46 results about "Range constraint" patented technology

A computer implemented method for generating a representation of relationships between variables in a program employing Symbolic Range Constraints (SRCs) wherein the SRCs are of the form φ:^i=1nli≦xi≦ui where for each i ε[l,n], the linear expressions li,ui are made up of variables in the set{xi+1, . . . ,xn} and wherein the SRCs comprise linear, convex, and triangulated constraints for a given variable order.

The invention relates to a torque distribution control system for considering coordination of maneuverability and wheel stability, and a method. The method comprises the following steps that (1) the range constraint of wheel output torque is obtained; (2) generalized force demands for a motion control layer are pre-distributed; (3) the peak slip rate corresponding to a road surface adhesion coefficient and the reference wheel speed of each wheel are obtained, and the working mode of each wheel is determined; (4) an anti-saturation integral slip-mode variable-structure controller is built, anda difference value between the actual wheel speed and the reference wheel speed serves as input to obtain control torque; (5) the non-slip wheels serve as a control variable of secondary distribution,the weighted sum of the minimum generalized force tracking error and the minimum adhesion utilization rate serves as a target function, and optimization solution is conducted; and (6) finally, a torque instruction of a driving anti-slip control unit and a torque instruction of a four-wheel torque distribution control unit are combined to be output to a motor controller. Compared with the prior art, the torque distribution control system for considering coordination of maneuverability and wheel stability, and the method have the advantages of secondary distribution, effective slip preventing,comprehensive consideration, precise control and the like.

The invention belongs to the field of visual servo and particularly relates to a robotic arm target guiding system and method based on visual servo. The robotic arm target guiding system and method aim to solve the problems that the target imaging has the occlusion and out-of-field-of-view problems in the visual servo. The system method comprises the steps that marker images of a robot arm body and a captured target are acquired, feature points are extracted, and a relative pose between the markers is calculated; based on the relative pose, the metric function is used to obtain the best observation position of a pan-tilt camera platform; a cart is moved to the best observation position based on the horizontal and vertical field of view range constraints of the pan-tilt camera platform; based on the horizontal and vertical field of view range constraints of a camera of the pan-tilt camera platform and the relative pose, the functional part of the robotic arm body is controlled to move to the target object. By the adoption of the robotic arm target guiding system and method based on visual servo, the situations that the target imaging appearing in the conventional visual servo is occluded, the size is not suitable and the target is out of the camera field of view can be avoided.

The invention discloses a storage and transmission cooperative stochastic programming method considering a probability model of a wind-storage combined system. The storage and transmission cooperativestochastic programming method comprises the steps of: establishing a storage and transmission probability model containing the wind-storage combined system; performing stochastic description on a probability distribution model and injection node power; and calculating to obtain a wind-storage stochastic programming model containing the wind-storage combined system. The storage and transmission cooperative stochastic programming method comprehensively considers influence of energy storage configuration and charge-discharge strategies thereof on power transmission network planning, generates awind-storage combined output probability model, performs probabilistic load flow calculation, and establishes a stochastic programming model that considers both energy storage capacity configuration and power transmission network planning simultaneously. According to the storage and transmission cooperative stochastic programming method, wind-storage combined output range constraints and overloadconstraints are introduced into the model, the reasonable compromise between the energy storage wind power fluctuation stabilizing level and energy storage configuration cost and between the risk resisting capability of the system and line cost is realized, the weak links of the system can be comprehensively mastered, and the establishment of a flexible, economical and highly adaptable strong gridstructure is facilitated.

