11 results about "Linear separation" patented technology

The present invention relates to the field of robot dynamic parameter identification, and discloses a robot dynamic parameter identification method and system based on physical consistency constraints and load-associated friction models. The method includes: establishing a robot dynamic parameter model under a linear friction model, and performing linear parameterization processing on the parameters in the model; designing an excitation trajectory to satisfy physical limit constraints and physical boundary constraints; running multiple excitation trajectories, performing data processing, and dividing the data set into three parts; establishing upper and lower density constraints and spatial distribution constraints; using weighted least squares to obtain standard dynamic parameters and basis parameters; optimizing and calculating load-associated friction parameters; establishing a linearly separated joint torque model, and using weighted least squares to obtain standard dynamic parameters and basis parameters; iteratively identifying inertia parameters and load-associated friction parameters. The load-associated friction model used in the present invention is a broken line load-friction relationship, and inertia parameters and friction parameters are iteratively identified in combination with new physical consistency constraints, thereby improving the accuracy of parameter identification.

The application discloses a high angle of attack nonlinear separated flow aerodynamic force correction method, which comprises the following steps: obtaining aircraft surface pressure distribution data at zero reduced frequency by using a DES method; dividing surface elements on the surface area of the aircraft, and generating an AIC matrix AIC by using a dipole grid method based on the geometric information of each surface element; obtaining the aerodynamic force and moment of each surface element according to the AIC, and generating an aerodynamic force matrix A DLM,k＝0 of all surface elements at zero reduced frequency by using the aerodynamic force and moment of each surface element; interpolating the aircraft surface pressure distribution data obtained by using the DES method to each surface element to obtain the aerodynamic force matrix A DES of all surface elements; obtaining a force correction matrix W according to A DLM,k＝0 and A DES ; correcting the AIC matrix AIC by using the force correction matrix W to obtain a corrected aerodynamic force influence coefficient matrix AIC * ; and performing aerodynamic force correction and aeroelastic calculation by using the corrected aerodynamic force influence coefficient matrix AIC * , so as to complete the high angle of attack nonlinear separated flow aerodynamic force correction. The application can have both the calculation precision of CFD and the calculation efficiency of an engineering method.

The invention provides a heat treatment method for improving linear separation characteristic of cast magnesium alloy, which mainly comprises the following steps of: putting a magnesium alloy casting with specific components into a hot isostatic pressing furnace, respectively carrying out heat treatment in low-temperature and high-pressure and high-temperature and low-pressure environments, and carrying out linear separation on the magnesium alloy by utilizing the rapid diffusion of Ag in Mg and the inhibition effect of pressure on solute diffusion. And preferential growth of part of crystal grains is promoted. The grains of the cast magnesium alloy subjected to heat treatment are distributed in a quasi double-peak structure, and the cast magnesium alloy has quasi-static obdurability and high-speed impact brittleness. By the adoption of the heat treatment method, the problem that controllable linear separation cannot be achieved under dynamic impact on the premise that a traditional magnesium alloy material meets quasi-static casting of large maneuver and large overload is effectively solved, and the light weight level of a multi-stage aircraft is further improved.

The application discloses a line type separation device suitable for underwater use, which comprises a flexible detonating cord, a separation ring shell, a sealing shell, a protective cover, an initiator seat, an initiating joint, an adapter pipe and an initiator. The initiator is used for transmitting the explosion of the flexible detonating cord, the flexible detonating cord is installed in a flexible detonating cord installation slot on the protective cover, the protective cover is inserted into the separation ring shell, the sealing shell is sleeved outside the protective cover and the separation ring shell, a sealing ring installation slot is arranged on the end face of one end of the sealing shell, and a sealing ring is installed between the end face of the sealing shell and an annular retaining ring arranged on the outer wall of the separation ring shell. The initiator is installed on the adapter pipe, the adapter pipe is installed on the initiating joint, and the initiating joint is installed on the inner wall of the protective cover through the initiator seat. The application has the advantages of reducing the underwater separation pressure and providing a good separation environment for aircraft equipment.

The invention discloses a variable coefficient NLSE multi-soliton transmission control system and a variable coefficient NLSE multi-soliton transmission control method based on a guaranteed structure micro-propagator. The system comprises a link parameter sensing unit, a variable coefficient NLSE digital twinning unit, an analysis multi-soliton seed generation unit, a neural operator precondition unit, a conservation quantity projection and device constraint unit, a transmitting end waveform synthesis and loading unit, a receiving end and a relay feedback unit, the variable coefficient NLSE digital twinning unit is used for constructing a variable coefficient NLSE propagation model, and the other units are used for generating and loading a transmitted waveform under device constraint and conservation constraint, and updating a control strategy according to receiving end / relay feedback. According to the method, a structure-preserving micro-propagator and a conservation quantity projection operator are introduced, inverse problem solving is accelerated by analyzing multi-soliton seed and neural operator Jacobian preconditions, and rapid self-adaptive generation and stable transmission of multi-soliton waveforms are achieved under engineering constraints.

