47 results about "Range constraint" patented technology

A 3D image may be segmented based on one or more intensity thresholds determined from a subset of the voxels in the 3D image. The subset may contain voxels in a 2D reference slice. A low threshold and a high threshold may be used for segmenting an image, and they may be determined using different thresholding methods, depending on the image type. In one method, two sets of bordering pixels are selected from an image. A statistical measure of intensity of each set of pixels is determined. An intensity threshold value is calculated from the statistical measures for segmenting the image. In another method, the pixels of an image are clustered into clusters of different intensity ranges. An intensity threshold for segmenting the image is calculated as a function of a mean intensity and a standard deviation for pixels in one of the clusters. A further method is a supervised range-constrained thresholding method.

A method and apparatus are provided for analyzing software programs. The invention combines data flow analysis and symbolic execution with a new constraint solver to create a more efficient and accurate static software analysis tool. The disclosed constraint solver combines rewrite rules with arithmetic constraint solving to provide a constraint solver that is efficient, flexible and capable of satisfactorily expressing semantics and handling arithmetic constraints. The disclosed constraint solver comprises a number of data structures to remember existing range, equivalence and inequality constraints and incrementally add new constraints. The constraint solver returns an inconsistent indication only if the range constraints, equivalence constraints, and inequality constraints are mutually inconsistent.

The invention discloses a fast high-resolution SAR (synthetic aperture radar) image ship detection method based on feature fusion and clustering. The fast high-resolution SAR image ship detection method comprises the following steps: on the basis of the back scattering characteristics of each ground object and the prior information of a ship target in an SAR image, positioning a target potential position index map by an Otsu algorithm and range constraint; on the index map, pre-screening to obtain a detection binary segmentation map by a CFAR (constant false alarm rate) algorithm based on a local contrast; carrying out morphological processing to a detection result, and extracting a potential target slice from the SAR image and a detected binary segmentation map according to a processing result; and carrying out K-means clustering to the extracted slice by a designed identification feature to obtain a final identification result. According to the fast high-resolution SAR image ship detection method based on feature fusion and clustering, the data volume of a detection stage is effectively reduced by pre-processing, and point-to-point detection is not needed / the time of point-to-point detection is saved. Meanwhile, a target identification problem under the condition of insufficient training samples at present can be solved by the designed characteristic and a non-supervision clustering method, the target can be effectively positioned, and the size of the target can be estimated.

The invention discloses a method for estimating indoor pedestrian combination poses based on a multi-particle swarm optimized. The method comprises the following steps of: using a WiFi-RSS fingerprintidentification method to obtain a WiFi positioning result; using a micro-inertial sensor pedestrian trajectory reckoning method to obtain a pedestrian poses result; using a Bluetooth signal strengthconstraint method to constrain the pedestrian movement range to determine whether the pedestrian is within the communication range of nodes; using a map matching method of the indoor map to constrainthe WiFi positioning result and a pedestrian track reckoning result; using a multi-particle swarm recursive Bayesian filtering method to perform nonlinear non-Gaussian data fusion on the WiFi positioning result, the pedestrian poses result, the pedestrian movement range constraint result, and the map matching method result; finally, obtaining the pedestrian position poses information. According tothe method for estimating the indoor pedestrian combination poses based on the multi-particle swarm optimized, the multi-source information of WiFi-RSS fingerprint, PDR, and MM is fused, and gross and cumulative errors of a filter are eliminated by using the Bluetooth information. The multi-source information fusion is used to optimize the weight and distribution of the particle swarm to improvethe accuracy, reliability, and real-time capability of the indoor pedestrian poses estimation.

The invention provides a method for extracting a target classic track in a complex environment. The method provided by the invention can realize extraction of the target classic track under complex conditions such as strong data randomness, loud noise, different track lengths and large point track interval difference of the target track, and is realized by the following technical scheme: reading target track data, prescreening according to value range constraints with different attributes in the track data, and removing abnormal data items; rasterizing latitude-longitude grids, counting the point track density in each latitude-longitude grid, and extracting all the track data and filtering the track data with relatively high point track density; clustering the filtered track data with a multi-distance threshold DBSCAN clustering algorithm to form a plurality of track clusters; and setting a scanning line for each cluster, sequentially calculating an average value of intersection pointsof the scanning lines and the track to obtain the point tracks in the target classic track, and connecting the point tracks in order to obtain a target classic track extraction result.

