261 results about "Maximal acceleration" patented technology

A movement measuring device determines the speed of the body's specific movement on the basis of the maximum value of the acceleration sensed by an acceleration sensing unit attached to the body, when the body has made a specific movement. For example, when the player wears the device on his arm and makes a punching motion, the punching speed is found from the maximum acceleration resulting from the punching action. Furthermore, a game device obtains data indicating the magnitude of a specific movement of the body, on the basis of the acceleration sensed by an acceleration sensing unit, and then decides the outcome of the game on the basis of the strength and weakness of the punch. This enables the user to easily play a fighting sport game involving the player's actual punching motions anywhere.

A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.

The present invention provides an S-shaped acceleration and deceleration control method for changing speed and position of an object on line. The method comprises the acceleration phase speed planning, the deceleration phase speed planning, the constant speed phase speed planning, the real speed reduction point predication, the maximum speed processing, the surplus distance compensation, the online object speed changing algorithm and the online object position changing algorithm. An acceleration and deceleration discretization speed planning method is employed and the user input parameters are combined to calculate the operation time of a seven-phase speed planning phase. It is determined whether the maximum acceleration and the maximum speed can reach the criterion or not, the integration problem of a sampling period Ts according to the acceleration / deceleration acceleration, the acceleration / deceleration speed and the final position L after discretization is considered, and the real reachable acceleration / deceleration acceleration, the acceleration / deceleration speed and the feed rate are corrected. The S-shaped acceleration and deceleration control method for changing speed and position of the object on line greatly simplifies an original calculation formula and saves lots of operation time of a computer, and the surplus distance employs a one-time compensation method in the speed reduction process.

A head protecting body for a safety helmet, in which a first liner member for an impact-on-the-head absorbing liner includes a swell for reinforcing at least one region of a forehead region, a left temple region, a right temple region and an occiput region in an overlapping region with respect to a second liner member having a density lower than that of the first liner member, on an overlapping surface side of the first liner member, and the second liner member includes a hollow having a shape substantially corresponding to the swell. According to this head protecting body, despite that the impact-on-the-head absorbing liner is not broken easily more than necessary near a region reinforced with the reinforcing swell, both the maximum acceleration during impact and an HIC can be decreased effectively.

A swing control system and method for a construction machine using an electric motor is provided. The swing control system includes a swing electric motor swinging an upper swing structure and a swing control unit. The swing control unit includes a reference speed calculation means for calculating a reference swing speed and a maximum acceleration according to a manipulation signal of a control lever for a swing manipulation; a swing speed determination means for calculating a first speed change amount from a difference between the reference swing speed and an actual swing speed by the electric motor that is currently fed back, calculating a second speed change amount for a sampling time from the maximum acceleration, and determining a swing speed according to the manipulation signal by comparing the first speed change amount and the second speed change amount and adding a smaller amount between the first speed change amount and the second speed change amount obtained as the result of comparison to the actual swing speed currently fed back; and an output torque control means for controlling an output torque of the electric motor by generating a control signal for the determined swing speed.

A movement detection apparatus that detects a shake added by an operator to execute a function of a device, the apparatus comprises an acceleration detection unit configured to detect accelerations caused by a shake in at least three-axis directions; a determination unit configured to determine an axis with a minimum value of acceleration and an axis with a maximum value of acceleration among the accelerations in at least three-axis directions detected by the acceleration detection unit; a decision unit configured to decide a direction of the shake added by the operator based on the axis with the minimum value and the axis with the maximum value determined by the determination unit; and a selection unit configured to select a predetermined function based on the result of the decision unit.

The invention relates to a plane orientating system with large stroke, high speed nanometer stage precision and macro / micro dual driven. The X-shaft flexible hinge is fixed between the X-shaft micro moving platform 19 and X-shaft macro moving platform 16; the X-shaft piezo-electric ceramic 18 is posited inside the X-shaft micro moving platform 19; the cushioning hinge 29 is fixed between the inner guide 28 and the outer guide 30; one end of Y-shaft piezo-electric ceramic 24 is connected with Y-shaft micro moving platform 23; two bearings 34 are separately rotating connected with inner guide 18 and outer guide 30 of the Y-shaft macro / micro moving platform 8. The working rage is 25mmX25mm; the resolution is 10nm; the repetition orientating precision is 20nm; the maxim speeds of X-shaft and Y-shaft are separately at 50m / s2 and 100m / s2.

