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35 results about "Moment vector" patented technology
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The axis of the moment vector passes through the moment center and is perpendicular to the plane containing and . The magnitude of moment is measured in units of force times length (e.g., lb·in or N·m).
Satellite posture all-round controlling method based on magnetic moment device and flywheel
InactiveCN101934863ASimple configurationImprove securityCosmonautic vehiclesSpacecraft guiding apparatusMagnetic tension forceControl system
The invention discloses a satellite posture all-round controlling method based on a magnetic moment device and a flywheel, relating to an all-round posture controlling method for completing a satellite orbit-injection phase by using the magnetic moment device and the flywheel. The invention solves the problems of low reliability and short service life of the traditional satellite posture all-round controlling technology. The satellite posture all-round controlling method comprises the following steps of: 1, setting controller parameters according to the requirement of a control system; 2, measuring a geomagnetic field intensity vector Bb, a satellite angular velocity vector Wb and a solar azimuth, and sending the measured data to a satellite controller; 3, calculating an expected control moment vector Tm and a control magnetic moment vector Mm, and sending the control magnetic moment vector Mm to the magnetic moment device; 4, acquiring an effective solar azimuth vector Alfa; 5, calculating a control input moment vector Tw and sending to the flywheel; and 6, jointly completing the satellite posture all-round control by the magnetic moment device according to the control magnetic moment vector Mm and the flywheel according to the control input moment vector Tw. The invention is suitable for the field of satellite posture control.
Owner:HARBIN INST OF TECH
Flywheel based attitude maneuvering control device and method for successive approaching of satellite rounding instantaneous Euler shaft
InactiveCN101941528AExtended service lifeLow costSpacecraft guiding apparatusData controlSystem requirements
The invention discloses flywheel based attitude maneuvering control device and method for successive approaching of a satellite rounding an instantaneous Euler shaft and relates to control device and method for satellite attitude adjustment. The invention is provided for solving the problems of great fuel consumption, short service life of a satellite, complex configuration of an air injecting control system and difficult reduction of size and weight of the satellite existing in the realization of satellite wide-angle attitude maneuvering by adopting air injecting control. The method comprises the following steps of: setting a parameter of the control device according to the system requirement of the control device and obtaining attitude deviation angular velocity according to a motion equation; and expressing a relationship of the instantaneous Euler shaft and a deviation angle of the current attitude and a target attitude of the satellite by an attitude error quaternion to obtain a control signal, calculating to obtain a flywheel control input moment vector calculated by a satellite controller, to be used as a data control command as a basis for generating moment by a back action flywheel. The invention does not consume other resources on the satellite or consume fuel, prolongs the service life of the satellite and can be widely suitable for various satellites needing attitude maneuvering.
Owner:HARBIN INST OF TECH
Multi-rotor aircraft with rolling function
The invention relates to the fields of an airplane model and an aircraft, in particular to a multi-rotor aircraft with a rolling function. The multi-rotor aircraft comprises three circular rings, a connecting arm, six power units, an energy source, a flight control system, a load, a machine body and a machine body upper cover, wherein rotating centers of three power units are in the same flat surface, the rotating centers of the other three power units are in the other flat surface, the two flat surfaces are parallel but not are coincided, and lift vectors and moment vectors generated by the six power units are mutually orthogonal. Force vector and torque in any direction can be generated by regulating the rotating speed and the direction of rotors of the six power units, the decoupling of motion and gesture of the aircraft can be realized, different motion and gesture variations can be finished by the aircraft, the aircraft can move forwards along the ground or cross obstacles by matching with the circular rings, and the aircraft has extremely high flexibility and controllability.
Owner:CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
Object identification method for affine constant moment based on key point
InactiveCN101464948AImprove accuracyPrecise positioningCharacter and pattern recognitionFeature extractionObject based
A method for identifying objects based on affine invariant moments of key points comprises the steps as follows: (1) image pretreatment: processing primitive collecting images so as to reduce influence of invalid information such as noises on the following process, enhance useful information and improve the image intensification; (2) main contour extraction: extracting the main contour to object edge images so as to obtain edge images of an outer contour and filter an interior contour and useless contour branches; (3) key frame extraction: calculating a mass center of the target at first based on target gray images dissected, then extending a plurality of rays to the periphery taking the mass center as an extension point so as to seek for the closest gray extreme point in each ray direction and take all the gray extreme points as the key point assembly; (4) invariable characteristic extraction of affine: extracting affine invariable characteristics of the main contour of the objects and calculating of multistage affine invariable moment vector; (5) object identification: identifying the objects through the characteristic proposed in the step (4) and outputting recognition result.