The invention discloses a synergistic target tracking method for dual unmanned planes under a communication constraint. In the method, two unmanned planes are controlled to synergistically track a ground target; in the tracking process, when judging that the lead plane per se is in a forced approaching state, the lead plane rapidly meets the requirement of a detection range constraint again; if the lead plane is not in the forced approaching state, the priority is given to precision, and the lead plane enhances the precision of target observation data; a wing plane is same as the lead plane in the aspects of forced approaching state and principle of precision enhancement; the motion range of the wing plane is limited in a small range with connecting line of the two planes as a center, so that the wing plane can track the lead plane with a enough velocity component to ensure that a distance between the lead plane and the wing plane is less than a set value. By means of the method, the communication distance constraint can be met to provide the communication support for synergy; the detection range constraint of the lead plane can be met to provide guarantee for target tracking; and during flight the tracking accuracy can be analyzed in real time and the track can be optimized to provide guarantee for tracking quality.

The invention discloses a robust scheduling method with consideration of flexible adjustment of a power grid structure. The method comprises: (1), a robust scheduling calculation parameter is inputted; (2), a robust scheduling model with consideration of flexible adjustment of a power grid structure is constructed, wherein the model based on a background of dealing with uncertainty uses the pursuit of optimal grid operation economy as an objective function and a related constraint of a decision variable and an operating range constraint under zone uncertainty are met; (3), on the basis of a principle of duality and a Benders algorithm, robust scheduling model solving is carried out; and (4), a robust scheduling result is outputted, wherein the result includes a provided power scheduling output, a reserve capacity, and a power transmission element operating state of a decision. Therefore, uncertainty of the load and renewable energy source power in the power system can be dealt with; a technical support is provided for power system optimization operation under the uncertainty background; and the power system source-load balancing capability as well as security and economy of grid operation is improved.

The invention discloses an EV-charging-controllability considered unit combination model and a modeling method. According to the EV-charging-controllability considered unit combination model and the modeling method, the output of a unit and total loads of an EV integrated controller serve as control objects, the EV integrated controller serves as an interaction platform of a power grid dispatching center and EVs, the dispatching center issues a charging command to the EV integrated controller, and the EV integrated controller controls the EVs in an administration region of the EV integrated controller after receiving the charging command to meet the command; constraints such as user charging requirement constraints, dispatching capacity range constraints and unit-side constraints are comprehensively considered, the minimum sum of the running cost of the unit and the dispatching cost of the EVs serves as an objective function, and the EV-charging-controllability considered unit combination model is built; the dispatching cost of the EVs is considered in the objective function of the model, the user charging requirement constraints are considered in the constraint conditions, the requirement of users for the electric quantity of the EVs serves as one condition which must be met when the dispatching center controls the EVs to be charged, and the vehicle attributes of the EVs are sufficiently considered.

The invention provides a node self-location method of a wireless sensor network in 3D space which is based on sampling and comprises the following steps: the method acquires the required sample point information by using a random sampling method in 3D space, acquires successful sample points by filtering the sample point information according to range constraint conditions, and selects the mean value of the coordinates of the successful sample points as an initial coordinate estimation value of an unknown node; the method sets up an objective function according to the relationship information between the unknown node and neighboring nodes, adopts the method of filtering the successful sample points by weight for avoiding the transformation error when transforming a nonlinear equations set into a linear equations set, thus acquiring an optimum solution of the three-dimensional estimation coordinate of the unknown node. By adopting the method which implements sampling in a space region, the unknown node can directly acquire coordinate estimation from a sampling region, thus avoiding the shortest path accumulation mechanism between nodes in existing algorithms, precluding the generation of accumulated error, further reducing location error and improving algorithm adaptability.

