487 results about "Loopback" patented technology

The invention discloses an ultra-wideband laser radar inertial navigation cooperative SLAM (Simultaneous Localization and Mapping) method and system, which are suitable for robot positioning and mapping tasks in a GPS (Global Positioning System)-free environment. According to the method, high-frequency motion priori of an IMU, relative pose constraint of LiDAR and absolute ranging information of UWB are fused, a unified factor graph optimization model is constructed, and multi-sensor cooperative positioning is realized; in the system initialization stage, IMU bias calibration, UWB base station coordinate configuration and LiDAR initial attitude estimation are completed; in the operation process, IMU pre-integration is utilized to predict the pose, LiDAR point cloud registration is utilized to obtain the relative motion between key frames, UWB ranging is combined to construct a residual item, a self-adaptive weight mechanism is introduced to suppress ranging abnormity, and the fusion robustness is improved; the system supports geometric feature loopback detection, cross-frame constraints are constructed in combination with UWB to carry out closed-loop optimization, and an optimization result is used for real-time incremental updating of a global map; the method has the advantages of high positioning precision, strong anti-interference capability, wide application scene and the like.

The invention relates to the field of virtual reality positioning, and discloses a VR large-space positioning interaction system based on multi-modal perception, and the system comprises the steps: deploying a multi-modal sensor to obtain sensing data, carrying out the visual feature extraction and preprocessing, building a sparse point cloud map in a matching manner, carrying out the scale calibration, and constructing an environment model; pre-judging a UWB signal path based on an environment model, performing error optimization compensation on an NLOS state, and performing observation updating and fusion through degradation detection to obtain a predicted state change; constructing an interactive perception network, and tracking the hands and the whole body; tactile feedback is realized by using a layered tactile system, and a tactile effect is generated by using vibration frequency mapping; the transmission efficiency is improved by using a beam forming technology, an edge cloud server cluster renders a virtual scene, and the scene is pre-rendered in advance to offset network and rendering delay; an online calibration mechanism is designed, and system errors are corrected through visual loopback detection, UWB beacon dynamic correction and IMU drift compensation.

The invention relates to the technical field of laser SLAM, and particularly discloses a laser SLAM method based on ground segmentation, and the method comprises the steps: obtaining laser radar point cloud data information, carrying out the point cloud preprocessing of the laser radar point cloud data, and obtaining ground point cloud features and non-ground point cloud features; respectively carrying out feature extraction, feature matching and pose estimation on the ground point cloud features and the non-ground point cloud features to obtain a pose nonlinear optimization constraint result; selecting a key frame according to a pose nonlinear optimization constraint result, constructing a local map according to pose information of the key frame, and obtaining a local map construction result; loopback detection is carried out according to the local map construction result, and a loopback detection constraint result is obtained; and performing global pose optimization processing according to a loopback detection constraint result and a local map construction result to obtain a global pose and global map construction result. The laser SLAM method based on ground segmentation provided by the invention can improve the positioning precision and the operation stability.

The invention discloses a pipe network detection robot positioning method, device and equipment, a medium and a product. Images are obtained through a binocular camera arranged on the detection robot, and a left eye image and a right eye image are transmitted in a topic mode; extracting feature points and descriptors of the left eye image and the right eye image by using an acceleration feature network; generating an initialized pipeline map by using an SLAM system and determining an initial pose of a camera through a tracking thread; the initial pose is optimized through the feature points and the descriptors; constructing a cylinder according to the initialized pipeline map, and inserting key frames meeting conditions into a local mapping thread; generating map points and cylindrical points by using the local mapping thread and the received key frame, and executing local BA; and a closed-loop detection thread is utilized to search for candidate loopback frames through an XFat database, similarity transformation is calculated to obtain an accumulated error, and a global BA optimization map is executed to position the detection robot. According to the scheme, precise positioning of the pipe network detection robot in a pipeline complex scene can be achieved.