Owner:BEIHANG UNIV
Simply-supported piece damage identification method based on strain statistical moment
InactiveCN104517036AImprove Noise RobustnessHigh precisionSpecial data processing applicationsElement modelEngineering
The invention discloses a simply-supported piece damage identification method based on a strain statistical moment. The simply-supported piece damage identification method comprises the following steps: (1) uniformly distributing a plurality of strain gages on a simply-supported piece as measuring points and respectively obtaining strain statistical moment vectors of all the measuring points of the simply-supported piece under undamaged and damaged states, and determining a damaged part on the simply-supported piece by using a difference value between the strain statistical moment vectors; (2) establishing a finite element model and dividing a finite element unit; simulating a power process the same as the step (1) to obtain an analysis vector formed by the strain statistical moments of all nodes under a simulated state; and (3) carrying out model revising by using a least square method according to a damaged part positioned by the step (1) to obtain a damage degree of the potential damage finite element model. The advantages that the strain statistical moment is sensitive to partial damages and also has a good anti-noise capability are utilized so that the change of the simply-supported piece before and after damages can be directly used for positioning the structure damages; the good anti-noise capability of the strain statistical moment can be used for effectively improving the damage degree identification precision.
Owner:HUAZHONG UNIV OF SCI & TECH
Sensorless mechanical arm collision detection method
ActiveCN108015774AEliminate the effect of joint torqueAvoid misjudgmentProgramme-controlled manipulatorHat matrixMomentum
The invention discloses a sensorless mechanical arm collision detection method. The method comprises the steps that a rectangular projection matrix of the joint moment vector generated by the load ofthe tail end of a mechanical arm to the mechanical arm is calculated, and a moment transformation matrix of the load of the tail end of the mechanical arm is obtained according to the rectangular projection matrix; a mechanical arm body kinetic model is set up, a mechanical arm momentum deviation observer is set up according to various items in the kinetic model, the joint external moment vector of the mechanical arm is obtained through the momentum deviation observer, and the collision moment of the mechanical arm is calculated out according to the external moment vector and the moment transformation matrix of the load of the tail end of the mechanical arm; and the collision moment of the mechanical arm and a preset threshold value are compared, and whether a collision happens to the mechanical arm or not is judged. According to the collision detection method, collision detection of the mechanical arm with the load at the tail end can be achieved, and the method is simple, efficient and low in cost.
Owner:北京艾利特科技有限公司
Method for regulating and controlling posture of spacecraft by flow velocity and actuating mechanism thereof
InactiveCN102530269AAvoid wear and tearAvoid Static and Dynamic ImbalancesSpacecraft guiding apparatusSpacecraft attitude controlAngular velocity
The invention relates to a method for regulating and controlling a posture of a spacecraft by the flow velocity and an actuating mechanism thereof and belongs to the field of control to the posture of the spacecraft. The method comprises the following steps that: according to a difference value of a current posture and a desired posture, a three-axis control moment vector required by the spacecraft is obtained, and according to a principle of the momentum moment, a relation between the three-axis control moment vector and the variation of a liquid fuel flowing angular velocity is obtained; according to the working principle of ring-shaped pipe liquid angular momentum exchange equipment, a relation between the liquid fuel flowing angular velocity and the change rate of a velocity vector inthe tangential direction of a pipe when liquid fuel flows is obtained; according to corresponding generated required conditions, the power of the pressure pump is controlled to apply work to the liquid, so that the flow velocity of the liquid is changed, and thus, the angular momentum H of a mass center of the spacecraft is changed and the posture of the spacecraft 10 is changed; and the changed posture is measured by a sensor and is compared with the desired posture and the steps are circularly repeated from the beginning of the step 1. The actuating mechanism for regulating and controlling the posture of the spacecraft by the flow velocity, which is used for implementing the method disclosed by the invention, comprises a liquid filled ring-shaped pipe, the pressure pump, an oil storage tank, a valve, a liquid outlet connecting pipe, a liquid return connecting pipe and a control mechanism.
