66 results about "Poor adaptive skills" patented technology

The invention discloses a dynamic flexible job-shop scheduling method based on a multi-objective evolutionary algorithm. The dynamic flexible job-shop scheduling method based on the multi-objective evolutionary algorithm mainly aims to solve the problems that existing methods are poor in dynamic change environment adaptive ability and low in search efficiency. The dynamic flexible job-shop scheduling method based on the multi-objective evolutionary algorithm comprises the first step of carrying out initialization, specifically, reading information of jobs, machine attributes and the like, defining an optimal object and setting a constraint condition, the second step of simultaneously optimizing time of completion, tardiness and the maximum machine loading based on a static multi-objective evolutionary algorithm at initial moments, and the third step of adopting a rescheduling mode driven by emergent dynamic events in a shop production process, quickly generating a new scheduling scheme in a new environment based on a dynamic multi-objective evolutionary algorithm in order to simultaneously optimize the time of completion, tardiness, the maximum machine loading and stability of workpieces to be scheduled. Compared with a traditional scheduling method, the dynamic flexible job-shop scheduling method based on the multi-objective evolutionary algorithm can timely respond to happening of emergent dynamic events, adjust a search strategy in a self-adaptation mode according to the dynamic environment, and the generated scheduling scheme has the advantages of being high in efficiency and excellent in stability.

The invention discloses an adaptive intelligent integration detection method of a radar range extension target and belongs to the radar signal processing field. The adaptive intelligent integration detection method of the radar range extension target aims at overcoming the defects that the existing range extension target statistical detection method is poor in adaptive capability to the clutter and target environment and the like under the condition of the unknown clutter background. According to the adaptive intelligent integration detection method of the radar range extension target, normalized processing is performed on a radar echo one-dimensional range profile, integration optimization is performed through data domain description characteristics of a clutter one-dimensional range profile, a detection method of the constant false alarm rate of a one-class support vector machine is established, a kernel function parameter is adjusted to ensure constant false alarm rate characteristics of the detection method, and a clutter database is updated according to a detection result; statistical modeling does not need to be performed on the clutter background; the detection method is suitable for the positive and negative sample quantity seriously asymmetrical radar target detection environment; the false alarm control capability is strong, the computation is less, the engineering implementation is convenient, and the popularization and application value is high.

The invention relates to a modularized mechanical claw can be used for grabbing objects in different shapes in space, in particular to an expandable underactuated cable-rod truss type mechanical claw to solve the problems that a traditional underactuated mechanism and an SARAH claw are heavy in weight, complex in structure, poor in capacity of adaptive to shapes of the objects to be grabbed and small in grabbing force, and the SARAH claw is difficult to expand. The expandable underactuated cable-rod truss type mechanical claw comprises a front end connecting device, a corner limiting mechanism among rods, a tail end cable-rod truss, a rope, a plurality of positioning posts and a plurality of expandable modularized cable-rod trusses. The front end connecting device comprises a connecting plate, two rope shafts, two limited posts, two installing plates, two transition plates and four supporting plates, the rope shafts penetrate through the two supporting plates located on the same side in the vertical direction, and an output shaft of a motor is arranged vertically and connected with the corresponding rope shaft; each expandable modularized cable-rod truss comprises two rope winding shafts, two frictional damping metal pieces and six connecting rods. The invention belongs to the field of space robots.

The invention provides a heterogeneous multi-core processor based on an ARM, a DSP and an FPGA and a task scheduling method, and relates to technologies of heterogeneous multi-core processors. The heterogeneous multi-core processor based on the ARM, the DSP and the FPGA aims to solve the problems that a conventional multi-core processor is poor in environmental adaptability, parallel processing capability and resource control capability. The heterogeneous multi-core processor based on the ARM, the DSP and the FPGA comprises the ARM, the DSP, the FPGA and peripheral interfaces, wherein data transmission is carried out among the ARM, the DSP and the FPGA, and the peripheral interfaces comprise the RS232 interface, the CAN bus interface, the SPI interface and the USB interface. An electricity supply module for software implementation is embedded in the FPGA and used for controlling electricity supply of the ARM, the DSP and the FPGA. According to the heterogeneous multi-core processor based on the ARM, the DSP and the FPGA and the task scheduling method, the different peripheral interfaces can be dynamically reconstructed in real time according to different interface requirements, and the resource utilization rate and the environmental adaptability are improved remarkably; software can be loaded into different processors, and parallel running of hardware is achieved truly. The heterogeneous multi-core processor based on the ARM, the DSP and the FPGA and the task scheduling method are suitable for an embedded application environment.