The invention relates to an audio SOC chip, an audio subsystem interface module thereof, and electronic equipment, and the audio subsystem interface module comprises a plurality of downlink path units which are used for carrying out the downlink processing of at least one path of digital audio data obtained from an application processor chip and / or a digital signal processing chip through a peripheral bus interface module, the audio data is output through the audio data transmission interface module; the plurality of uplink path units are used for performing uplink processing on at least one path of digital audio data input through the audio data transmission interface module and outputting the processed data to the application processor chip and / or the digital signal processing chip through the peripheral bus interface module; and the plurality of loopback path units are used for converging the at least one path of digital audio data input through the audio data transmission interface module and the digital audio data obtained by performing downlink processing through any downlink path unit in the plurality of downlink path units, and outputting the digital audio data through the audio data transmission interface module, so that the power consumption of a chip is reduced.

A probe card for a circuit probe test system and methods of fabrication thereof. The probe card includes a substrate portion, and a probe head including a guide plate located below the substrate portion and having a plurality of openings through the guide plate, and a conductive trace on the guide plate that extends between a pair of the openings. A plurality of probe pins extend through the openings through the guide plate, where a pair of probe pins are electrically connected by the conductive trace to form a loopback signal path. Accordingly, the loopback signals may be routed through the conductive trace located on and / or within the guide plate rather than through the substrate portion of the probe card. This may significantly reduce the total length of the loopback signal path, which may thereby improve the signal integrity (SI) during loopback testing of a device-under-test.

Enhanced security for Zero Trust networks is provided by SSH-customized tunnel clients / tunnel servers, a catalog service, and loopback address DNS mechanisms. Systems and methods provide Policy Enforcement Point (PEP) layer enhancements, strategically positioning the PEP between the user and the network resource. It manages network traffic flows and provides moderate control granularity, near-real-time enforcement decisions, low overheads, and broad applicability to TCP / IP traffic through modified tunneling implementations of Secure Shell (SSH). Unique use of SSH tunneling is utilized and adapted to selectively filter tunnel requests based on user entitlements, ensuring secure and authorized access to network resources. This method entails detailed assessment of tunneling requests, DNS manipulation, and the use of loopback address space for traffic redirection, all without requiring modifications to client-side applications. The approach significantly enhances network security by controlling access based on continuous verification of user entitlements, addressing the shortcomings of traditional network security models.

The invention discloses a narrow environment high-precision laser inertial navigation and SLAM (Simultaneous Localization and Mapping) method based on adaptive parameters. According to the method, firstly, radar and IMU data are collected and preprocessed to form a unified input data stream; obtaining a pose prediction result by using the data stream, constructing an observation model, and obtaining a laser observation residual error; calculating a characteristic value proportion in the matching process of the point cloud and the sub-map, and judging a geometric degradation scene; when degradation is detected, adaptively adjusting a voxel filtering radius and a loopback detection threshold value; fusing the pose prediction result and the laser observation residual error by adopting a Kalman filtering model to obtain an optimal pose estimation result, and carrying out loopback detection and back-end map optimization under a dynamic threshold value to correct accumulated drift and update a voxel map; and finally outputting a continuous pose track and a three-dimensional voxel map. According to the method, the robustness and the positioning precision of the laser inertial navigation fusion SLAM in narrow scenes such as pipe galleries, tunnels and chemical plants are effectively improved.

A system for insitu AESA calibration includes a radar receiver / excitor (XR). The calibrated XR functions as a precision multi-channel relative amplitude and phase microwave frequency measurement device that executes a known AESA calibration methodology. An integrated RF sensor system-level built in test (BIT) is utilized for prognostic health monitoring and self-healing calibration. During calibration, quadrants of the AESA are iteratively calibrated via measurements by the XR. I / Q values are balanced for each quadrant relative to each other without the need for a separately calibrated measurement device for absolute calibration. A near field probe may be disposed for radiative loopback measurements. A T / R calibration circuit receives the loopback measurements and data from a Tx channel.

The invention discloses a synchronous positioning and mapping method and system based on multi-sensor fusion, a storage medium and electronic equipment. The method comprises the following steps: acquiring IMU data, an image and point cloud data measured by a laser radar; performing pre-integration on the IMU data to obtain real-time pose estimation, and performing laser probability updating and visual probability updating based on the real-time pose estimation to obtain an updated local map; a laser point cloud matching residual error, a visual reprojection residual error, an IMU pre-integration residual error and a marginalization residual error are constructed, a residual error equation is constructed based on the laser point cloud matching residual error, the visual reprojection residual error, the IMU pre-integration residual error and the marginalization residual error, a sliding window is adopted for nonlinear optimization, and robot pose estimation is obtained; and visual loopback detection, laser loopback detection and pose global optimization are carried out. According to the method, the calculation rate, the positioning precision and the reliability can be improved in a complex or feature degradation scene.

