates to the safe auxiliary driving and intelligent control filed and discloses an automatic control system and a method for preventing side-slipping and side-turnover in a curve road. A vehicle-mounted automatic control system is adopted to control an intelligent vehicle. At first, information about curve road curvature is obtained; secondly, the information about curve road curvature is converted into digital signals and input into a vehicle-mounted micro-processor, curve road critical safe driving speed is calculated by a safe driving speed calculation module and current driving speed is measured by a vehicle-mounted sensor; then the current driving speed and the critical safe driving speed are judged by a safe condition judging module; and finally a system automatic control module is used to control the intelligent vehicle to pass through the curve road smoothly. The automatic control system and the method for preventing side-slipping and side-turnover in the curve road overcome the shortcoming that trajectory tracking is achieved by only using a vehicle kinematics controller, a designed vehicle dynamics controller guarantees straightaway automatic deceleration and practicability and instantaneity of maintenance in the curve road, and calculation accuracy of safe driving speed is improved. By means of dynamics control principles including equivalent control and switching control, the system chattering phenomenon can be restrained effectively and influence of external disturbances can be overcome.

The invention discloses an intelligent drive platform for four wheels of a electric automobile, comprising four hub motors, four motor controllers, a power battery and a controller area network (CAN) communication network; further comprising an entire vehicle controller, wherein the four hub motors, the four motor controllers and the entire vehicle controller are all connected with the power battery; and the entire vehicle controller respectively controls the four motor controllers by the CAN communication network. The entire vehicle controller is located at the core of a distribution type control network, collects the information of each sub-controller and transmits the executed commands to each sub-controller for executing. The intelligent drive platform comprehensively considers the hub motor control, the entire vehicle kinetic control, the battery energy management and the instrument display based on the system and utilizes an advanced flexible control algorithm. The invention hasremarkable effects of improving the comfort performance, the maneuverability and the battery continuous driving capability of the electric automobile.

The invention discloses a four-wheel-drive electric car speed optimization control method. The method considers road grade and curvature information in a travelling path range overall, can minimize energy consumption of the car in a travelling process in a given path on the premise of ensuring the safety of the car. The method includes the following steps: acquiring road grade and curvature information through information systems such as a GPS ( Global Positioning System) and a GIS ( Geographic Information System); considering the road grade information and the car state, establishing a longitudinal dynamics prediction model, and establishing an energy consumption target function; considering the road curvature information, designing a constraint condition of the safety, and describing a model prediction control problem; and using the dynamic programming algorithm to solve the model prediction control problem, and acquiring a car speed optimization track. The four-wheel-drive electric car speed optimization control method can acquire the optimized target electric car speed and torque according to road working condition information, can be used for dynamics control of four-wheel-drive electric cars, and can improve the travelling economic and safe performance.

The utility model discloses a self-steering control mode and system for the large-sized engineering truck. The tag line is made as the vehicle moving track along the road; the vehicle is equipped with a kinetic control system and a camera chain; the kinetic control system controls the moving forward of the vehicle. In the course of moving forward, the tag line is shot by the video camera in the camera chain, so that the computer in the camera chain can make the analysis according to the tag line-related real time video image, so as to work out the vehicle bias data which are transferred to the kinetic control system. As per the bias data, the kinetic control system can follow the existing moving direction or correct the moving direction. The method achieves the self-steering and the automatic guide of the large-sized engineering truck, so as to improve the work efficiency for the large-sized cargo transportation and the reliability in the transportation process.

The invention provides a trajectory tracking method for a four-wheel-driven wheeled mobile robot. The method comprises the steps of firstly establishing a kinematic model, a dynamic model and a driving motor model of a system; then designing a kinematic controller for adjusting speed of the system according to a given reference trajectory based on the kinematic model; operating the kinematic controller for obtaining the anticipated torque of a motor according to the speed of a to-be-adjusted system based on the kinematic model; designing a driving motor controller for designing an appropriate driving voltage of the system for satisfying the anticipated torque of the motor based on the driving motor model; and finally performing trajectory tracking control on the four-wheel-driven wheeled mobile robot according to a backstepping robustness trajectory tracking control method. The trajectory tracking method according to the invention realizes a purpose of improving stability of a four-wheel-driven wheeled mobile robot control system in a complicated uncertain environment and furthermore improves system controlling effectiveness on the condition with uncertain factors.