The invention discloses a user-level comprehensive energy system optimization scheduling method based on multiple time scales, and the method comprises the steps: building an objective function and aconstraint condition of the day-ahead and day-inside two-stage optimization scheduling of a comprehensive energy system, and providing a controllable unit start-stop plan and output for ensuring the economic and environment-friendly operation of the system in the day-ahead stage; in intra-day stage, achieving hierarchical control according to dynamic characteristics and time constant differences of cold and hot energy and electric energy, wherein the upper layer stabilizes the cold and hot energy power fluctuation with long scheduling duration, and the lower layer stabilizes electric energy power fluctuation with short scheduling time; and correcting the unit output through unit regulation and control penalty cost guidance and adjustment range constraint rolling. Economic and environment-friendly operation of the system can be achieved, prediction deviation of cold and hot energy loads, electric energy loads and renewable energy sources can be compensated in a layering mode along withreduction of the time scale, and safe, stable, efficient and economical operation of the comprehensive energy system is guaranteed.

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 relates to a method for constructing a motion space for a robot under inherent constraints. The method is characterized in that the method includes: (Step S1) with supporting legs as an origin of coordinates, floating body kinematics is introduced into a body base coordinate system to create a joint chain and kinematic model based on the joints of the whole body; (Step S2) on the basis of the joint chain and kinematic model, a joint angle range constraint and a stability constraint are introduced, and the Monte Carlo method is utilized to sample and solve a working space for the end actuators of the robot, so that a three-dimensional point cloud grid formed by the working space is obtained; (Step S3) on the basis of the three-dimensional point cloud grid, plane cutting is carried out, and by means of extreme value analysis, the extreme value state and position and posture diagram of the robot in each direction are obtained. In comparison with the prior art, with the solution of the working space of the robot under the complex motion of the whole body as a goal, the method obtains the boundary range of the working space of end tracks under a complex condition meeting inherent constraints on the basis of the numerical algorithm.

The invention discloses a geographical coordinate positioning system and method based on 3D point cloud aerial photographing images. The system comprises a 3D point cloud establishment module, a homography module and a conversion module. Correspondingly, the method comprises the following steps: firstly, performing three-dimensional digitization on an image sequence according to an SFM method, rapidly acquiring 3D sparse point cloud in a world coordinate system, and establishing a homography H for representing the relationship of a geographical coordinate and a pixel coordinate of characteristic points in the 3D point cloud; respectively processing two different positioning requirements. According to the method, 3D point cloud with high precision is introduced into positioning of 2D images, so that positioning difficulties caused by non-normal incidence of the 2D images are substantially solved; when the relationship of the geographical coordinate and the pixel coordinate is established, positioning precision is ensured to the maximum extent in such a mode that reference points are searched within a minimum range; therefore, the method is high in positioning precision, and has great significances for modules of range constraint, target positioning, geographical marking and the like in aerial photographing patrol items.

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 embodiment of the invention discloses a short-period wind power nonparametric probability predication method which comprises: constructing an SVM (Support Vector Machine) predication model and an SBC (Sparse Bayesian Classification) predication model of each prospective time period; inputting data needed for wind power predication into the SVM predication model, so as to obtain a wind power predicated value of each prospective time period; inputting data needed for error distribution predication into the SBC predication model, so as to obtain a predication error conditional probability of each prospective time period; integrating the predication error conditional probabilities by use of the D-S evidence theory, designing distribution range constraints of wind power, so as to obtain predication error overall probability distribution of each prospective time period; and superposing the wind power predicated value and the predication error probability distribution, so as to obtain wind power probability distribution of each prospective time period. The short-period wind power non-parametric probability predication method is constructed on the basis of a sparse Bayesian framework, has high sparsity, ensures the generalization ability and calculation speeds of the models, and systematically designs boundary constraints of output power of a wind power field, so that the predication result is better in conformity with reality.

A dynamic range constraint is defined that has one or more limits that are computed from data residing in the database. In a first embodiment, a dynamic range constraint is defined for a database column that includes at least one limit that is computed from data within that column. In a second embodiment, a dynamic range constraint is defined for a database column that includes at least one limit that is computed from data in a different database column. The limits may be computed using any suitable heuristic or criteria, including statistical analysis of the data in the database. In this manner a range constraint for a column may evolve automatically as the data in the database changes.

A system, apparatus and method for generating and validating extracted timing model files, such as macro library files, are disclosed. A user interface or data template is provided to an engineer that allows for the population of data within particular fields related to timing characteristics of an IP block, cell or core. An extracted timing model file is generated and a validation procedure is performed. This validation procedure may include comparing the information with the file to a test bench have a plurality of test points. In particular, data provided by the engineer is checked against multiple criteria to ensure that this data is valid and / or falls within an appropriate value range constraints. After the validation procedure has completed, the engineer is provided a summary of the validation results.