The invention discloses a variable air volume room temperature control method based on fuzzy PID and a prediction control algorithm. The method comprises the steps that the temperature deviation between an expected room temperature and an actual room temperature is input to a fuzzy adaptive PID controller, PID parameter incremental quantity of the opening degree of a tail end air valve is obtained through calculation, and calibrated opening degree of the tail end air valve is output; the opening degree of the tail end air valve of the fuzzy adaptive PID controller is subtracted from the opening degree of the tail end air valve of a previous moment by utilizing a time delay link to obtain the variable quantity of the opening degree of the tail end air valve; the prediction control algorithm is adopted to obtain the actual opening degree of the tail end air valve through the variable quantity of the opening degree of the tail end air valve, and the room temperature is maintained at a set value and is kept unchanged. The control method combining the fuzzy PID with the prediction control algorithm is adopted to solve the technical problems that parameter setting difficulty is large, working condition adaptive capacity is poor, and adaptive ability is weak in an air conditioning system in the prior art.

The invention discloses a push adsorption type high altitude cleaning robot, and relates to a cleaning robot, in particular to a robot capable of cleaning outdoor walls. The robot consists of a robot body and a fence-sitting trolley; an alternate adsorption walking system, a dust removal and suction system, and an air distribution system of the robot body are arranged on a frame of the robot body respectively; a hoisting system of the fence-sitting trolley is arranged above a stander, and a horizontal driving system is arranged on the stander through a fastening mechanism; and a cable of the hoisting system is connected with the frame of the robot body. The robot solves the problems that the prior wall cleaning robot has complicated structure, poor adaptive capacity, obstacle-climbing capability and safe reliability, large volume, heavy weight, high cost, inconvenient operation, and the like.

The invention provides a simulation turntable self-correction control method based on model parameter accurate identification, relates to the simulation turntable self-correction control method based on model parameter accurate identification, and is to solve the defects that an existing open-loop frequency sweep measurement method needs to consume a lot of time, a fixed parameter control method is poor in load change adaptability, and it is likely to have the problem that several sets of control method parameters cannot ensure optimum performance of a system or even cannot ensure system stability. The method comprises the following specific steps: 1) establishing a turntable servo system mechanism model according to a structure of a turntable servo system; 2) measuring a control quantity DA value needed for counteracting Coulomb friction moment Tc, and carrying out compensation on a control input signal of an open-loop transfer function model G(s) of the turntable servo system in the step 1); 3) obtaining accurate parameters taum<^>, taue<^> and K<^>; and 4) obtaining an optimal self-correction control link J(s). The method is used in the field of simulation turntable control.

The present invention discloses an eddy current displacement sensor. The eddy current displacement sensor comprises a probe, a proximitor and a signal cable (105) connected with the probe and the proximitor. The probe includes a sensor housing (101) and a testing coil (100) and a compensation coil (103) which are internally arranged in the sensor housing (101) in a difference structure; the probe is configured to differentially output difference signals of the testing coil (100) and the compensation coil (103) when a metal detection surface to be detected (300) changes the displacement; and the proximitor is configured to perform signal processing of the difference signals and output the detection result of the displacement changing of the metal detection surface to be detected (300). According to the scheme of the invention, the defects may be overcome that few functions, large size, poor temperature adaption capability and the like in the prior art, and the beneficial effects may be realized that a lot of functions, small size and good temperature adaption capability.