Owner:BEIHANG UNIV
Six-degree freedom motion control system for operating type ROV
The invention, which belongs to the technical field of motion control of the unmanned underwater robot, particularly relates to a six-degree freedom motion control system for operating type remotely operation vehicle (ROV). The method comprises: an ROV hydrodynamic model is established; controlling forces and moment vectors of an operating ROV at six freedom directions are established; a motion state of the operating type ROV in a body coordinate system {b} is calculated; a kinematical equation of an ROV is established; an angular speed motion state of the ROV body coordinate system is converted into one expressed in a geodetic coordinate system; an angular displacement state of the ROV body coordinate system is converted into one expressed in the a geodetic coordinate system; and according to an inputted ROV expected course angle in the geodetic coordinate system, an ROV expected course angel in the body coordinate system is calculated. According to the invention, the process of controlling the motion and attitude changes of the operating type ROV by an external control input can be simulated vividly. The method has the characteristic of capable of simulating various motion and control parameter changing processes of an ROV during the underwater working process vividly.
Owner:HARBIN ENG UNIV
Anti-distortion electromagnetic sensor method and system
ActiveUS20080174303A1Transformers/inductances coils/windings/connectionsSurgical navigation systemsDriving currentClassical mechanics
A source for inducing an electromagnetic magnetic field, comprising: a substrate, a conductive layer coupled to the substrate, and a planar coil coupled to the substrate, wherein the planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, and wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil. Also provided are a method of electromagnetic tracking, a method of manufacture of a planar coil, and an electromagnetic sensor.
Owner:STRYKER EURO OPERATIONS HLDG LLC
Vehicle three-dimensional centroid detection method
ActiveCN110595688AAchieve steady state drivingEasy to counterweightStatic/dynamic balance measurementStress pointMathematical model
The invention discloses a vehicle three-dimensional centroid detection method, which comprises the following steps of: aiming at the problem that the stability of a vehicle is influenced by a centroidposition in the moving process, deducing a gravity center calculation formula of a complex geometry in principle, and establishing a mathematical model; taking contact points of four wheels of the vehicle and the ground as measuring points according to the established mathematic model, establishing coordinate positions based on the measuring points, detecting stress at stress points, deducing a gravity center three-dimensional coordinate position calculation formula and establishing a centroid detection model according to a principle that a moment vector of three-dimensional coordinates is '0', and giving force measuring points and coordinate values; and acquiring various parameters of the vehicle in the walking operation by means of sensors, transmitting the parameters to a computer simultaneously, and outputting signals to adjust walking operation parts of the vehicle based on a centroid position detected according to the centroid detection model and the acquired parameters by meansof the computer, and realizing steady-state driving of the vehicle. The vehicle three-dimensional centroid detection method can basically meet actual use requirements and design objectives.
Owner:JIANGLU MACHINERY & ELECTRONICS GROUP
Control moment gyro singularity avoidance method based on instruction moment vector adjustment
ActiveCN105388902AEasy to chooseSolve the "locked" problemCosmonautic vehiclesCosmonautic partsAttitude controlAngular velocity
A control moment gyro singularity avoidance method based on instruction moment vector adjustment comprises the steps of first acquiring a frame angular vector of control moment gyros, then calculating a Jacobian matrix, a singularity metric value and an instruction moment vector adjustment coefficient of a control moment gyro motion equation, next obtaining a control moment instruction adjustment vector and a zero motion singularity avoidance strength coefficient based on a control moment instruction given by an attitude controller, and finally obtaining a control moment gyro frame angular velocity instruction vector based on the control moment instruction adjustment vector and the zero motion singularity avoidance strength coefficient so as to control the moment gyro frame angular velocity. The invention overcomes the situation in which a moment instruction coincides with a particular direction thereof when a frame is "locked", thereby making separation impossible; solves the problem of a "locked" frame angle during singularity avoidance in the prior art; and achieves effective avoidance of the control moment gyro singularity.