A large-diameter tension-compression decoupling fusion type linear separation device is composed of a separation ring, an inner support protective cover, a detonator seat, an energy-gathering cutting cable assembly, a connecting fastener and a detonator, the protective cover is internally provided with the energy-gathering cutting cable, after the detonation energy is transmitted to the main charge of the cutting cable through the transmission assembly of the detonator, the shaped charge is driven by the detonation wave to form a metal jet to cut and separate the separation ring, the high-level load transmitted by the projectile body is tension-compression decoupled through the tolerance control of the separation ring and the inner support protective cover, and a large-diameter tension-compression decoupling fusion type linear separation device is given, which has the advantages of simple structure, reliable separation performance, high bearing capacity, large connection stiffness, light weight, convenient installation and the like.

The invention provides a heat treatment method for enabling cast aluminum alloy to obtain a linear separation characteristic, which comprises the following steps of: 1, putting an aluminum alloy casting into a hot isostatic pressing furnace, raising the temperature and the pressure, and keeping the temperature and the pressure at the temperature lower than the grain growth temperature; 2, after heat preservation and pressure maintaining in the step 1 are finished, reducing the pressure, meanwhile, raising the temperature, and completing heat preservation and pressure maintaining at the temperature higher than the grain growth temperature; and thirdly, after heat preservation and pressure maintaining in the second step are finished, the pressure is increased, meanwhile, cooling is conducted, the first step and the second step are repeated, and 4-6 cycles of low-temperature high-pressure and high-temperature low-pressure heat treatment are completed. According to the method, on the basis of hot isostatic pressing, the local grain growth rate of the aluminum alloy is affected by the solute segregation effect under the pressure and temperature cycle regulation effect, the grain distribution characteristic of a quasi double-peak structure is formed in the alloy, and a cast aluminum alloy casting has the linear separation characteristic; the problem that a traditional aluminum alloy material cannot achieve controllable linear separation under dynamic impact on the premise that quasi-static high toughness is met can be solved, and the lightweight level of a multi-stage aircraft is further improved.

The invention provides a lightweight design method for a protective cover of a linear separation device, the protective cover is provided with a charging groove, and the lightweight design method comprises the following steps: selecting a material of the protective cover by considering quasi-static mechanical properties and dynamic mechanical properties; the size of a connecting hole of an external connector of the protective cover and the thickness of the connecting position are designed according to the explosive loading amount in the explosive loading groove; the appearance of the protective cover around the charging groove is optimized according to detonation waves generated when the charged powder in the charging groove is detonated; and / or the connection between the protection cover and the separation component is designed into a simple support structure according to the stress direction, the action form and the main bearing position of the structure.

The invention provides a structured light illumination fluorescence microscope based on line laser optical tweezers active light control. The method is characterized in that a laser beam output by a laser is shaped by a cylindrical lens, a to-be-detected sample is captured by linear laser optical tweezers through a microscope objective, and the rotation angle of the to-be-detected sample is accurately controlled. A laser beam output by the other laser passes through the spatial light modulator to generate two laser beams, and the two laser beams are coherently superposed at the focal plane of the imaging microscope objective to generate a structured light pattern. In the rotating process of the to-be-detected sample, the to-be-detected sample is illuminated by the structured light at each angle position, and a generated fluorescence signal is collected by the imaging microscope objective and recorded by the sCMOS camera. High-spatial-resolution fluorescence tomographic images of all angles of the captured to-be-detected sample are obtained through a three-phase linear separation method. According to the invention, a researcher is converted from passive observation to active control, and the method has the characteristics of high spatial resolution, high flexibility, strong adaptability and the like, and has wide application prospects in the fields of biology, medicine, life science and the like.

This invention discloses a live-cell drug screening method and system based on FRET two-hybrid analysis. Firstly, preliminary experiments are conducted on multi-well plates using cell samples transfected with FRET standard plasmids to determine experimental conditions, including cell seeding density, imaging objective, excitation light intensity, field of view analysis range, and measurement of FRET system calibration parameters. Secondly, live-cell drug screening based on FRET two-hybrid analysis is performed under the preliminary experimental conditions. Cell culture is first performed, and drug and control groups are set up, followed by FRET three-channel imaging to calculate E0. D E A and R c And draw E D -R c Figure and E A -(1 / R) c (Figure); then use E D -R c With E A -(1 / R) c The linearly separated FRET two-hybrid analysis method yielded E Dmax E Amax and N A / N D Data was screened using the saturation index sRatio; finally, the active and potential active substances in the drug group were obtained through a significant difference test. This application enables accurate and rapid quantitative FRET measurement under a wide-field microscope with low magnification, meeting high-throughput requirements and screening for active compounds in live cells.

The invention relates to the technical field of unlocking and separation, in particular to a rocket fairing longitudinal linear separation and unlocking structure which comprises a connecting plate, a first flat pipe and a second flat pipe. The connecting plate is fixedly connected with the isolation plate, the first mounting plate and the second mounting plate, and the first mounting plate and the second mounting plate are located on the two sides of the isolation plate correspondingly. The first flat tube is mounted between the first mounting plate and the connecting plate and is positioned on the side edge, close to the isolation plate, of the first mounting plate; the second flat tube is mounted between the second mounting plate and the connecting plate and is positioned on the side edge, close to the isolation plate, of the second mounting plate; a first V-shaped groove and a second V-shaped groove are formed in the connecting plate, and the connecting plate can be broken along the first V-shaped groove and the second V-shaped groove after gas is supplied into the first flat pipe and the second flat pipe. According to the invention, an original explosion unlocking mode is replaced by a high-pressure gas expansion unlocking mode, so that the influence of explosion fragments on the satellite can be reduced.