The invention discloses a community public transportation network and departure frequency synchronous optimization method considering regional full coverage for subway connection, and belongs to the field of public transportation network planning. According to the method, a research area is divided into a plurality of grid-shaped cells, minimization of total cost is taken as an optimization target, and a mixed integer optimization model is constructed in consideration of community microcirculation bus network layout and line departure frequency setting. In the solving process, the invention provides a series of constraint conditions based on reality, such as line length constraint, line network total service range constraint, vehicle capacity and motorcade scale constraint. According to the method, a plurality of crossover operators and mutation operators are designed to optimize in the online network scheme population. The invention also provides an adaptive weight adjustment algorithm, and the algorithm can adjust the execution probability of the next-generation operator according to the execution condition of the genetic operator, so as to improve the execution efficiency of thegenetic algorithm.

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.

A process for dynamic fit of earthquake computation model, which indicates that first extracts the parameter data needed by the model based on the regarding information of emergent report and finishes the setup of the model parameter, second takes the parameters restriction judgement with the parameter that the users choose to fill and rates the legitimacy of the data contents and scope restriction and space restriction between the datas, third takes the intensity computation method of the model to the valid model parameter and obtains the computed result of the model, fourth takes the model result into map rendering with the resource, mechanism and process provided by ArcGIS and makes the model analysis result used by the analysts, and fifth provides the data storage of the result of single model analysis. The invention has high computational efficiency for imparting out model computed result in several seconds after acquiring the parameter, and has good stringency of chart-areal expression; sharp explanation and easy understood for generating chart-layer data through model analysis by combining with maps.

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 aims to provide a photovoltaic absorption model for a single medium-voltage feeder in a medium-voltage distribution network, which can determine the capacity of a single medium-voltage feeder in a medium-voltage distribution network of a photovoltaic power generation system through an algorithm after defining specific constraints. In order to solve the technical problem, the photovoltaic absorption model for the single medium-voltage feeder in the medium-voltage distribution network is implemented according to the following technical scheme: the establishment mode is that the installed capacity of the maximum distributed power supply to which the single medium-voltage feeder can access is solved under the premise of meeting node voltage and operation constraints; and the process comprises the steps of obtaining power balance constraints, node voltage constraints, substation bus voltage range constraints and line capacity constraints, and building a specific model. Compared with the prior art, the position and capacity of photovoltaic power generation are given so as to calculate the voltage distribution and system short-circuit current under various load levels by adopting a heuristic algorithm through model construction, and finally an upper limit of the capacity is obtained.

The invention discloses a method for constructing a sparse representation redundant dictionary based on a ridgelet frame, which mainly overcomes the defects of huge redundant dictionary scale, huge calculation amount, low speed and sparse representation incapability of images with line singularity in the prior art. The method comprises the following construction processes of: (1) selecting proper functions to be used as generating functions of ridgelet base functions, and determining the ridgelet frame for constructing generating atoms according to the definition of the ridgelet; (2) carrying out range restriction on each variable in the ridgelet frame; (3) taking proper discrete intervals on each variable according to the restriction range for carrying out discretization to generate the redundant dictionary; (4) adopting an energy threshold value screening method for further reducing and optimizing the redundant dictionary; and (5) blocking images, and carrying out sparse representation on each sub block image by using the orthogonal matching pursuit (OMP) algorithm. Compared with the prior art, the invention has the advantages of good sparse representation visual effect, high calculation speed and high precision, and can be used for image processing and sparse representation in the computer visual field.

The invention provides a lateral guidance method of a skip reentry vehicle based on linear pseudospectral parameter correction, comprising the steps of initializing, handling a flight stage, determining heeling reversal in skip stage, predicting trajectory integral in the skip stage, judging precision, correcting control parameters in the skip stage, judging skip off atmosphere, and flying along Kepler rail. The invention is intended to develop, for a skip reentry vehicle with small lift-drag ratio, a reentry guidance method that corrects heeling reversal moment of the skip stage to ensure terminal cross-range constraints; the key technique of the method of the invention is to derive based on a linear pseudospectral formula to obtain an analytical formula between terminal deviation and heeling angle reversal moment; the method has the advantages of high calculating efficiency and high solving precision and is very applicable to online guidance.

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.