Owner:BEIJING INST OF CONTROL ENG
Method for accurately obtaining antenna radiating gap active admittance of planar slotted array
InactiveCN101800360AImprove extraction efficiencyThe calculation result is accurateAntenna arraysElectrical measurementsSoftwareAdmittance
The invention provides a method for accurately obtaining antenna radiating gap active admittance of a planar slotted array. The method has high obvious admittance extracting efficiency and accurately obtains the active admittance of each gap of an antenna array. The method comprises the following steps of: (1) analyzing and calculating the field distribution of a planar slotted array radiating gap by using a moment vector method, establishing field equations on the upper surface and the lower surface of the gap according to the continuity of a magnetic field, converting an integral equation into a matrix form by using a Rooftop primary function and a pulse verifying function and solving the equation to obtain the distribution condition of the field in the gap position; (2) obtaining the active admittance of the gap by a forward and backward scattered field in the gap position; (3) respectively carrying out simulating analysis on square and circular gaps by adopting HFSS (High Frequency Structure Simulator) software, obtaining an equivalent relation between the square gap and the circular gap, and solving the length correction factor c between the square gap and the circular gap by the following relational expression; and (4) correcting the circular gap length which corresponds to the active admittance and is calculated by using the moment vector method by the solved correction factor c.
Owner:10TH RES INST OF CETC
Liquid crystal meter pattern visual detection method based on normalization Zernike moment and gray matching
ActiveCN104021558AGuaranteed stabilityCalculation stableImage analysisCharacter and pattern recognitionFeature vectorVisual perception
The invention relates to liquid crystal meter pattern visual detection methods, and provides a liquid crystal meter pattern visual detection method based on normalization Zernike moment and gray matching. The method aims to solve the problems that image error detection rate is high, flexibility is poor, and images are rotated and zoomed. The method includes the implementation steps that 1, an image to be detected and a template image are obtained; 2, a horizontal moving image to be detected and a horizontal moving template image are generated; 3, the Zernike moment of the horizontal moving image to be detected and the Zernike moment of the horizontal moving template image are calculated; 4, a scale normalization moment Znm is generated; 5, a moment vector Zsrc and a moment vector Ztem are established; 6, a determining feature vector J is established; 7, the degree of gray matching is obtained; 8, an updated determining feature vector J' is obtained; 9, the percent of similarity is obtained; 10, a detection result is obtained. The method is applied to the field of visual detection on liquid crystal meter patterns.
Owner:宁波智能装备研究院有限公司
Aircraft aerodynamic characteristic on-line identification method based on backtracking self-adaptive algorithm
ActiveCN107976296ALower requirementSimplify the design processAerodynamic testingAircraft components testingLow demandAngular velocity
The invention provides an aircraft aerodynamic characteristic on-line identification method based on a backtracking self-adaptive algorithm. The aircraft aerodynamic characteristic on-line identification method comprises steps: (1) equivalently transforming the product term of the inverse of a rotational inertia matrix and a moment vector in an aircraft angular velocity kinetic equation into a Phi<T>(k)Theta* form, carrying out discretization processing on the transformed product term, and obtaining an aircraft angular velocity difference equation; wherein Phi<T>(k) represents a signal vector,Theta* represents a parameter truth vector, and the parameter truth vector is a column vector including an aerodynamic characteristic parameter to be identified; (2) establishing a mathematical modelof an angular velocity estimation virtual system, and making an angular velocity estimation error and a parameter estimation error be Phi<T>(k)[Theta(k)-Theta*], wherein Theta(k) represents an estimated value of the parameter truth vector; (3) establishing a backtracking performance formula of the angular velocity estimation error, combining a backtracking updating rule to obtain Phi (k) in realtime, resolving the Theta(k) by means of the backtracking self-adaptive algorithm, making the angular velocity estimation error omega-wave(k) approach zero, and resolving the aerodynamic characteristic parameter to be identified according to the value of the Theta(k). The aircraft aerodynamic characteristic on-line identification method has a lower calculated amount and a lower demand on the computer, and has operability.