The present invention relates to a rainfall adaptive sensing method of automobile windscreen wipers. The existing techniques have the shortcomings of poor adaptive capability and low control accuracy. The method comprises the following steps: first, a controller in a rainfall sensing module is initialized, and a rainfall strength quantified threshold is read from a nonvolatile memory after initialization; a rainfall strength quantified grade is subsequently read by the rainfall sensing module from a motor control module for windscreen wipers; then, the current rainfall strength quantified grade is sensed and calculated by the rainfall sensing module through an infrared transmitter; finally, the current rainfall strength quantified grade is sent to the motor control module for windscreen wipers, the windscreen wipers are relatively controlled by the motor control module for windscreen wipers, and the current rainfall strength quantified grade is updated. The method has the advantages of adjustable rainfall strength grade, good flexibility, strong adaptive capability and capability of overcoming the influence of temperature, natural light strength and frost on rainfall detecting algorithm.

The invention discloses a method for initiating a radar target track based on random forest, and relates to a method for initiating a radar target track. The method aims at solving the problems of rough rule, poor accuracy, artificial setting of threshold value, and poor suitability to strong clutter environment in the existing visual method and logic method; larger calculation amount, multiple batches of data measuring, longer initiating time, and low target initiating probability on non-linear movement in a correction Hough conversion method and the like. The method specifically comprises the following steps of 1, extracting features from a point trace combination of historical observation data of radar to form a sample set D; sampling D, and forming n training sample collection sets; 2,training a t-th decision tree by the t-th training sample collection set, and forming a random forest combination classifier; 3, in the testing phase, performing data pre-selecting and feature extraction on the point traces of a radar observation area so as to obtain the track initiating result via the classifier. The method is suitable for the field of initiating of radar target tracks.

The invention relates to the intelligent networked method and device for testing and recording the malfunction of measuring electric energy. The invented device includes the the amplitude detecting module, the phase detecting module, the open circuit and short circuit detecting module, the intelligent signal processing module, the intelligent fault determination module, the time module, the measuring module, the data recording module, the state displaying module, the network communication module, the power source module, the power down protection module, the charging module etc. The invented method solves following drawback effectively, which exists in the prior art, such as low intelligent network degree, poor adaptability, unable to test and record each malfunction happened in the powermeasurement accurately and integrally and unable to alarm quickly.

The invention provides a laser-electric arc composite spot welding method for pulsed wire feeding, and relates to a laser spot welding method. The method mainly solves the problems of small diameter of fusion surface of welding points, collapsing of the welding points, easy formation of air pores and cavities, low energy utilization rate and poor adaptability of the welding points to the clearance in the existing laser spot welding process. The method comprises the following steps of 1, pretreating a welding workpiece; 2, adjusting the position and the angle of mutual action of a laser welding head of a laser device and an electric arc welding gun; 3, setting parameters of the laser-electric arc composite spot welding process; 4, setting the wire feeding parameters of a wire feeding machine; and 5, starting a control switch to perform the laser-electric arc composite spot welding for the pulsed wire feeding. The method has the advantages that the diameter of the fusion surface of the welding points is increased, the collapsing of the welding points is reduced, the cracking trend and the formation of the air pores are reduced, the energy utilization rate is improved, and the appearance of the welding points is attractive; the method is mainly used for welding metal material, and is especially suitable for welding metal material overlap joints.

The invention discloses a header of a cane harvester, which comprises a machine frame, an upright post mounted on the machine frame, and a lifting slider thereof, wherein an electric lifting mechanism is connected to one side of the lifting slider, the electric lifting mechanism is formed by a lead screw pair connected between the upright post and the lifting slider, and a lifting motor connected with the lead screw pair through a retarding mechanism. A cutter equipped with a main motor and a double rotation cutter blade plate is connected to the other side of the lifting slider, and a balance cylinder for balancing the weight is mounted between the machine frame and the cutter. A cutter lifting sensor is further mounted at the lower part of the machine frame, so as to form a cutter height automatic adjusting system comprising the cutter lifting sensor, a lifting controller, the electric lifting mechanism and the like. Therefore, the system can be used for adjusting the height of the cutter in real time according to the actual condition of harvest topography. Compared with the prior art, the header of the cane harvester, provided by the invention, solves the problems that the header of the conventional cane harvester is weak in topography adaptability, low in harvesting efficiency, and higher in harvesting cost.