The invention discloses a system and a method for two-level distribution network coordination control based on load forecasting. The system comprises gateways, a first-level control module and a second-level control module. The design core of the method of the invention is as follows: a medium and low-voltage distribution network proposes a reactive power regulation range constraint to a high-voltage distribution network, the high-voltage distribution network proposes a voltage regulation range constraint to the medium and low-voltage distribution network, and both networks consider the constraints proposed by each other in optimization calculation, which not only embodies the voltage regulation capability of the high-voltage distribution network to the medium and low-voltage distribution network, but also embodies the reactive power compensation capability of the medium and low-voltage distribution network to the high-voltage distribution network. By adopting the system and the method of the invention, coordinated optimization control on the high-voltage distribution network and the medium and low-voltage distribution network is realized, and overall optimal voltage and reactive power control in the global range is realized, thereby reducing the network loss effectively and improving the voltage level of the distribution networks.

The invention discloses an isolated microgrid reactive voltage control capacity assessment method. The method comprises the following steps: synthesizing five indexes of voltage deviation, voltage fluctuation, voltage harmonic, static reactive support capacity, transient state reactive support capacity through an analytic hierarchy process, finally obtaining a comprehensive reactive voltage control capacity index; and performing isolated microgrid reactive voltage control capacity assessment by utilizing the index. The invention further provides an optimization method. The optimization methodcomprises the following steps: taking a URPVCI index and uniform annual investment cost solved through above assessment method as a target function, taking distributed power capacity and energy-storage device voltage-regulating mode as the decision variable, synthesizing microgrid bus power balance constraint and bus voltage running range constraint, constructing a reactive voltage control capacity optimization model; performing model solving by adopting a multi-target particle swarm optimization to obtain a reactive voltage control capacity optimization scheme satisfying multiple targets, thereby helping a designer perform planning design.

Control handover planning for an unmanned aerial vehicle (UAV) is provided that includes determining, by a planning system, a current location of a mobile control system and a current location of the UAV. A target location is identified. A control handover zone is determined based on a communication range constraint between the mobile control system and the UAV. The control handover zone is located between the current location of the mobile control system, the current location of the UAV, and the target location. A mobile control system path plan and a UAV path plan are created that each includes a control handover waypoint in the control handover zone at the same time. The control handover waypoint defines a planned location to place the mobile control system in control of the UAV.

The invention discloses a stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation. The method comprises steps that a binocular camera is calibrated, and image acquisition is carried out; S2, image processing and area positioning are carried out; S3, stereo matching of left and right images is carried out; and S4, the three-dimensional coordinate information of a target object is acquired. The method is advantaged in that the matching method based on the centroid characteristic points and neighborhood gray cross correlation is utilized, target matching is realized in a coarse to fine mode, polar line constraints and parallax range constraints are imposed in the centroid characteristic point matching process, and a problem of possibleexistence of multiple candidate points or no matching point during corresponding matching point search for characteristic matching is solved.

Methods, apparatus and systems are disclosed for the generation of range-constrained test cases for verification of designs of arithmetic floating point units. Given three ranges of floating point numbers Rx, Ry, Rz, a floating point operation (op), and a rounding-mode (round), three floating point numbers x, y, z are generated such that xεRx, yεRy, zεRz, and z=round ( x op y). Solutions are provided for add and subtract operations. Range constraints are imposed on the input operands and on the result operand of floating point add and subtract instructions to target corner cases when generating test cases for use in verification of floating point hardware.

The invention discloses a suspicious vehicle discovery algorithm based on a space-time range constraint, relates to application fields of intelligent traffic, space-time databases, artificial intelligence and the like, and particularly relates to a suspicious vehicle discovery method independent of visual features. The algorithm comprises the following steps of 1) submitting k space-time constraint conditions, wherein k is a natural number, k is greater than or equal to 1 and less than or equal to 10, and the k space-time constraint conditions are namely k relatively clear space and time ranges; and 2) sequentially searching for a vehicle which meets the k space-time constraint conditions in a trajectory database, and obtaining a final query result. By utilizing the space-time characteristics of the motion of the suspicious vehicle, the time range and the space range of the motion of the suspicious vehicle are expressed as the space-time constraint conditions; the query of the suspicious vehicle is carried out on the basis of the space-time constraint; and the multiple space-time constraint conditions and a distributed processing mode can be supported to improve the efficiency of discovering the suspicious vehicles.