Owner:BEIJING LINJIN SPACE AIRCRAFT SYST ENG INST +1
Anti-distortion electromagnetic sensor method and system
ActiveUS7508195B2Surgical navigation systemsTransformers/inductances coils/windings/connectionsDriving currentClassical mechanics
A source for inducing an electromagnetic magnetic field, comprising: a substrate, a conductive layer coupled to the substrate, and a planar coil coupled to the substrate, wherein the planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, and wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil. Also provided are a method of electromagnetic tracking, a method of manufacture of a planar coil, and an electromagnetic sensor.
Owner:STRYKER EURO OPERATIONS HLDG LLC
Electromagnetic analysis method on the basis of matrix Taylor series expansion
ActiveCN105630740ASpeed up the solutionFast convergenceComplex mathematical operationsScattering cross-sectionAlgorithm
The invention discloses an electromagnetic analysis method on the basis of matrix Taylor series expansion. The electromagnetic analysis method comprises the following steps: 1) carrying out target modeling and dispersing, determining strong interaction and weak interaction matrix ranges according to grouping information, and constructing a preconditioned matrix according to near field information; 2) using a strong interaction matrix to normalize an equation, carrying out the Taylor series expansion on the normalized equation, decomposing scattering current to be solved into one series of current summation forms, and gradually approximating to the scattering current through a nested solving method until solving accuracy is achieved; and 3) utilizing the scattering current obtained in 2) to determine a target radar scattering cross section. In a solving process, a sparse approximate inverse precondition is used to quicken an iteration process, and meanwhile, a fast multi-pole algorithm is used to quicken moment vector multiplication. The method has the characteristics of being quick in convergence.
Owner:NANJING UNIV OF SCI & TECH
Electromagnetic monitoring and control of a plurality of nanosatellites
ActiveUS9846023B1Electric/magnetic position measurementsPosition fixationMonitoring and controlEngineering
A method for monitoring position of and controlling a second nanosatellite (NS) relative to a position of a first NS. Each of the first and second NSs has a rectangular or cubical configuration of independently activatable, current-carrying solenoids, each solenoid having an independent magnetic dipole moment vector, μ1 and μ2. A vector force F and a vector torque are expressed as linear or bilinear combinations of the first set and second set of magnetic moments, and a distance vector extending between the first and second NSs is estimated. Control equations are applied to estimate vectors, μ1 and μ2, required to move the NSs toward a desired NS configuration. This extends to control of N nanosatellites.
Owner:NASA
A method for acquiring handwriting information
ActiveCN102279709ACorrect and valid output dataAchieve acquisitionForce measurementWork measurementHandwritingInformation security
The invention provides a method for obtaining handwriting information. In the method, a five-dimensional force / moment sensor module, an embedded microprocessor module and a true-color display module which are arranged in a handwriting device are utilized. The method comprises the following steps of: firstly initializing the five-dimensional force / moment sensor module, wherein the initialization comprises power supplying, zero-point modifying and interface drive requirement and temperature compensating; acquiring numerical values output by the five-dimensional force / moment sensor, thus obtaining five-dimensional force handwriting force data; performing decoupling operation on the five-dimensional force handwriting force data, thus obtaining real-time three-dimensional handwriting vector information numerical values and two-dimensional handwriting moment vector information numerical values; and performing corresponding formula calculation, thus obtaining real-time two-dimensional handwriting coordinate information and obtaining complete handwriting information. The method can be used for solving the problems that the handwriting information cannot be completely obtained in the existing handwriting information obtaining method, therefore, the security of signature information is improved, and the method provides a new guarantee means for ensuring the information security of important document signing in e-government or contract signing in e-business, and the like.