The invention discloses a fresh air dehumidifying system control method for a low-temperature radiation type air conditioner. The method comprises following steps: a, indoor dry ball temperature Trs and indoor relative humidity phi rs are set; b, indoor real-time dry ball temperature Tri and wet ball temperature Twri are obtained; c, through the indoor real-time dry ball temperature Tri and the wet ball temperature Twri, indoor real-time air absolute moisture content Dwi is calculated; through the indoor dry ball temperature Trs and the indoor relative humidity phi rs, the absolute moisture content Drs of the set indoor wet air state is calculated; d, the difference delta T between the set indoor dry ball temperature Trs and the obtained indoor real-time dry ball temperature Tri is calculated, according to the delta T, the refrigeration amount input into a room is controlled, the difference delta T between the set absolute moisture content Drs of the set indoor wet air state and the indoor real-time air absolute moisture content Dwi is calculated, and according to the delta D, the fresh air humidity input into the room is controlled. The temperature and the humidity are independently controlled, and the problems that an existing product system is complex, the heat exchange efficiency is low, the cost is high, and the capacity of adaptation to different season stations is poor are solved.

The invention discloses a scenic-region-tourism-meteorological-disaster intelligent forecasting method based on difference correction. The scenic-region-tourism-meteorological-disaster intelligent forecasting method based on difference correction includes the steps that main meteorological factors of meteorological disasters occurring in a target scenic region are determined with the partial correlation analysis method, a difference set of historical data and numerical-forecasting-model output data of the main meteorological factors of the target scenic region is obtained, and a mapping relationship function set between the meteorological disasters and the main meteorological factors and a difference mapping relationship function set between the meteorological disasters and the main meteorological factors are calculated with the gene expression programming algorithm respectively; then a forecasting function set is subjected to difference superposition modification, and a forecasting model of the meteorological disasters of the target scenic region is obtained; all meteorological factor values output by a numerical forecasting model are substituted, and the possible occurring conditions of various meteorological disasters can be forecasted. By means of the scenic-region-tourism-meteorological-disaster intelligent forecasting method based on difference correction, the problems that in the prior art, the sample data requirements are high, the adaptive capacity is poor, and the calculation process is complex are solved, and a quite-good decision support can be provided for scenic-region-disaster controlling and management.

Provided is a method for sliding mode servo control based on a segmented permanent magnet synchronous motor. At present, a permanent magnet synchronous motor servo system is widely controlled by a vector control mode and a PID regulator. The PID regulator has disadvantages of being susceptible to parameter changes, and poor adaptability to load changes, and weak anti-interference ability. The method comprises the following steps: step 1, establishing a mathematical model of the permanent magnet synchronous motor system; step 2, designing a sliding mode vector controller for the permanent magnet synchronous motor, (1) designing a sliding mode rotating speed controller, and (2) designing a sliding mode position controller; step 3, designing a trapezoidal velocity model control method, designing a trapezoidal segmented rotating speed model, selecting the number of speed data of an acceleration segment and a deceleration segment according to controller's calculation ability and actual required accuracy, and extracting the speed data from an array in corresponding time to a speed given variable, to realize trapezoidal speed change. The method is applied to a method for sliding mode servo control based on a segmented permanent magnet synchronous motor.

The invention provides a dense medium suspension density control system and a control method thereof, and belongs to the field of dense medium density control. The control system and the method aim tosolve the problems that in the prior art, the large-scale adjustment of the density of a composite medium barrel cannot be realized, the adjusting time is long, the adjustment is slow, and the adaptability is poor. The control system comprises a control terminal, a PLC and an executing device, wherein the control terminal is connected with the PLC through a network, the executing device comprisesa liquid level sensor, a flow dividing valve, a water supplementing valve, a water adding valve, a dense medium pump, a reverse flow dividing pump and a densimeter, the PLC is connected with all theexecution equipment, the liquid level sensor is arranged on the inner side wall of the composite medium barrel, the flow dividing valve is arranged on a pipeline between the composite medium barrel and a clean coal dilute medium barrel, the water supplementing valve is arranged on a pipeline between the composite medium barrel and a swirler, the water adding valve is arranged on a pipeline betweena water source and the composite medium barrel, an inlet of the dense medium pump is connected with a dense medium barrel, an outlet of the dense medium pump is connected with the composite medium barrel, the inlet of the reverse flow dividing pump is connected with the composite medium barrel, an outlet of the reverse flow dividing pump is connected with the dense medium barrel, and the densimeter is arranged on a pipeline between the composite medium barrel and the swirler.