The invention belongs to the safe auxiliary driving and intelligent control filed and discloses a tracking and controlling method for lane changing trajectories in a crooked road. At first, planning the lane changing trajectories; secondly, using a vehicle pose expected by planned lane changing trajectories as a referential state of a kinematics controller; then using control input of the kinematics controller as a referential state of a dynamics controller; and finally analyzing stability of a dual closed-loop structure control system composed of the kinematics controller and the dynamics controller. The tracking and controlling method for the lane changing trajectories in the crooked road overcomes the shortcoming that trajectory tracking is achieved by only using the vehicle kinematics controller, the dynamics controller is designed and practical research value is improved. Accuracy of the planning of the lane changing trajectories is improved from the perspectives such as an influence, on the lane changing trajectories, of a vehicle longitudinal velocity change and the difference of curvature between an inner side lane and an outer side lane. By means of a controller based on a dual closed-loop structure, overall accordance and bounded convergence of tracking errors can be guaranteed, and convergence speed of the tracking errors and strong robustness of the uncertainty of a time-varying parameter are improved.

The invention discloses a real-time control dynamics modeling method for a multi-freedom-degree parallel mechanism. The method includes the steps that firstly, a lagrangian method is utilized to deduce a dynamics model of the parallel mechanism, then, a model simplification strategy for decomposing the quality of a branched chain is provided based on simulated analysis and mechanism kinematic characteristics, a simplified dynamics model is established, and an error compensation model caused by model simplification is established; secondly, the input and the output of the error compensation model are utilized to conduct offline train on a neural network; eventually, based on the simplified dynamics model, the trained neutral network is utilized to conduct intelligent error compensation on the simplified dynamics model, and high-precision dynamics model with the real-time control function is established. According to the method, the traditional lagrangian method and the neutral network are combined, the problem that contradiction exists between the real time performance and accuracy when the dynamics control method of the parallel mechanism is practically applied is solved, calculating efficiency of the complex dynamics model is improved, and accuracy is high.

A device is described for stabilizing a vehicle in critical driving situations, including a vehicle dynamics control system having a control unit, in which a vehicle dynamics controller is stored, at least one final control element, and a sensor system for measuring different driving condition variables, and including a rear-wheel steering system having a control unit and a final control element. The electronic stability program may be integrated into a control unit if the electronic stability program algorithm includes a distributor unit which, from a regulator output variable, generates both a setpoint requirement for the final control element of the vehicle dynamics control system and also a setpoint requirement for the final control element of the rear-wheel steering system.

Systems and methods for improving robust layer separation during the separation process of an imprint lithography process are described. Included are methods of matching strains between a substrate to be imprinted and the template, varying or modifying the forces applied to the template and/or the substrate during separation, or varying or modifying the kinetics of the separation process.

An etching composition, particularly for kinetically controlled etching of copper and copper alloy surfaces; a process for etching copper and copper alloys, particularly for etching at high rates to provide uniform and smooth, isotropic surfaces; an etched copper or copper alloy surface obtained by the process; and a process for generating copper or copper alloy electrical interconnects or contact pads. The etching composition and etching processes provide a smooth, isotropic fast etch of copper and copper alloys for semiconductor fabrication and packaging.

The invention provides a tracking control method of plane paths of a self-managing airship. The method comprises the following steps of: (1) giving an expected track value; giving an expected plane path; giving an expected pitch angle Theta c and an expected rolling angle Phi c; and giving an expected speed; (2) calculating navigation: calculating and removing an expected yaw angle Psi c needed by an error between an expected position and an actual position; (3) controlling and calculating a posture kinesiology: calculating and removing an expected angle speed Omega c needed by the error between an expected posture and an actual posture; (4) horizontally and longitudinally disintegrating a kinesiology: horizontally and longitudinally disintegrating a kinetic equation and an expected speedvalue; (5) longitudinally controlling and calculating the kinesiology: calculating and removing a control quantity mu 1on needed by the error between an expected longitudinal speed and an actual longitudinal speed; and (6) horizontally controlling and calculating the kinesiology: calculating and removing the control quantity mu 1at needed by the error between an expected horizontal speed and an actual horizontal speed. By the method of the invention, any parameter plane paths can be tracked for ensuring the stable property of a closed-ring system and simplifying the control calculation.

Described is a device for stabilizing a vehicle in critical driving situations, including a vehicle dynamics control system having a control unit, including a vehicle dynamics control algorithm, and at least one actuator and an additional vehicle stability system having an associated actuator. Vehicle dynamics control may be executed in a particularly simple and trouble-free manner when the vehicle dynamics control algorithm is retrofitted with a distribution function which derives an actuating request for an actuator of the vehicle dynamics control system as well as an actuating request for at least one actuator of the vehicle stability system from a controller output variable.