The invention discloses a USB access safety control system, and particularly relates to the field of USB access electric digital data processing, which comprises an identification module, an isolation module, an encryption continuous transmission module, an auditing module and a kernel interrupt signal triggered by USB physical insertion, and the identification module is used for receiving the kernel interrupt signal and writing the kernel interrupt signal into the interrupt event buffer area, generating a to-be-analyzed interrupt data group, analyzing and generating identification notification information and pushing the identification notification information as a USB access snapshot data frame. Strong binding of USB device access identities, interval control of permission states and traceable closed management of behavior tracks are achieved by constructing a security context vector with device fingerprints, authorization group IDs and insertion timestamps as cores and forming a dynamic association verification path among isolation state judgment, behavior integrity measurement and chain audit account books. The key problems of equipment loopback cheating, permission mismatching, audit failure and the like are solved.

The invention relates to the technical field of laser radars, and provides a laser radar angular resolution enhancement method, which comprises the following steps of: obtaining a spatial direction priority according to a vehicle course, road information and target information obtained by a vehicle external sensor so as to dynamically adjust laser pulse density and energy level; scanning data generated after N circles of continuous scanning serve as a composite frame, the starting angle of each circle is shifted, multiphase filtering and coherent superposition are conducted in a digital domain, and the effective angular resolution is obtained. The invention further discloses a laser radar device, the method and the device can adjust the pulse density and energy distribution in the ROI direction in real time according to the dynamic scene of the vehicle, the total pulse number is kept unchanged, and the total power consumption is not increased. The effective horizontal angle resolution is improved through inter-frame phase offset and multi-phase synthesis. A corner reflector and an IMU (Inertial Measurement Unit) are integrated in the laser radar, and phase and ranging errors are corrected in real time through periodic loopback calibration, so that the angle stability is kept.

Systems and methods of loopback control in multi-active database synchronization are provided. A first database instance and a second database instance are configured with two-way synchronization. A synchronization tool detects a first log change in a first operation log associated with the first database instance. The first log change includes a first operation entry associated with a first data operation on a first data record in the first database instance. The first data record includes a first synchronization tag field comprising a first source tag representing a first data source associated with the first data operation on the first data record. If the source tag contains the identification of the second database instance, the synchronization tool skips the first operation entry, without synchronizing the first data operation to the second database instance to avoid data loopback.

A WEB end real-time remote connection monitoring method based on an RDP protocol comprises the following steps that a gateway server is maintained between an RDP client and a server, a firewall is configured, a routing rule is added, and RDP flow is forwarded to a local loopback address; the rear end of the gateway server starts an RDP proxy service, receives the RDP traffic forwarded by the firewall, and creates an independent thread to run a Flask application; after the RDP proxy service receives the RDP data packet, an RDP protocol data unit is analyzed according to a protocol format; establishing connection between the RDP proxy service and the Web front end through WebSocket, defining a corresponding event according to the analyzed PDU data type, and transmitting the event to the Web browser end in real time; and the Web end creates a bitmap cache and canvas cache canvas, and displays a remote picture and key data connected with the RDP on a Web page in real time. The scheme not only can effectively monitor the remote desktop session, but also has the advantages of high bandwidth utilization rate, low resource consumption, convenience in cross-platform deployment and the like.

Optical alignment of a receptacle at an aligned position on an optoelectronic device body is accomplished using an alignment optical connector that is demountably attached to the receptacle by matching passive alignment features on the facing surfaces between the receptacle and the alignment optical connector. The device body includes a first row of at least two data optical ports, and a second row of alignment input and output ports parallel to and spaced from the first row of data optical ports by a parallel spacing. The data optical ports communicate with the optoelectronic device. The alignment ports correspond to a loopback waveguide. The aligned position of the receptacle is determined from the loopback waveguide. The receptacle is permanently attached to the device body at this aligned position. A data optical connector is similarly configured as the alignment optical connector, in the manner in which optical fibers are supported to input / output optical signals and with similar passive alignment features, but the passive alignment features are referenced to the optical fibers by an offset equivalent to the parallel spacing between the first and second rows. The second row is same or shorter than the first row. The number of data optical ports is greater or equal to the number of alignment optical ports. The data optical ports and the alignment optical ports are arranged in a 2×N matrix.

