62 results about "Mobility control" patented technology

The embodiment of the invention relates to the technical field of robots, and discloses a robot trajectory control method and system. The robot track control method comprises the steps that in response to dragging external force applied by an operator, the dragging force is estimated according to external force torque; the displacement deviation value of the robot is obtained based on an admittance control model and the dragging force; the robot is controlled to operate according to the displacement deviation value and the current tail end position; and the joint speed of the robot is obtained in real time, and when the joint speed is larger than a preset speed value, reverse compensation is conducted on the joint speed. According to the scheme of the embodiment of the invention, the reliability, safety and practicability of dragging teaching can be improved.

The invention relates to the technical field of greenhouse gas emission reduction, and discloses a gas injection method for improving coal seam carbon dioxide sequestration efficiency, which comprises the following steps: S1, reservoir evaluation and well pattern deployment; s2, multi-slug alternate injection is carried out; s3, intermittent injection-production operation is carried out; s4, long-term storage monitoring; and S5, stability maintenance measures are taken. According to the method, through an innovative'carbon dioxide-nitrogen-carbon dioxide 'multi-slug alternate injection process and an optimized well pattern deployment strategy, the problems of gas fingering and fluid channeling caused by strong heterogeneity of the coal seam are effectively solved, and particularly, by means of the low viscosity and weak adsorption characteristics of the nitrogen buffer slug, the coal seam gas density is improved, and the coal seam gas density is improved. The carbon dioxide preferentially enters a high-permeability channel and forms a mobility control barrier, so that the subsequently injected carbon dioxide is forced to turn to a medium-low-permeability area, and the swept volume and the contact area of the carbon dioxide in the coal seam are obviously enlarged.

The application provides an access backhaul end-to-end system, comprising a wireless backhaul module, a backhaul base station and a backhaul core network module; the wireless backhaul module is used for obtaining service data and signaling data forwarded by an original access base station, and performing air interface protocol encapsulation on the service data and the signaling data to obtain air interface interaction data packets; the backhaul base station is used for demodulating the air interface interaction data packets, encapsulating demodulated data based on a service interface protocol and a signaling interface protocol, and transmitting signaling data and service data of the backhaul base station obtained to the backhaul core network module; and the backhaul core network module is used for demodulating data of the backhaul base station and transmitting to a target receiving network according to a corresponding destination address. The access backhaul end-to-end system disclosed by the application makes backhaul control more flexible, facilitates mobility control, and can further enhance backhaul quality and control means.

A mobility control device comprises a communication circuit and a processor. The processor determines at least one country of a first location, a second country of a second location, a third country on a first route along which a mobility device moves from the first location to the second location, or any combination thereof. The processor receives from a server the respective conditions associated with the provision of media content in at least one of the first country, the second country, the third country, or any combination thereof. The processor determines whether to accept all the respective conditions, based on the fact that at least some of the respective conditions are not identical.The processor provides the media content regardless of whether the mobility device enters at least one of the second country, the third country, or any combination thereof.

Systems, methods, and devices include a robotic scanning device for performing a test scan on a target surface. The robotic scanning device has a sliding axis-based mobility system, which includes one or more slide rails slidably coupled together by a control housing. A first pair of actuatable coupling feet extend from the first slide rail; and a second pair of actuatable coupling feet extend from the second slide rail, thus forming a four-foot configuration. A scanning system disposed on the sliding axis-based mobility system can collect, receive, and transmit scanning information (e.g., ultrasonic data). Moreover, the robotic scanning device includes an integrated computing device including a control system operable to perform various mobility maneuvers. The mobility maneuvers can involve movements generated by controlled actuation of the sliding axis-based mobility system, causing the slide rails to move, and attaching and detaching the actuatable coupling feet to the target surface.

This terminal individually or compositely configures, in a lower layer, a first event used to trigger a measurement report based on a terminal altitude and a second event used to trigger a measurement report in accordance with mobility control by the lower layer, and determines whether the content of at least one of the first event and the second event is satisfied. When the content of at least one of the first event and the second event is satisfied, the terminal transmits the measurement report to a network.