The invention discloses an outdoor cultivation box which comprises a tank inner container, a planting cover plate and a protective framework; the protective framework is arranged on the external side wall of the tank inner container in a surrounding mode, the planting cover plate is located on the top of the tank inner container, fix planting holes are formed in the planting cover plate, the tank inner container is made of plastic, and the planting cover plate is made of sponge materials. The invention further discloses an outdoor cultivation system applying the outdoor cultivation box; the outdoor cultivation system comprises a main machine module and parallel machine modules which are connected through pipelines, the main machine module comprises a fertilizer control box, a main machine frame and a main machine cultivation box, and each parallel machine module comprises parallel machine cultivation boxes and a parallel machine frame. The outdoor cultivation box and the outdoor cultivation system thereof aim at solving the problems that an existing soiless planting device is greatly influenced by the environment temperature difference, and is poor in plant root air permeability and adaptive capacity.

The invention relates to a mixed refrigerant recovery and reinjection process in a natural gas liquefying device. The process includes the steps of adding a special channel to a fin type heat exchanger, wherein the special channel is used for recovering mixed refrigerant in a refrigerant circulating system; arranging a special device and a special pipeline to reinject the mixed refrigerant into a refrigerant system. The mixed refrigerant recovery and reinjection process and device are suitable for recovering and reinjecting the refrigerant when the refrigerant liquefying device is stopped and started again and recovering and reinjecting the refrigerant when the refrigerant ratio is adjusted, and the problems that refrigerant recovery is difficult, and the liquefying device is poor in variable-working-condition adaptive capacity are solved.

The invention discloses a signal transmitting and receiving method for a code division multiple access multiple-input-multiple-output (CDMA-MIMO) system by employing generalized three-dimensional complementary codes, which belongs to the field of communication and aims to solve the problems that the signal transmitting and receiving method for the existing CDMA-MIMO system is low in adaptive capacity relative to different communication environments and the resource utilization rate requirement of the system is high. The method comprises the following steps: respectively performing space-time coding and spectrum spreading based on the generalized three-dimensional complementary codes on initial data transmitted by K users; superposing and merging a data flow which corresponds to the same antenna and the same carrier, modulating the data which corresponds to the same antenna and the same carrier to the same carrier for merging and transmitting; then simultaneously receiving the signal by employing P receiving antennas, respectively performing carrier demodulation by employing M carriers after each path of signal is synthesized, and despreading and decoding based on the generalized three-dimensional complementary codes, wherein each user acquires P groups of data corresponding to the P receiving antennas; merging and judging by employing the maximum ratio merger criterion, and outputting the data. The method is used for transmitting and receiving signals.

The invention relates to a method for quickly recovering a degraded wetland by transplanting cattail seedlings, in particular to a method for quickly recovering the degraded wetland by using the transplanting of perennial cattail rhizomes. The method solves the problems of a cattail community such as slow seedling sprouting, root decomposition, high death rate and common poor adaptive capacity frequently appearing in a transplanting process. The method comprises the following steps: firstly, collecting; secondly, planting. The method improves the adaptive capacity of cattail species in a new resistance environment, so that seedlings can quickly root, a seedling survival process is quickly completed, the large-area outdoor degraded wetland can be recovered, and the survival rate can reach more than 85%. The method is used for restricting the degeneration of the cattail community.