A component die validation built-in self-test (VBIST) engine is presented. In an aspect, a component die includes component circuitry for performing a component function, interface circuitry for communicating with another die, and a VBIST circuit. The VBIST circuit includes a traffic generator that generates test data streams, a tracker that receives and validates test data streams, and a configurable switching matrix for coupling the traffic generator to at least one of the component circuitry, the interface circuitry, or the tracker, and for coupling at least one of the component circuitry, the interface circuitry, or the traffic generator to the tracker. The VBIST circuit can send traffic to and from the component circuitry directly, or indirectly via the interface circuitry in loopback mode, and can be used for memory initialization and test.

The invention provides a chip testing method based on an ATE platform, and relates to the technical field of chip manufacturing and testing. According to the method, multiple advanced test technologies and intelligent algorithms are creatively integrated, test environment parameters are accurately controlled through an intelligent environment regulation and control system, radio frequency and digital signals are efficiently processed in cooperation with a test engine, a test execution stream optimizes a high-speed interface test by using a chip built-in Loopback function and an adaptive algorithm, and the test efficiency is improved. The intelligent control and analysis system dynamically adjusts a test process and accurately predicts chip defects based on a federal learning framework, and realizes Chiplet interconnection verification and closed-loop data analysis feedback optimization of a test program at the same time. The chip testing efficiency and precision are effectively improved, the testing cost is reduced, dependence on expensive equipment is reduced, the method can be widely applied to various chip testing scenes, and remarkable economic benefits and technical advantages are brought to chip manufacturing enterprises.

The invention discloses a semantic vision SLAM (Simultaneous Localization and Mapping) method and a semantic vision SLAM system for an indoor low-texture and dynamic environment, which are characterized in that a visual odometer, a dynamic point elimination algorithm, a loopback detection algorithm and the like are integrated into a visual SLAM system, so that data in an indoor low-texture and dynamic scene are processed in real time, and high-precision positioning and high-quality map construction are provided. A semantic information acquisition thread and a dynamic point elimination module are added to the whole system, and a loopback detection module is improved. According to the method, the problems of poor positioning precision, low robustness, poor map quality and the like of a visual SLAM system in a low-texture environment and a dynamic environment in the prior art are solved, and the feature point extraction and matching precision in the low-texture environment is improved; the interference of a dynamic object on the SLAM system is eliminated, and the positioning precision and the loopback detection performance are improved; the map construction quality is improved, and the semantic map with high readability is constructed by fusing semantic information.

The invention relates to the technical field of switching chip design, in particular to a high-speed network switching chip testability implementation method and system, and the method comprises the steps: constructing a chip function test environment, and configuring a to-be-tested high-speed network switching chip; generating function test data according to the test instruction, wherein the function test data comprises internal logic self-test data, chip exception test data, chip state test data and chip flow test data; and performing function test and verification on the high-speed network switching chip to be tested by using the function test data based on the chip function test environment. According to the method, a loopback mode, exception handling, state monitoring, flow statistics and the like penetrate through the chip front-end design process, testability of the high-speed network switching chip is achieved, rapid function testing and problem and defect positioning of the chip are supported, laboratory work performance testing efficiency after the chip is returned can be improved, and the working efficiency of a laboratory can be improved. And the screening test efficiency of the chip on an automatic machine is improved.

The invention discloses a localization-adaptive track point visual rendering method based on partitioning and hierarchical caching, and the method comprises the steps: S1, inputting a track data stream, carrying out the reading according to the source type of the data stream, and carrying out the data partitioning and LOD processing of the track point data; s2, performing data analysis and rendering on the data; s3, carrying out batch processing on GPU vertexes, according to the state of the circular buffer, if the vertexes are writable, incrementally writing vertex data, and if Wrap is needed, carrying out loopback writing and updating a pointer; and S4, finally, the descriptors and the styles are updated, rendering increment drawing is carried out on the track points, and visual display is carried out. The method supports real-time rendering and playback of ten-million-level track points, has visual and instantiated rendering of window dynamic loading, space-time partitioning, hierarchical caching and WebWorker decoupling calculation, and improves the space-time data rendering capability of the domestic autonomous controllable field by ten thousand times; and the user experience is greatly improved by a non-perceptual interaction and transition smoothing algorithm.