Owner:HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Vectored-thrust propulsor
ActiveUS20140223915A1Easy to operateImprove effectivenessPropulsive elementsRocket engine plantsLiquid mediumJet propulsion
A jet propulsor, for use in vehicles or other devices moving in a three-dimensional gaseous or liquid medium such as air or water, has a joint chamber and at least four flow passages which are connected to the chamber with one of their ends, have independently controllable reversible pressure units inside, and are provided with independently controllable nozzles on their other ends. The propulsor pumps gas or liquid from the environment through itself and, because of reaction forces, provides for simultaneously and independently controlled thrust and thrust moment in terms of their value / strength and direction. Spatial control of the thrust vectoring and conditional thrust moment vector can be provided for in the spatial range of a full solid angle.
Owner:IVANOV VLADIMIR E MR +1
Singular point judgment method based on singular geometric significance of control moment gyro group
PendingCN110990943AHigh precisionImprove reliabilityGeometric CADCosmonautic vehiclesGyroscopeControl system
The invention discloses a singular point judgment method based on singular geometric significance of a control moment gyro group. The method comprises the following steps: step 1, respectively calculating a moment vector and an angular momentum vector according to a frame angle, an initial moment vector and an initial angular momentum vector; 2, calculating a quasi-singular vector according to themoment vector; 3, calculating a singular coefficient according to the quasi-singular vector and the moment vector, and judging whether the frame angle is a singular point or not; 4, if the frame angle is not a singular point, ending the judgment; If the frame angle is a singular point, calculating a judgment coefficient, judging the type of the singular point, and ending the judgment. According to the method, the problems of complex singular point judgment operation and low operation rate of different control forces for rejecting the gyro group are solved; any two moment gyroscopes in the control moment gyroscope group are selected to judge whether any frame angle of different control moment gyroscope groups is a singular point or not in a coplanar state, and the type of the singular point is determined, so that the judgment calculation amount is simplified, and the precision and reliability of a control system are improved.
Owner:SHANGHAI AEROSPACE CONTROL TECH INST
Device and method used for executing Adam gradient descent training algorithm
ActiveCN107315570AFast executionReduce IO operationsConcurrent instruction executionDirect memory accessAlgorithm
The invention discloses a device and a method used for executing an Adam gradient descent training algorithm. The device includes a direct memory access unit, an instruction cache unit, a controller unit, a data cache unit and a data processing module. The method includes: firstly, reading a gradient vector and a to-be-updated value vector, and initializing first moment and second moment vectors and corresponding exponential decay rates at the same time; during each iteration, utilizing the gradient vector to update the first moment and second moment vectors, respectively calculating a first biased moment estimation vector and a second biased moment estimation vector, and utilizing the first biased moment estimation vector and the second biased moment estimation vector to update to-be-updated parameters, and continuing training until the to-be-updated parameter vector converges. By utilizing the device and the method, application of the Adam gradient descent algorithm can be realized, and the efficiency of data processing can be greatly improved.
Owner:CAMBRICON TECH CO LTD
Satellite posture all-round controlling method based on magnetic moment device and flywheel
InactiveCN101934863BSimple configurationImprove securityCosmonautic vehiclesSpacecraft guiding apparatusControl systemAngular velocity
The invention discloses a satellite posture all-round controlling method based on a magnetic moment device and a flywheel, relating to an all-round posture controlling method for completing a satellite orbit-injection phase by using the magnetic moment device and the flywheel. The invention solves the problems of low reliability and short service life of the traditional satellite posture all-round controlling technology. The satellite posture all-round controlling method comprises the following steps of: 1, setting controller parameters according to the requirement of a control system; 2, measuring a geomagnetic field intensity vector Bb, a satellite angular velocity vector Wb and a solar azimuth, and sending the measured data to a satellite controller; 3, calculating an expected control moment vector Tm and a control magnetic moment vector Mm, and sending the control magnetic moment vector Mm to the magnetic moment device; 4, acquiring an effective solar azimuth vector Alfa; 5, calculating a control input moment vector Tw and sending to the flywheel; and 6, jointly completing the satellite posture all-round control by the magnetic moment device according to the control magnetic moment vector Mm and the flywheel according to the control input moment vector Tw. The invention is suitable for the field of satellite posture control.