The invention relates to a look-ahead velocity control method based on filtering technique, which comprises steps of linking path segments of a processing curve into a path chain, prospectively calculating a constraint velocity for a maximum acceleration and a constraint velocity for the profile error at the corner of the processing curve, operating the corner velocity according to each constraint velocity, prospectively planning the integral velocity of the path chain through the linear accelerating and decelerating strategy to obtain a prospectively planned velocity of the path chain, and utilizing a differential value between the corner velocity and the path chain prospectively planned velocity as a criterion to judge whether decelerating in advance or not during the interpolation procedure, if the differential value is out of a stated threshold value, then calculating the length of the decelerating segments in the path chain, reversely recursing the decelerating path segments in the path chain to set the required feeding velocity, performing track planning to the path chain , and realizing self-adaptive adjustment of the processing velocity along with geometric configuration changes of processing paths through adjusting the required feeding velocity of the decelerating path segments. The look-ahead velocity control method has the advantages of high flexible self-adapting control capacity, high executing efficiency, good velocity smoothness and the like.

The invention discloses a track planning and control method of a free curve of an industrial robot based on double quaternions. Control point data of the Cartesian space are adopted for describing the contour of the space free curve, and meanwhile an Adams differential equation is adopted for NURBS interpolation compacting calculation, and interpolation speed is adjusted in a self-adaption manner with the maximum contour error and maximum acceleration as constraint conditions; and then the position and posture of the robot in the Cartesian space are converted to a four-dimensional space through a short linear segment obtained through interpolation by adopting the double quaternions, the motion trail of the robot is subjected to spherical linear interpolation through hyperspherical rotation, and finally the track of the NURBS free curve of the industrial robot is planned.

The invention discloses an unmanned aerial vehicle auxiliary wireless sensor network and node scheduling and flight parameter design method thereof, and belongs to the wireless technical field of thewireless communication and internet of things. The unmanned aerial vehicle auxiliary wireless sensor network comprises an unmanned aerial vehicle air base station and K single-antenna ground terminalnodes; the unmanned aerial vehicle air base station performs movement according to an optimized path, speed and acceleration and like flight parameters at the specified flight time; at each flight moment, the unmanned aerial vehicle base station sends data to a scheduled ground terminal node, and only communicates with one terminal node at each moment. Through the method disclosed by the invention, the system energy efficiency maximization is used as the target, and a terminal node scheduling policy and unmanned aerial vehicle flight path, the flight speed and the acceleration are used as theoptimization variable, so that a mathematical model is established in consideration of the unmanned aerial vehicle maximum flight speed, the maximum acceleration and the uniform acceleration, the terminal node data transmission rate fairness and like conditions, thereby solving to obtain a suboptimal terminal node scheduling and unmanned aerial vehicle parameter solution.

The invention discloses a gait identity identification method based on a mobile phone acceleration sensor and a system thereof. The method comprises the following steps of using a mobile phone acceleration sensor to collect gait data of a person to be measured in a section of journey; preprocessing the acquired gait data, carrying out linearity interpolation and filtering on triaxial acceleration signals x, y and z, and then synthesizing a resultant accelerated speed; carrying out period segmentation on a synthesized resultant accelerated speed sequence, using a DTW algorithm to filter a period, and filtering a disqualification period and acquiring a qualified period; extracting time domain and frequency domain characteristics from the qualified period, wherein the time domain characteristic includes 8 characteristics of an z-axis-direction average maximum acceleration speed, an average minimum acceleration speed, an average acceleration speed, a root mean square, a standard deviation, a peak value factor, kurtosis and an average absolute difference, and the frequency domain characteristic includes first five coefficients of FFT conversion and first five coefficients of DCT conversion so that 18 dimension characteristics are formed; and using a classifier which is trained in advance to identify the 18 dimension characteristics of the person to be measured.

The invention discloses a dynamic path planning method under a vehicle networking condition, which adopts the following steps: the planning of a dynamic lane changing track is carried out by constructing a target function of comprehensive lane changing time and maximum acceleration for improving comfort and passing efficiency, utilizing a cubic spline method, the constraint condition and the target function solve the optimal lane changing track and referring to the lane changing track according to the real-time information provided by a vehicle networking, feeding back the real-time updating of the data to a decision-making unit in time for re-planning the path when a sudden situation occurs in the front so as to prevent collision, so that the lane changing vehicle can adapt to the motionstate change of the surrounding vehicle. According to the dynamic path planning method under the vehicle networking condition, the planned track equation is determined by introducing the target function and from the aspect of an optimal solution, and the dynamic path planning method under the vehicle networking condition has the advantages of safety, comfort and high efficiency in the aspects of reducing lane change time and preventing collision.