The present application relates to the technical field of oilfield exploration and development, and particularly relates to a heterogeneous viscosity-reducing composite balanced displacement system and an injection method thereof. The system comprises a heterogeneity regulator, a viscosity reducer and a mobility control agent. The heterogeneity regulator is composed of a dispersed gel system and / or gel particles. The viscosity reducer is a solution of an anionic-nonionic amphoteric surfactant. The mobility control agent is a polymer solution. By injecting the heterogeneity regulator first, the heterogeneous viscosity-reducing composite balanced displacement system can block the dominant seepage channel and achieve wave spreading in the near-wellbore zone. By injecting the viscosity reducer and the mobility control agent later, the system can achieve integrated efficient balanced displacement and substantially improve the recovery rate in the deep far-wellbore zone.

According to the present invention, when a terminal receives a random access response to a random access preamble transmitted on the basis of a command by a downlink control channel, the terminal transmits, to a candidate cell serving as a transition destination for terminal-initiated mobility control performed by a lower layer, an acknowledgement indicating that a timing adjustment value to be applied to the candidate cell in the lower-layer terminal-initiated mobility control has been acquired from the random access response.

The embodiment of the present application relates to the technical field of robots, and discloses a robot trajectory control method and system. The robot trajectory control method comprises the following steps: in response to a dragging external force applied by an operator, estimating the dragging force according to the external force moment; obtaining the displacement deviation amount of the robot based on a mobility control model and the dragging force; controlling the robot to operate according to the displacement deviation amount and the current end position; and obtaining the joint speed of the robot in real time, and performing reverse compensation on the joint speed when the joint speed is greater than a preset speed value. The scheme of the embodiment of the present application can improve the reliability, safety and practicability of the dragging demonstration.

The application provides a method and device for intelligent docking and adaptive tightening of a flange based on multi-sensor fusion. Flange hole position information is extracted from a flange image collected by a two-dimensional vision sensor to control a robot arm to perform initial coarse positioning of the flange. Contact force feedback information collected by a six-dimensional moment sensor mounted at the end of the robot arm is obtained in the contact stage, and a mobility control model is established and the docking pose of the robot arm is adjusted to complete intelligent docking. In the bolt tightening process, the tightening speed is dynamically adjusted using torque-angle correlation data feature points of the tightening shaft. The application improves the flexibility and safety of flange docking through multi-sensor fusion of vision and force sensation, and realizes adaptive regulation and control of the tightening process, effectively avoiding problems such as docking jamming and uneven pre-tightening force.

This terminal receives, in mobility control in a lower layer, candidate cell information in which at least one of first identification information and second identification information relating to the necessity of resetting the lower layer is set. The terminal determines the necessity on the basis of the first identification information or the second identification information.

The present disclosure relates to a control method of a mechanical arm, a mechanical arm and a surgical robot, the method comprising: collecting a torque applied by an operator on a control end of the mechanical arm; inputting the collected torque into a Jacobian matrix of the mechanical arm to determine a torque mapped to a redundant joint of the mechanical arm, performing mobility control according to the torque at the redundant joint to obtain a rotation angle of the redundant joint; obtaining an included angle formed by the redundant joint projected on a surface of an adjacent joint by the control end of the mechanical arm; collecting a torque applied by the operator on the control end of the mechanical arm, judging a direction of the torque compared with a displacement direction of a landmark position, generating a lifting signal if the displacement direction is lifting, generating a lowering signal if the displacement direction is lowering; determining a rotation direction of the redundant joint in combination with the received lifting signal or lowering signal, and rotating the redundant joint according to the rotation direction and the rotation angle.

This terminal executes terminal-triggered mobility control via a lower layer, and controls, on the basis of an order via a downlink control channel, transmission of a random access preamble on the assumption of reception of a random access response. When the terminal cannot receive the random access response and a random access procedure fails, the terminal transmits, to a network, failure information indicating that the random access procedure has failed.

A mobility control apparatus includes a communication circuit and a processor. The processor determines at least one of a first country of a first location, a second country of a second location, a third country in a first route along which a mobility device moves from the first location to the second location, or any combination thereof. The processor receives respective terms associated with providing media content in at least one of the first country, the second country, the third country, or any combination thereof from a server. The processor determines whether to receive an agreement for all the respective terms, based on at least some of the respective terms not being the same as each other. The processor provides the media content, regardless of whether the mobility device enters at least one of the second country, the third country, or any combination thereof.