Techniques are described for offloading an audio pump from a central processing unit (CPU) of a computing device to an audio co-processor. A device graph for an audio endpoint can be modified to include a processing pipeline for an audio stream from an application. Audio data from the audio stream can be retrieved by the audio co-processor from a shared buffer accessible to the application and the audio co-processor. The processing pipeline for the audio stream can include a series of audio processing objects (APOs) linked by connection buffers. Audio data from the audio stream can be processed by executing an audio pump thread with the audio co-processor. Multiple audio streams can be executed in parallel by the audio pump thread, including render, capture, and loopback streams, with better glitch resilience, relatively low latency, and a better power profile.

The invention provides an AGV laser radar positioning mapping global optimization method. The AGV laser radar positioning mapping global optimization method comprises the steps of map input, data acquisition, incremental mapping, loopback triggering, global optimization, coordinate system anchoring, function calculation solution and map data optimization. Compared with the prior art, the AGV laser radar positioning mapping global optimization method has the advantages that in the later period of mapping, all vehicle body pose data and reflector coordinate data are optimized in a unified mode, accumulative errors are eliminated, and therefore a map with a consistent closed loop is obtained.

The invention relates to a power transmission line three-dimensional modeling and flight control method based on an eight-rotor unmanned aerial vehicle and a laser radar. The method comprises the following steps that an eight-rotor coaxial propeller-reversing unmanned aerial vehicle hardware platform integrating the three-dimensional laser radar, a GNSS sensor and an air duct cooling system is constructed; the trajectory optimization of the unmanned aerial vehicle in a wind-resistant environment is realized through model prediction control; through combination of laser radar point cloud acquisition and Fast-LIO2SLAM, loopback detection, GNSS assistance and point cloud processing are realized, and a three-dimensional model of the power transmission line is constructed. Compared with the prior art, the method has the advantages that the efficiency, the precision and the reliability of the unmanned aerial vehicle in power transmission inspection are improved, and the robustness and the cruising ability under complex tasks are ensured.

The invention discloses a Web end video monitoring distributed decoding method and system, and belongs to the technical field of network video playing. The method comprises the following steps of: actively initiating WebSocket connection by a browser end through a local loopback address port (127.0. 0.1: 19022), and detecting whether a distributed decoding program is installed in a user terminal or not; calling a local FFmpeg library by a distributed decoding program, decoding a video stream in real time by utilizing a terminal CPU (Central Processing Unit), and converting decoded video key frames into an image format originally supported by a browser frame by frame through OpenCV; the distributed decoding program packages binary data of each frame of image and an address identifier of the binary data into a WebSocket message, the WebSocket message is actively pushed to the browser, and the browser refreshes and displays the WebSocket message in a specified area of a page in real time according to the address identifier; according to the method, zero-plug-in, low-delay, cross-platform, safe and controllable Web end video decoding is realized, the server load and the network delay are remarkably reduced, and the user experience and the system compatibility are improved.

The optical module provided by the invention comprises a circuit board, a modulation driving chip, a transimpedance amplification chip and an optical chip. The optical chip comprises an optical modulation unit, an optical demodulation unit, a first optical switch assembly and a second optical switch assembly. According to the invention, the golden finger is directly and electrically connected with the modulation driving chip and the transimpedance amplification chip. The first optical switch assembly is located between the optical modulation unit and the optical chip optical port. The second optical switch assembly is located between the optical demodulation unit and the optical port of the optical chip. By changing the on-off state of the first optical switch assembly, the output path of the optical signal in the first optical switch assembly can be regulated and controlled. By changing the on-off state of the second optical switch assembly, the optical signal input path of the second optical switch assembly can be regulated and controlled. On the basis, the optical module can be switched between a normal working mode and a loopback mode by switching the on-off states of the first optical switch assembly and the second optical switch assembly. And in the loopback mode, the optical module reports an electric signal to the upper computer, so that the upper computer performs fault diagnosis.