The invention discloses a method for realizing synchronous PTP motion in robots and a device thereof. The method comprises the following steps: an axis with the longest run duration in the n-axis robot is selected as the reference axis according to maximum condition of preset dynamic characteristic physical quantities of each axis in a robot; the actual maximum acceleration of the reference axis is determined; velocity planning of the reference axis is determined according to the actual maximum acceleration of the reference axis; and velocity planning of residual axis in the robot is determined according to displacement ratio. By the above mode, synchronous PTP planning can be completed with the smallest calculated quantity, and strict consistency of run duration of each axis in the robot is guaranteed.

A power wheelchair incorporates inclinometers to measure angle of pitch and angle of roll. An inclinometer signal is used as an input to a controller. The controller alters drive parameters, such as maximum acceleration, deceleration, and minimum turning radius according to the pitch angle and roll angle of the terrain upon which the wheelchair is operated.

A calculating member carries out Fourier analysis of a vibrational acceleration to calculate a maximum acceleration and frequency thereof. The calculating member then compares the maximum acceleration with a threshold value, and when the acceleration exceeds the threshold value, the calculating member calculates a k-value and phase information, and stores each calculated value. When retrying is selected, the calculating member determines a type of a current chatter vibration from the phase information, determines the existence of a chatter vibration which is different from the determined chatter vibration, and calculates each new phase information according to the determined chatter vibration and an existence of a different chatter vibration which had been generated before generation of the current vibration. The calculating member then calculates a k1-value from new phase information, calculates the optimum rotation speed by using the k1-value, and changes the rotation speed to the optimum rotation speed.

The invention relates to a mechanical type automatic transmission gear shifting method. The mechanical type automatic transmission gear shifting method includes the following steps that the current vehicle mass and the current slope are acquired; with the maximum acceleration which a vehicle can reach as a power performance index, a best power performance gear position under different vehicle speeds, different accelerations, different accelerator opening degrees, different masses and different slopes is calculated, and serves as a vehicle power performance gear shifting strategy; with the motor efficiency being an economic index, on the basis that the slope climbing requirement of the vehicle is met, a best economy gear position under different vehicle speeds, different accelerations, different accelerator opening degrees, different masses and different slopes is calculated, and serves as a vehicle economy gear shifting strategy; and the current power performance and economy requirements of the vehicle are judged, one of the vehicle power performance gear shifting strategy and the vehicle economy gear shifting strategy is selected to determine a gear shifting point. For different masses of the vehicle and different slopes of a road, an optimal gear shifting strategy is calculated; by means of a multi-target optimization method based on road condition information and a vehicle state, the gear shifting strategies are optimized, so that the intelligent level of gear shifting can be improved, frequent gear shifting is avoided, and power performance and economy of the vehicle become best.

The invention discloses a time optimal rapid three-dimensional obstacle avoidance path planning method, particularly relates to an unmanned aerial vehicle obstacle avoidance path planning method, andbelongs to the field of unmanned aerial vehicle path planning. According to the invention, the method comprises the steps: establishing an unmanned optimal control model which takes the acceleration in each direction as a control variable and contains the flight time sum through considering the maximum acceleration and obstacle constraint conditions; loosening an original non-convex nonlinear optimization problem into a second-order cone programming problem; and finally, solving a series of second-order cone programming problems through iteration to obtain a solution of an original problem andobtain an optimal change strategy in the speed direction. In other words, the obstacle avoidance path planning with the optimal time is realized by coordinating the flight time and the flight speed direction, the online planning of the obstacle avoidance path and the related control quantity can be realized, and the task response capability of the unmanned aerial vehicle can be further improved through the optimized flight path with the optimal time.

An electric-component mounting system wherein a determining device is operated for presently required operations of working devices disposed on a common main body, to determine a cycle-time-determinant working device which determines a cycle time of the system such that the cycle time is determined by a required operating time of the cycle-time-determinant working device as calculated when the presently required operation is performed at predetermined maximum acceleration and deceleration values or a predetermined maximum operating speed, and a slowdown device determines actual acceleration and deceleration values or an actual operating speed of each of non-cycle-time-determinant working device, so as to be lower than the predetermined maximum acceleration and deceleration values or operating speed thereof, such that the presently required operation of each non-cycle-time-determinant working device can be completed within the cycle time determined by the cycle-time-determinant working device.