Owner:HARBIN INST OF TECH
Image comparison system and method
An image comparison method constituted of: receiving images; point matching the images to identify tentatively corresponding points; responsive to the identified points, defining a plurality of first image tiles within the first image; defining a plurality of second image tiles within the second image, each corresponding to a respective first image tile; adjusting the intensity of a set of pixels responsive to the cumulative relative frequency of the respective pixel intensity within the respective tile; for each tile, applying a plurality of non-linear functions; for each function, separately determining a moment of the outcome of the respective non-linear function for each axis of the respective tile; for each first image tile and corresponding second image tile, determining a distance between the subspaces spanned by moment vectors; and responsive to determined distances, determining whether respective first and second image tiles comprise observations of the same portion.
Owner:SIGHTEC ISRAEL LTD
Intelligent controlling internal combustion engine with intelligent structure for car and motorcar
InactiveCN1786448AImprove powerExcellent performance tuningElectrical controlMachines/enginesNew energyExternal combustion engine
In the invention, every work of each cylinder is a separate unit and there is no direct relation between the first work and the second work, so as to control directly the time quantity of each stage before or after work reaction. Because of having no cranks and having a constant moment vector, there is an optimization stage and a final-period pressure stage and the time quantity of the intake, the exhaust and the optimization stage is a controllable variable. Because there is a final-period pressure stage, the delay-time of the fuel reaction time is controllable. The rotation angle of the down work output of the piston is greater than 180 degree, so that the power can be output thoroughly and the fuel and the work process are controlled intelligently.
Owner:李晓晨
A method for visual detection of liquid crystal instrument pattern based on normalized zernike moment and grayscale matching
ActiveCN104021558BGuaranteed stabilityCalculation stableImage analysisCharacter and pattern recognitionFeature vectorMoment vector
The invention relates to liquid crystal meter pattern visual detection methods, and provides a liquid crystal meter pattern visual detection method based on normalization Zernike moment and gray matching. The method aims to solve the problems that image error detection rate is high, flexibility is poor, and images are rotated and zoomed. The method includes the implementation steps that 1, an image to be detected and a template image are obtained; 2, a horizontal moving image to be detected and a horizontal moving template image are generated; 3, the Zernike moment of the horizontal moving image to be detected and the Zernike moment of the horizontal moving template image are calculated; 4, a scale normalization moment Znm is generated; 5, a moment vector Zsrc and a moment vector Ztem are established; 6, a determining feature vector J is established; 7, the degree of gray matching is obtained; 8, an updated determining feature vector J' is obtained; 9, the percent of similarity is obtained; 10, a detection result is obtained. The method is applied to the field of visual detection on liquid crystal meter patterns.
Owner:宁波智能装备研究院有限公司
Method for obtaining handwriting information
ActiveCN102279709BAchieve acquisitionSolve the problem of missing information in the acquisitionForce measurementWork measurementHandwritingComputer module
The invention provides a method for obtaining handwriting information. In the method, a five-dimensional force / moment sensor module, an embedded microprocessor module and a true-color display module which are arranged in a handwriting device are utilized. The method comprises the following steps of: firstly initializing the five-dimensional force / moment sensor module, wherein the initialization comprises power supplying, zero-point modifying and interface drive requirement and temperature compensating; acquiring numerical values output by the five-dimensional force / moment sensor, thus obtaining five-dimensional force handwriting force data; performing decoupling operation on the five-dimensional force handwriting force data, thus obtaining real-time three-dimensional handwriting vector information numerical values and two-dimensional handwriting moment vector information numerical values; and performing corresponding formula calculation, thus obtaining real-time two-dimensional handwriting coordinate information and obtaining complete handwriting information. The method can be used for solving the problems that the handwriting information cannot be completely obtained in the existing handwriting information obtaining method, therefore, the security of signature information is improved, and the method provides a new guarantee means for ensuring the information security of important document signing in e-government or contract signing in e-business, and the like.