The invention provides an SLAM (Simultaneous Localization and Mapping) optimization method and equipment based on point cloud registration and adaptive resolution, and a medium, and relates to the technical field of AGV (Automatic Guided Vehicle) positioning and mapping, and the method comprises the following steps: (1) inputting and preprocessing sensor data; (2) front-end scanning and matching: based on the preprocessed data, carrying out point cloud registration through a GICP algorithm, updating the pose of the current frame and constructing a local subgraph; (3) global SLAM: receiving sensor data, poses and subgraph data from the front-end scanning and matching step, and carrying out loopback detection and global optimization; wherein a self-adaptive resolution switching strategy based on environment complexity is adopted in the loopback detection process; according to the GICP algorithm, the surface of the point cloud is modeled as Gaussian distribution, local features are described through a covariance matrix, and a target error function constructed based on the mahalanobis distance is optimized to estimate pose transformation. According to the method, the local matching precision and robustness are improved by replacing ICP with GICP, and the global calculation efficiency is adjusted and optimized in combination with the dynamic resolution.

The invention provides a safe starting system and method for a substrate management controller, and the system comprises a plurality of first storage modules which are used for storing the power-on starting firmware of the substrate management controller; the first logic switching module is provided with a plurality of first selection ends and two first connection ends, and the first storage modules are connected with different first selection ends; the credibility verification module is used for carrying out credibility verification on the firmware content input by the verification input end; the trusted computing module is used for carrying out trusted computing on firmware content input by the computing input end; the second logic switching module is provided with two second selection ends and two second connection ends; and the control module is used for selecting any first selection end of the first logic switching module to be valid, and selecting any second selection end of the second logic switching module to be valid or two second connection ends to be connected in a loopback manner. According to the application, the starting and running safety, reliability and stability of the baseboard management controller can be effectively improved.

The invention belongs to a positioning detection method, and provides a loopback detection method and a related device for solving the technical problems that synchronous positioning and map creation in a substation scene are high in error accumulation and inconsistent in global map, and a robot cannot accurately return to a starting point or a key position in a similar area. The method comprises the following steps: determining a candidate area according to a current position corresponding to a current frame point cloud, obtaining a candidate frame point cloud located in the candidate area, obtaining a descriptor and a polar vector of the candidate frame point cloud, calculating a three-degree-of-freedom relative pose of the current frame point cloud and the candidate frame point cloud, and obtaining a three-degree-of-freedom relative pose of the current frame point cloud and the candidate frame point cloud according to the descriptor of the current frame point cloud and the descriptor of the candidate frame point cloud. And calculating a similarity score between the current frame point cloud and the candidate frame point cloud, and when the similarity score meets a preset requirement, registering the current frame point cloud and the candidate frame point cloud by taking the three-degree-of-freedom relative pose of the current frame point cloud and the candidate frame point cloud as an initial value to obtain a registration score and an optimized three-degree-of-freedom relative pose.

The invention relates to the field of laser radar detection, in particular to an SLAM loopback detection method and system based on three-dimensional point cloud height intensity density information. Dividing the laser point cloud into a plurality of three-dimensional grids, dividing each three-dimensional grid to obtain a plurality of sub-three-dimensional grids, and calculating height information, intensity information and density information of each sub-three-dimensional grid to obtain a descriptor of each three-dimensional grid; obtaining a global descriptor according to the descriptor composition; and performing calculation according to the sub-stereo network to obtain grid statistical characteristics, and performing loopback detection according to the global K-dimensional tree to obtain a loopback detection result. By fusing the multi-dimensional features, the loopback detection precision and robustness of the laser radar SLAM technology in a complex environment are significantly improved; the laser point cloud is divided into the multi-layer three-dimensional grids, and the descriptors are generated in combination with the height, strength and density information, so that the problem of insufficient descriptor discrimination caused by single dependence on height or strength characteristics in the prior art is solved.

The invention relates to the technical field of artificial intelligence, in particular to an energy AI agent decision-making method and system based on adaptive learning and loopback control. The method comprises the following specific steps: collecting energy data and environment data in real time, and performing data fusion processing; generating an original strategy of the energy AI intelligent agent according to the fused data based on an adaptive learning algorithm; correcting the original strategy in real time based on a preset loopback loss function, and outputting a preliminary strategy instruction; receiving the preliminary strategy instruction, and optimizing the preliminary strategy instruction to generate a final execution instruction under the condition of meeting physical constraints and security constraints of the system; and executing the final execution instruction. By adopting the method, the self-adaptive optimization capability can be realized, the execution safety can be ensured, and the method has the characteristic of supporting continuous optimization.