A terminal according to the present invention sets, in a lower layer, a first event used as a trigger for a measurement report when passing through a non-terrestrial network and a second event used as a trigger for a measurement report in accordance with mobility control by the lower layer, and determines whether the content of at least one of the first event and the second event is satisfied. If the content of at least one of the first event and the second event is satisfied, the terminal transmits the measurement report to the network.

Upon reception of a random access response to a random access preamble transmitted on the basis of a command by a downlink control channel, this terminal transmits a response of acknowledgement, indicating that the random access response has been received, to a candidate cell at the destination of transition by terminal-triggered mobility control using a lower layer.

A terminal is provided with: a reception unit that receives a cell handover command in mobility control based on a lower layer; and a control unit that performs uplink synchronization with one of the plurality of transmission / reception points of the target cell before receiving the cell handover command, and performs uplink synchronization with the remaining transmission / reception points of the plurality of transmission / reception points after receiving the cell handover command.

A six-degree-of-freedom hybrid admittance control method that combines motion accuracy and stability includes: measuring the contact force between the robot and the environment, and obtaining the actual contact force after zero-point correction, gravity and inertia compensation. b F e By judging | b F e |≤10 ‑3 The validity of the condition is determined by whether there is an external force input; if there is no external force input, i.e., | b F e |≤10 ‑3 When an open-loop six-degree-of-freedom admittance control is used, the calculated value from the previous control cycle is taken as the current state for the current cycle; when there is an external force input during human-machine interaction, i.e., | b F e |>10 ‑3 In this case, closed-loop six-degree-of-freedom admittance control is employed, using measured joint positions and velocities to calculate the current state and solve for admittance control. Beneficial technical effects include: enabling six-degree-of-freedom admittance control of position and attitude; achieving real-time following without external force and contact stability with external force; and smooth and stable switching between the presence and absence of external force.

This terminal transmits a random access preamble assuming the reception of a random access response, on the basis of a command by a downlink control channel . If the random access response is triggered in a candidate cell of a transition destination by terminal-initiated mobility control by a lower layer, and identification information of the random access preamble corresponding to an index of the random access preamble is acquired within a specific period, it is assumed that a random access procedure has been completed.

A communication method used in a mobile communication system includes performing, at a user equipment, wireless communication with a network node using one or more network slices; and transmitting, at the user equipment, slice-related information for performing mobility control of the user equipment to the network node. The slice-related information includes at least one item selected from a group consisting of first information indicating a probability of use of each of the network slices, second information indicating a priority of each of the network slices, and third information indicating a traffic mode of each of the network slices.

This application discloses a mobility control method, a terminal, and a network side device, pertaining to the field of communication technologies. The mobility control method in embodiments of this application includes: A terminal performs one of the following when the terminal is configured with a first cell and at least one candidate cell: determining a selected cell from the at least one candidate cell based on a network energy saving status of the first cell and / or a network energy saving status of the at least one candidate cell, and applying a conditional reconfiguration parameter corresponding to the selected cell; or performing a first operation when a candidate cell of the at least one candidate cell is in a network sleep state. The first operation includes at least one of the following: deleting a conditional reconfiguration parameter corresponding to the candidate cell in the network sleep state; skipping or delaying a conditional reconfiguration evaluation operation on the candidate cell in the network sleep state; or indicating the candidate cell in the network sleep state to a network side.

Methods, systems, and devices for wireless communications are described. A user equipment (UE) may select, for a first protocol stack, a first network and a first radio access technology (RAT), and may obtain, at a second protocol stack, a list of restricted network and RAT combinations that are based on the selection of the first network and the first RAT at the first protocol stack. In some aspects, the UE may disable a selection at the second protocol stack for one or more combinations included on the list of restricted network and RAT combinations. In some aspects, the UE may determine a selection of a second network and a second RAT for the second protocol stack that is included on the list of restricted network and RAT combinations, and may trigger a deactivation of the second protocol stack or a selection away from the second network and the second RAT.

This wireless base station executes mobility control in a lower layer, and transmits, to another wireless base station, cell information indicating cells using the same configuration in the lower layer.

This terminal transmits a random access preamble on the basis of a command by a downlink control channel. When in a candidate cell of a transition destination by terminal-initiated mobility control by a lower layer, the terminal acquires a timing adjustment value to be applied to the candidate cell according to the command, and starts a timer for measuring a validity period of the timing adjustment value.