The invention provides a four-wheeled independent steering and independent drive vehicle control system based on an instinct driving idea and belongs to the technical field of vehicle control systems. The system comprises a whole vehicle controller composed of a whole vehicle control unit, a kinematics control unit and a dynamics control unit, a human-computer interaction interface composed of an instrument display unit and a user command unit, a secondary information processing system composed of a road surface information processing system and a vehicle information processing system, a sensor composed of a camera/laser radar, an accelerometer, a speed sensor and a steering angle sensor, a secondary controller composed of drive motor controllers of wheels, steering motor controllers of the wheels and force feedback controllers, and an executor composed of drive motors of the wheels, steering engines of the wheels and a steering wheel. The system is high in stability, high in controllability freedom degree, simple in structure and low in cost, information of the road condition and the surroundings is obtained through the sensor, a driver control command is automatically corrected, and easy driving based on the instinct is achieved.

The invention relates to a method for tracking and controlling the longitudinal acceleration of vehicle, belonging to the vehicle longitudinal dynamics control technique. It is characterized in that: it utilizes the estimator of multiplicative deterministic model of controlled object formed by reversed and positive dynamic models, to estimate the system increment of present input signal on the model difference between each model and real object, and uses the estimated system increment as the switch index function, to on-line select relative controller from the controller, to control the opening degree of throttle valve of engine and realize the track and control of longitudinal acceleration, with high stability and track ability.

The invention discloses an effluent treatment control system and on-line control method of A/O craft short distance nitrated and antinitrated, which is characterized by the following: the domestic sewage is used as dealing object at normal temperature; the DO sensor and pH sensor are installed in aerobic pool; the ORP sensor is set up in anoxic tank; the internal recycle sensor controls inner loop reflux quantity of system dynamically; the aeration quantity controls the aeration quantity of kinetic control system; the aeration quantity and inner loop reflux quantity are changed limberly according to water quality of inflow and water outlet; the level or nitration and anti-nitration are held accurately. The invention simplifies the craft, which reduces the cost.

The present invention belongs to the field of running control technology of mixed power vehicle, and is especially integrated vehicle control strategy for mixed power vehicle. The integrated vehicle control strategy is suitable for dynamical control and energy system management of great power mixed power vehicle, especially mixed power passenger vehicle and crawler vehicle. The integrated vehicle control strategy for improving vehicle drive performance, lowering fuel oil consumption, raising environment protecting performance and prolonging service life of cell includes four basic operation modes, including high mobility mode, high economical efficiency mode, normal running mode and silencing running mode for the vehicle driver to select.

The invention discloses a trajectory tracking control method of an underwater inspection robot. The method comprises the following steps: (1) presetting a reference trajectory for trajectory trackingof the underwater inspection robot, obtaining an optimal path from a starting point to a target point by using a navigation path planning algorithm according to the reference trajectory, and taking the optimal path as a preset reference trajectory of trajectory tracking of the robot; (2) designing a trajectory tracking kinematic controller in combination with the reference trajectory and a kinematic model; (3) carrying out stress analysis on the underwater inspection robot, establishing a dynamic model, and designing a trajectory tracking dynamic controller; and (4) taking a control value of the kinematic controller as input of the dynamic controller to obtain a thrust and a torque required by trajectory tracking, and realizing smooth and stable trajectory tracking control of the underwater inspection robot. By designing a dynamic target function, a problem of speed jump is solved, a lag between an actual trajectory and the reference trajectory is reduced, the shortest tracking step length optimization function item is added into the target function, the path length of the actual trajectory is reduced, and then trajectory tracking energy consumption is decreased; in addition, the influence of the actual underwater environment on trajectory tracking is also considered, and finally smooth and stable trajectory tracking control is realized.

The invention provides an active safety control system for a redundancy actuator electric vehicle. The system is characterized by comprising a driver operating platform, an entire dynamics controller, a tire force distribution controller and a sensing/observation mechanism, wherein the driver operating platform is connected with the entire dynamics controller which is connected with the tire force distribution controller; the tire force distribution controller is connected to a controlled object; and the sensing/observation mechanism detects the information of the controlled object, and is connected to the entire dynamics controller and the tire force distribution controller. The safety and the reliability of the vehicle are improved.

Stable atomic quantum clusters, AQCs, characterized by being composed of at least 500 metal atoms, its production process characterized by having a kinetic control and by maintaining a low concentration of reagents in the reaction medium, as well as the uses of these clusters as sensors (fluorescent, magnetic or chemical), electrocatalysts and as cytostatics and/or cytotoxics.