Owner:HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
A control system arranged on the projectile body
Owner:BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
Method for regulating and controlling posture of spacecraft by flow velocity and actuating mechanism thereof
InactiveCN102530269BAvoid wear and tearAvoid Static and Dynamic ImbalancesSpacecraft guiding apparatusMomentumSpacecraft attitude control
The invention relates to a method for regulating and controlling a posture of a spacecraft by the flow velocity and an actuating mechanism thereof and belongs to the field of control to the posture of the spacecraft. The method comprises the following steps that: according to a difference value of a current posture and a desired posture, a three-axis control moment vector required by the spacecraft is obtained, and according to a principle of the momentum moment, a relation between the three-axis control moment vector and the variation of a liquid fuel flowing angular velocity is obtained; according to the working principle of ring-shaped pipe liquid angular momentum exchange equipment, a relation between the liquid fuel flowing angular velocity and the change rate of a velocity vector in the tangential direction of a pipe when liquid fuel flows is obtained; according to corresponding generated required conditions, the power of the pressure pump is controlled to apply work to the liquid, so that the flow velocity of the liquid is changed, and thus, the angular momentum H of a mass center of the spacecraft is changed and the posture of the spacecraft 10 is changed; and the changed posture is measured by a sensor and is compared with the desired posture and the steps are circularly repeated from the beginning of the step 1. The actuating mechanism for regulating and controlling the posture of the spacecraft by the flow velocity, which is used for implementing the method disclosed by the invention, comprises a liquid filled ring-shaped pipe, the pressure pump, an oil storage tank, a valve, a liquid outlet connecting pipe, a liquid return connecting pipe and a control mechanism.
Owner:BEIHANG UNIV
A Method to Eliminate the Influence of the Jitter of the Turntable in the Calibration of High-precision Inertial Navigation System
ActiveCN102997932BReduce the effect of jitterReduce adverse effectsMeasurement devicesGeographic coordinate systemStationary state
The present invention belongs to the technical field of inertial navigation calibration, and particularly relates to a method for eliminating shaking impact of a rotation table during high precision inertial navigation system calibration. The method comprises: firstly establishing a direction cosine matrix between a real-time vector coordinate system and a starting moment vector coordinate system; then constructing a direction cosine matrix between the starting moment vector coordinate system and a starting moment earth coordinate system; and obtaining an attitude matrix between the real-time vector coordinate system and a geographic coordinate system, wherein attitude information of a stationary state end moment is obtained. With the present invention, the technical problem of impact on calibration precision by the rotation table shaking factor during a system level calibration process of the high precision inertial navigation system is solved; and gyro output information is adopted to real timely track attitude change of the inertial navigation system due to rotation table shaking so as to eliminate adverse effects caused by the rotation table shaking, improve inertial navigation system calibration precision, and reduce requirements on rotation table locking precision during the calibration process.
Owner:BEIJING AUTOMATION CONTROL EQUIP INST
An online identification method of aircraft aerodynamic characteristics based on backtracking adaptive algorithm
ActiveCN107976296BLower requirementSimplify the design processAerodynamic testingAircraft components testingLow demandAngular velocity
The invention provides an aircraft aerodynamic characteristic on-line identification method based on a backtracking self-adaptive algorithm. The aircraft aerodynamic characteristic on-line identification method comprises steps: (1) equivalently transforming the product term of the inverse of a rotational inertia matrix and a moment vector in an aircraft angular velocity kinetic equation into a Phi<T>(k)Theta* form, carrying out discretization processing on the transformed product term, and obtaining an aircraft angular velocity difference equation; wherein Phi<T>(k) represents a signal vector,Theta* represents a parameter truth vector, and the parameter truth vector is a column vector including an aerodynamic characteristic parameter to be identified; (2) establishing a mathematical modelof an angular velocity estimation virtual system, and making an angular velocity estimation error and a parameter estimation error be Phi<T>(k)[Theta(k)-Theta*], wherein Theta(k) represents an estimated value of the parameter truth vector; (3) establishing a backtracking performance formula of the angular velocity estimation error, combining a backtracking updating rule to obtain Phi (k) in realtime, resolving the Theta(k) by means of the backtracking self-adaptive algorithm, making the angular velocity estimation error omega-wave(k) approach zero, and resolving the aerodynamic characteristic parameter to be identified according to the value of the Theta(k). The aircraft aerodynamic characteristic on-line identification method has a lower calculated amount and a lower demand on the computer, and has operability.
Owner:BEIJING LINJIN SPACE AIRCRAFT SYST ENG INST +1
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