The invention discloses an underwater bridge structure and a construction method thereof. The underwater bridge structure comprises underwater bearing platform piles (3), underwater bearing platforms(4) and an immersed tube tunnel (5), wherein one ends of the underwater bearing platform piles (3) are adaptively installed in a seabed rock layer (2); the other ends of the underwater bearing platform piles (3) are adaptively installed at the bottoms of the underwater bearing platforms (4); and the immersed tube tunnel (5) is adaptively installed at the tops of the underwater bearing platforms (4), supported by the underwater bearing platforms (4) and located below the surface of seawater (1) by a set depth. According to the scheme, the defects that in the prior art, the influence on a shipping lane is large, the adaptive capacity is poor, and the construction technology is complex can be overcome, and the beneficial effects that the influence on the shipping lane is small, the adaptive capacity is good, and the construction technology is simple are achieved.

The present invention provides a file storage method and system based on an OpenEHR, a computer device and a readable storage medium. The method comprises the steps of: reading and editing template files corresponding to a prototype model in two layers of models of an open-type electronic health file standard OpenEHR, checking whether the template files after edition meet preset standard or not; if yes, deploying the template files; analyzing the template files based on the definition of the data structure and the data type by a reference model in the two layers of models in the OpenEHR and the definition of the data content by the prototype model, and converting the prototype definition languages in the template files to preset data objects; and generating a list structure of a database according to the preset data objects. The file storage method and system based on an OpenEHR, the computer device and the readable storage medium introduce the OpenEHR standard into the design and theimplementation of a smart medical system so as to solve the problem that a current medical system is poor in file knowledge change adaptive capacity and reduce the cost of later extension and maintenance of the system.

The invention provides a horizontal boiler with SNCR and OFA arranged in a staggered manner and relates to an industrial boiler. The horizontal boiler with the SNCR and the OFA arranged in the staggered manner aims at solving the problems that a horizontal industrial coal powder boiler in the prior art is high in denitration cost, consequently, the NOx emission amount of an industrial coal powderboiler is high, the coal powder over-fire effect is poor, the adaptive capacity on load changes is poor, and the heat efficiency is low. The horizontal boiler with the SNCR and the OFA arranged in thestaggered manner comprises a combustor, a hearth, an upstream flue, a set of primary amino reducing agent spraying ports, a set of primary over-fire air spraying ports, a set of secondary over-fire air spraying ports, a set of secondary amino reducing agent spraying ports and two sets of temperature sensors; the combustor is installed at the front end of the hearth; the upstream flue is communicated with the top of the rear end of the hearth; the primary amino reducing agent spraying port and the primary over-fire air spraying port are fixedly installed on the side wall, from the front end tothe back end, of the hearth; and the secondary over-fire air spraying port and the secondary amino reducing agent spraying port are sequentially installed on the side wall of the upstream flue from bottom to top. The invention is used in the industrial boiler coal powder combustion field.

The invention discloses a universal mobile robot. By the aid of the universal mobile robot, problems that existing mobile robots are poor in complex terrain adaptability and most existing mobile robots do not have independent operation ability can be solved. The universal mobile robot comprises an upper vehicle, a lower vehicle, a driving system and universal wheels; the driving system comprises a worm gear, a worm gear mounting shaft, driving spur gears, driven spur gears, universal wheel mounting shafts, a driving bevel gear, driven bevel gears, driven bevel gear mounting shafts, differential mechanisms, main driving motors, worms, a differential mechanism driving motor and a driving bevel gear mounting shaft; the two corresponding driving spur gears are fixed to two ends of each worm gear mounting shaft, each driving spur gear is meshed with the corresponding driven spur gear, and each driven spur gear is movably sleeved on the corresponding universal wheel mounting shaft; one end of each universal wheel mounting shaft is fixed to the corresponding universal wheel. The universal mobile robot has the advantage that the universal mobile robot can translate in horizontal planes, can circumferentially move around a certain point and can rotate in vertical and horizontal planes.