The embodiment of the invention discloses a method for acquiring an S-shaped curve of a numerical control system. The method comprises the following steps of: rounding the original time span of each time interval of the S-shaped curve of the numerical control system to obtain a corresponding rounded time span of each time interval; obtaining the maximum acceleration, maximum deceleration, maximum jerk and target speed of the S-shaped curve according to the rounded time span of each time interval; obtaining a curve length which corresponds to each time interval according to the rounded time span of each time interval, the maximum acceleration, the maximum deceleration, the maximum jerk and the target speed; and obtaining the displacement of the S-shaped curve which corresponds to the time point of the S-shaped curve according to the curve length which corresponds to each time interval to complete planning of the S-shaped curve. The embodiment of the invention further discloses a device for acquiring the S-shaped curve of the numerical control system. Through the way, the calculation accuracy of acceleration and deceleration planning can be increased, and the problem of shaking in a machining process is solved.

The invention relates to the technical field of robot control, and discloses a speed planning method. The speed planning method comprises the following steps: the S speed planning is performed for all shafts of a multi-shaft mechanism according to a first restraint condition, wherein the first restraint condition includes a motion path, speeds of a starting point and an ending point, accelerations of the starting point and the ending point, an operation speed, a maximum operation speed, a maximum acceleration and a maximum accelerated acceleration; the shaft with the longest time is selected from the planning result as a reference shaft; and according to a second restraint condition, with three B splines as planning curves, the speed planning with given time is renewedly performed for the rest shafts, wherein the second restraint condition includes all restraint conditions besides the operation speed in the first restraint condition, and total operation time of the reference shaft. The method can be used for synchronizing all joint shafts of a robot, also can be used for synchronizing positions and gestures, can solve the synchronizing problem with starting and ending speeds not as zero, and is lower in calculated amount and higher in timeliness.

The invention discloses an improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method. The method comprises the following steps of step1, based on a mechanism modeling method, establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle height direction; step2, decomposing the nonlinear dynamic model into a linear item and a uncertain item; step3, using a tracking differentiator to obtain a height direction position and a speed expectation value; step4, estimating a disturbance item in a system using a first-order extended state observer; and step5, designing an error feedback control law based on a PD algorithm and feedforward control, and using a disturbance item value estimated by the extended state observer to compensate the uncertain item of the system. An improved tracking differentiator is used to plan a height flight strategy, and an acceleration-uniform speed-deceleration flight mode is constructed so that a quad-rotor unmanned aerial vehicle can rise (or descend) from one height to another height in the shortest time; and a maximum acceleration during flight and a speed of a uniform speed segment can be set autonomously.

The present invention provides a vibration suppressing device which can calculate the optimal rotation speed that can effectively suppress oscillation, wherein the device comprises the following components: vibration sensors (2a-2c) which detect the vibration acceleration of time region of a rotating shaft (3) in the rotating process; an FFT calculating device (6) which calculates an oscillation number and the vibration acceleration of frequency region under the oscillation number according to the detected vibration acceleration of time region; a storing device (9) which stores the vibration acceleration and oscillation number of frequency region as processing information; a calculating device (7) which stores a maximum acceleration and oscillation number in the storing device (9) as new processing information when the calculated maximum acceleration of the frequency region exceeds a preset threshold, and furthermore calculates the optimal rotation speed which can suppress the oscillation according to the new processing information and the last processing information stored in the storing device (9); and a NC device (8) which rotates the rotating shaft at the optimal rotation speed.

The invention discloses a non-sinusoidal vibration method for a continuous casting crystallizer. According to the technical scheme, the non-sinusoidal vibration method for the continuous casting crystallizer comprises controlling a driving device of the continuous casting crystallizer to enable the continuous casting crystallizer to perform non-sinusoidal vibration according to speed waveforms which are confirmed according to following functions in every vibration period with the driving of the driving device; enabling the vibrating process of every vibration period to be formed by seven sections; enabling the crystallizer to move according to a given vibrating method due to control of the driving device of the crystallizer and achieving the non-sinusoidal vibration. The non-sinusoidal vibration method for the continuous casting crystallizer has the advantages of being smooth and continuous in displacement and speed waveform, having no mutation in accelerated speed, not generating rigid and flexible impact and having good waveform dynamic characteristics and enabling the largest accelerated speed of the movement of the crystallizer to be served as a quantity which is reflected in the waveforms, enabling the quantity to be allowed setting according to actual conditions and to be invariant, increasing waveform deflection rate, enabling non-sinusoidal vibration of the crystallizer to be enhanced but the accelerated speed of the vibration of the crystallizer to be kept constant and guaranteeing movement smoothness of the crystallizer.