The application relates to a fuzzy self-adaptive constant force polishing method, system and device, wherein the method comprises the following steps: based on a force sensor digital signal received in a workpiece polishing process, actual contact force in the polishing process is calculated in real time; based on the actual contact force, a damping coefficient of a mobility control model is adjusted through a fuzzy control theory; based on the actual contact force, the mobility control model is optimized through an adaptive control theory; and through the adjusted and optimized mobility control model, a target polishing track of a polishing tool is updated. Through the application, the problem of large tracking error of workpiece automatic polishing is solved, the best force control parameter dynamic rapid adjustment based on a fuzzy control algorithm is realized, and real environment position and stiffness compensation based on an adaptive control algorithm is realized, so that the effect of eliminating steady-state error and improving workpiece polishing precision is achieved.

The application provides an experimental measurement method and device for evaluating deep migration of a foamed formation, and a storage medium, and belongs to the technical field of oil and gas field development engineering and carbon storage engineering. The method comprises the following steps: adopting a variable-diameter core displacement to simulate the flow condition of a sudden drop of a flow rate and a pressure gradient when a formation injection fluid flows radially from a near-wellbore zone to a deep part of the formation, so as to make up for the defect that a conventional equal-diameter core displacement cannot simulate the flow condition; measuring the steady-state pressure gradient of each part of the variable-diameter core under a certain injection flow rate sequence, so as to effectively measure the critical pressure gradient and the critical flow rate condition required for foam generation, transportation and stable maintenance, and to evaluate the influence mechanism and law of each factor on the critical condition; and the method can be used for predicting the migration distance of the deep part of the foamed formation, and evaluating the feasibility and dynamic behavior law of large-scale foam mobility control, and has important significance for guiding and optimizing the engineering application of the foam mobility control technology in the fields of CO2 flooding and geological storage and deep profile control.

Methods, systems, and devices are described for wireless communication in which a user equipment (UE) may operate using two or more access control components that share a radio frequency (RF) component. The UE may adjust one or more reported measurement parameters based on the effects due to operation using the shared RF component. An estimated channel capacity of the serving cell and the neighboring cell may be determined and adjusted based on a concurrency loss associated with using the shared RF component. Based on the impact on the channel capacity, RSRP or ranking in the measurement report may be adjusted to reflect concurrency loss. Adjustments to reported measurement parameters may also be based on priorities of associated communications. Further, measurement objects of a measurement report may be ranked for measurement scheduling based on concurrency type, bandwidth, priority, or any combination thereof.

The present disclosure provides an apparatus for tibial high osteotomy surgery and a control method thereof. The mechanical arm end of the apparatus is provided with a surgical instrument, and the control method comprises: constraining an initial action force by using a virtual clamp to obtain a target action force; determining a mobility parameter of a mobility control model based on the mobility control model, according to the current state of the surgical instrument, the target action force, and the speed of the surgical instrument at the current time; and determining the speed of the surgical instrument at the next time based on the mobility parameter and the target action force, so as to control the movement of the surgical instrument based on the speed at the next time.

The application provides a master-slave teleoperation robot control method and a master-slave teleoperation system. The method provided by the application comprises the following steps: a master device acquires a first position increment of the master device and sends the first position increment to a slave robot in response to a remote control operation of a user; the slave robot determines a second position increment of the slave robot according to the first position increment, and calculates a first virtual force for guiding movement of the slave robot according to the second position increment, an initial position and a current position; the slave robot determines a first total driving force according to a current interaction force collected by a force sensor and the first virtual force, and determines an expected pose at a next moment according to the first total driving force by using a mobility control algorithm, and then controls movement of the slave robot according to the expected pose. By introducing force feedback and mobility control algorithm, the application realizes compliant control and stable response of movement of the slave robot in the master-slave teleoperation system, and can effectively improve operation accuracy.

The method and device for creating service area restriction information can be applied to 4G and 5G network systems, and the method comprises the following steps: a core network element creates service area restriction information of a terminal device according to a broadcast tracking area identifier (TAI) corresponding to a public land mobile network (PLMN) selected by the terminal device. Through implementation of the embodiments of the present disclosure, the problem of service area restriction conflict caused by existing rules and the problem of invalid restriction can be solved, so that the mobility control capability in a non-terrestrial network (NTN) communication scenario can be enhanced, and the application scenario of NTN communication is further expanded.