The invention relates to flexible assembly tooling, in particular to an assembly tooling for a mechanical product part. The assembly tooling provided by the invention aims to solve the problems that conventional assembly tooling is poor in adaptability to the shape of a product and the shape of a part, and six-degree-of-freedom position and attitude adjusting mechanisms are too complicated. The assembly tooling disclosed by the invention comprises a product supporting mechanism, a position-attitude adjusting mechanism, a cylindrical-product supporting mechanism, a part clamping mechanism and a thin-wall-product supporting mechanism, wherein the supporting mechanism is mounted on the position-attitude adjusting mechanism; the cylindrical-product supporting mechanism and the thin-wall-product supporting mechanism are separately connected with the product supporting mechanism; and the part clamping mechanism is arranged on one side of the position-attitude adjusting mechanism. The invention belongs to the field of machinery.

The present invention relates to internal and external magnetic combined fluid processing method and processor. Compared with available fluid processing technology, the present invention has the advantages of no power consumption, no chemical consumption and powerful processing capacity. The technological scheme of the present invention includes internal and external magnetic combined fluid processing method and processor. Internal magnet member and external magentic member are set simultaneously to pipeline, the external magnetic member can be single one or several ones, and the internal magnet member is one framed embedded structure comprising several layers of magnetic plates with several magnetic strips, each of which includes several magnetic blocks.

The invention discloses a four-leg robot. The four-leg robot comprises a robot body and four leg part mechanisms arranged by being connected with the robot body. Each leg part mechanism comprises a quadrilateral driving mechanism and a self-adaptive foot bottom mechanism fixed at the tail end of the corresponding quadrilateral driving mechanism. Each quadrilateral driving mechanism comprises a parallelogram mechanism, a second double-shaft digital steering engine with horizontally-arranged output shafts and a first double-shaft digital steering engine with vertically-arranged output shafts. Each self-adaptive foot bottom mechanism comprises an upper foot plate and a foot bottom plate from top to bottom, wherein the upper foot plates and the foot bottom plates are connected with the parallelogram mechanisms. The upper foot plates 7 and the foot bottom plates are connected through a plurality of first hexagon socket screws distributed evenly. Each first hexagon socket screw is provided with a damping spring in a sleeved mode, wherein the damping springs are located between the upper foot plates and the foot bottom plates. Each first hexagon socket screw is movably connected with the corresponding upper bottom plate through a radial spherical plain bearing. According to the four-leg robot, the problems that an existing four-leg robot is complicated in structure, the self-adaptive ability of leg part mechanisms is low, the stability is low, and the quality is high are solved.

The invention provides SOA-based civil aviation enterprise application system integration. An operation control system in the integration comprises a business process analysis module, a service modeling module, an IT environment analysis module and a high-level architecture design module. According to the integration, through architecture research on the operation control system, main steps and involved technologies of enterprise integration with service being the center are explored. According to the SOA-based operation control system, a novel software system structure is adopted, distribution and integration of application program logic on a web are realized, poor business change adaptability and other defects of the system are overcome while the defect of tight coupling of a traditionalweb-based system is overcome, and the complexity of a background technology is shielded. Form the aspect of system construction technology, the enterprise integration scheme with service being the center provides a reasonable technical route, and meanwhile in view of the realistic significance of the technical route, the emphasis in future research work is around refined mapping from an operationcontrol business process to a service entity, improvement in service quality and security, reasonable description of service and other aspects.

The invention discloses a remnant quick detecting method based on history pixel set matching degree. The method comprises the following steps that first, video information is received, namely the video information to be processed collected by video collecting equipment is received; second, a self-adaptive background model is established, namely the first N image data frames in the video information to be processed are respectively processed, the self-adaptive background model used for moving target detecting is established, the self-adaptive background model is a code book model; third, remnants are detected, namely history pixel sets of pixels are established first, and then the established history pixel sets are used for carrying out remnant detecting on image data frames after the Nth image data frame of the video information to be processed respectively. The steps of the method are simple, designing is reasonable, realization is convenient, detecting speed is high, detecting effect is good, and the problems that an existing remnant detecting method is bad in complex scene adaptive capacity, large in calculated amount, and low in detecting speed, and detecting again cannot be easily carried out when blocking and moving happen can be effectively solved.