51 results about "Matrix iteration" patented technology

The invention discloses an ultra-redundant mechanical arm path planning method and device and a control system. The method comprises the following steps: after arrangement of a mechanical arm, arm shape description parameters are obtained, and an anticipant path with multiple anticipant nodes is planned; with the first anticipant node as a target anticipant node, parameters of the target anticipant node are obtained; terminal present parameters and Jacobi matrixes of equivalent arm shapes are obtained through the arm shape description parameters; a terminal anticipant speed is obtained throughcombination of the terminal present parameters and the target anticipant node; anticipant arm shape parameters of each arm section are obtained based on iteration of the Jacobi matrixes and the terminal anticipant speed; joint driving parameters are obtained according to the obtained anticipant arm shape parameters; the terminal of the mechanical arm is driven to the target anticipant node according to the joint driving parameters; and the path planning of the mechanical arm is finished with each anticipant node traversed as the target anticipant node. The efficient ultra-redundant mechanicalarm path planning method solves the technical problem of complex calculation in an ultra-redundant mechanical arm path planning method in the prior art.

The invention discloses a method for reducing noise of fetal heart sound signal based on non-negative matrix decomposition. The existing filtering methods have limitations in improving the signal-to-noise ratio of fetal heart sound signals. The invention performs short-time Fourier transform on the signal to obtain the amplitude information matrix and phase angle information matrix; performs singular value decomposition and non-negative matrix decomposition on the amplitude information matrix, selects useful features according to the characteristic matrix and coefficient matrix, and combines them to obtain The amplitude information matrix after noise reduction; phase compensation is performed on the phase angle information matrix to obtain the compensated phase matrix; short-time Fourier inverse transform is performed on the amplitude information matrix and the compensated phase matrix to obtain the time domain signal. The singular value decomposition method adopted in the present invention avoids the influence of the randomness of the initial value on the matrix iteration result, and the adopted phase compensation method replaces the original band noise signal phase with the compensated phase, which increases the reliability of the phase signal after noise reduction. Reliability, significantly improved the noise reduction effect of fetal heart sound signal.

The invention discloses a method and device for obtaining ion concentration in a concrete structure based on a finite element method. The method includes: obtaining a partial differential equation of a diffusion model of any ion in a concrete structure; obtaining the ion concentration based on the partial differential equation. The weak form of the partial differential equation; the solution space domain is divided into units, and the discrete element finite element control equation is obtained based on the weak form of the partial differential equation; the solution time domain is discretized, and based on the discrete unit The finite element control equation obtains the matrix iterative solution form of the discrete element finite element control equation; based on the time step iterative calculation and the matrix iterative solution form, the ion concentration in the concrete structure is obtained. The invention adopts quadrilateral eight-node and other parameter units to divide and solve the space domain, can better simulate the structure of the curved boundary, and realizes the beneficial effect of accurately obtaining the ion concentration in the concrete structure with the shape of the curved boundary.

The invention specifically relates to a method, device and system for accurately locating characters in an image. The method provided by the present invention includes: step S1, initializing the affine transformation matrix and character area distribution probability; step S2, performing histogram statistics on the pixel values ​​of the image according to the character area distribution probability; step S3, according to the histogram statistical results and The character region distribution probability iteratively updates the affine transformation matrix; step S4, updates the character region distribution probability according to the updated affine transformation matrix; step S5, repeats steps S2-step S4, until the first termination condition is met; step S6, The position of the character in the image is obtained according to the finally determined distribution probability of the character area. The method, device and system for accurately locating characters in an image provided by the present invention can achieve accurate locating results only by using histograms and regional locating matrix iterations similar to the optical flow method. The processing speed is fast and the locating effect is good, which can be directly applied to Low-cost module-side identification.