The invention discloses a spline curve interpolation algorithm for high quality processing, and the spline curve interpolation algorithm for high quality processing comprises the following steps: quickly pre-interpolating the numerical control machining curve, recording the length of the interpolation path and the maximum / minimum value of the acceleration / deceleration process; calculating the maximum acceleration and most much acceleration of the acceleration / deceleration process, having subsection on the acceleration / deceleration process, calculating quadratic polynomial speed equations of each section; obtaining the speed equation according to the pre-interpolating stage at the real time interpolating stage, adopting the strategy that the theory chord length is close to the practical chord length for building the construction function, estimating the initial value of the interpolation parameter and building the parabolic interpolation polynomial, using the Newton iteration method for exactly calculating the interpolation parameter. The speed plan adopts five-section S curve acceleration / deceleration control algorithm for guaranteeing continuous change of the speed and accelerated speed, the bounded change of the accelerated acceleration speed and the running stability of the machine tool; the calculation of the interpolation parameter adopts the combination of parabolic interpolation method and Newton iteration method for controlling the feeding speed fluctuation of the real time interpolation in the ideal level and satisfying the high quality processing requirement.

A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.

The invention relates to the technical field of earthquake damage evaluation, in particular to a method for evaluating the overall earthquake damage level of a reinforced concrete frame structure based on an equivalent single-degree-of-freedom system. The method is used for quickly and accurately evaluating the overall earthquake damage level of the structure after an earthquake by using strong ground motion data acquired by the structure. The method includes the steps that a multi-degree-of-freedom system structure is equivalent to the single-degree-of-freedom system structure, and namely the multi-degree-of-freedom system with N layers is equivalent to the single-degree-of-freedom system, wherein the mass M[e] of the single-degree-of-freedom system is equal to the total mass of the multi-degree-of-freedom system; the maximum acceleration response of the equivalent single-degree-of-freedom system under the same earthquake ground motion effect is worked out; the ductility coefficient of the equivalent single-degree-of-freedom system under the same earthquake ground motion effect is worked out; damage index calculation is carried out; structural damage evaluation is carried out. By means of the method, the defects that large errors can be caused in a damage evaluation method based on modal parameters and time and labor are consumed and results are prone to divergence in a damage evaluation method based on physical parameters are overcome, and the overall earthquake damage level of the structure can be easily, quickly and effectively evaluated in a quantitative mode.

A misfire detection system and method for onboard diagnosis of engine performance detects an engine speed as a function of a rotational angle of the crankshaft, and determines crankshaft acceleration as a function of this angle based on the detected engine speed. In this manner, the power stroke acceleration of each cylinder is determined and ranked. After excluding the greatest acceleration, the accelerations of a group of consecutively ordered cylinders including the second greatest acceleration are averaged to produce an assessment level against which the remaining lower-ranked cylinders are evaluated to detect misfires.

The invention discloses a space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration, and belongs to the technical field of robot jitter suppression. The method aims at solving the problems that an existing robot system is prone to residual jitter, tracing accuracy is not high, and a robot can not be accurately positioned; the robot is not stable in the operation process; task execution time of the robot is prolonged due to time delay; the calculated amount is large, and the requirement for operational capacity of a controller of the robot is high. The method includes the steps that the minimum execution cycle of a trajectory section is estimated according to input expected displacement and the maximum accelerated speed limit; a finial trajectory cycle is determined according to the calculated minimum execution cycle and a given trajectory cycle; a minimum-order jitter cycle, of a robot system, determined at an initial joint angle is calculated according to kinetic and dynamic parameters of the robot and robot joint rigidity parameters; a corresponding trajectory planning method is selected according to the trajectory cycle, accelerated speed time and the jitter cycle. The method is suitable for the field of robot jitter suppression.

The invention provides an Akima spline fitting based look-ahead interpolation method. The method is characterized in that the Akima spline fitting is that the parameters corresponding to each interpolation point are calculated by the centripetal parameterization method, and then the data points are fitted into a smooth Akima spline by the Akima five-point interpolation method; the look-ahead interpolation is that different values are returned for real-time interpolation by the look-ahead interpolation calculation according to the processing precision requirement, the programming speed of a numerical control system and the maximum speed information; the real-time interpolation is that the real-time feeding speed is adjusted according to the look-ahead interpolation returning value, then a structural equation is created according to the known Akima spline equation and interpolation cycle and other information, then the primary iteration value of the next interpolation method is predicated, and finally the interpolation parameters are accurately calculated by the newton iteration method. According to the method, the data points to be processed are fitted through the Akima spline, so that the actuating efficiency is increased, the smoothness is high, the fitting precision is improved while the interpolation real-time performance is ensured, the accuracy and flexibility are improved, and the actual state of a workpiece can be restored to the maximum.