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45 results about "Stability change" patented technology

Quantitative determination method for dynamic stability of multi-legged robot based on leg force estimation algorithm

InactiveCN106547206AReduce angleThe judgment method is concise and clearAdaptive controlVehiclesRolloverEngineering
The invention provides a quantitative determination method for the dynamic stability of a multi-legged robot based on a leg force estimation algorithm, which is applicable to real-time detection for the stability of the robot when walking in an unstructured environment. The quantitative determination method is characterized in that motion states of joints and the robot body are acquired by a sensor, and variable values required by calculating the stability margin is solved through obverse and inverse kinematics; then the leg force of each supporting leg is estimated through the leg force estimation algorithm, and a supporting shaft and a landing point at which rollover occurs most easily are acquired according to the leg forces; a resultant force which is effective to rollover of the supporting shaft and the landing point is calculated according to a resultant force of the leg forces at the mass center and the moment of the resultant force, thus stability angles of the supporting shaft and the landing point can be acquired according to a formula, and a minimum stability angle is selected so as to calculate to acquire a normalized force angle stability margin value of the robot according to a formula. The advantages lie in that the method provided by the invention directly judges the stability margin for the supporting shaft and the landing point; stability variations brought about by the height of the mass center can be represented; and a vulnerable multi-dimensional force sensor is not required to be adopted to measure the leg force.
Owner:CENT SOUTH UNIV

High-temperature environment stability testing method of initiating explosive material

The invention discloses a high-temperature environment stability testing method of an initiating explosive material. According to the high-temperature environment stability testing method of the initiating explosive material, by adopting an optical microscope observation testing method, a scanning electron microscope testing method, a vacuum stability testing method, a flame sensitivity test blasting fuse method and a pressure-time curve testing method, physical, chemical and explosion states of the initiating explosive material before and after undergoing a high-temperature environment are tested and test results are compared for analysis, the high-temperature environment stability of the initiating explosive material is comprehensively analyzed and the environment temperature stability change of the initiating explosive material is analyzed more completely and accurately, and thus the high-temperature environment stability testing method is suitable for judgment of the high-temperature environment stability of various kinds of initiating explosive materials and has better generality and guidance. The high-temperature environment stability judging method is capable of quantitatively judging physical performance, chemical forms and explosion performance change of the initiating explosive material before and after undergoing any high-temperature environment and also capable of indirectly judging the stability of an initiating explosive device after undergoing a high-temperature environment.
Owner:BEIJING INST OF SPACECRAFT SYST ENG

A method for determining that stability of spin motion of three-body tether system in space

A method for determining that stability of spin motion of three-body tether system in space relates to the technical field of spacecraft flight and can determine the spin stability of the system strictly in theory. The invention discloses a method for judging the spin stability of a space loop three-body tether system. The invention comprises the following steps: establishing a non-inertial reference frame with the mass center of the system as the origin, and obtaining a system dynamics equation; The disturbance equation of the system is obtained by introducing vector formal variables. The stability of perturbed equation is analyzed by variational equation. By setting the initial variables of the periodic solution of the spin motion of the system and comparing the relationship between theperiodic solution of the spin motion and the characteristic multiplier, the stability of the spin motion of the system is determined. The invention provides an accurate judging method for the stability of the spin motion of the loop three-body tether system from the mathematical point of view, and can quickly judge the stability change of the system for the same system with different spin velocities and different parameters in theory.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

Simplified analysis method for inherent frequency and stability of rotational symmetric structure

The invention discloses a simplified analysis method for an inherent frequency and the stability of a rotational symmetric structure. The method comprises the steps of establishing a complete dynamic differential equation of a system, a dynamic differential equation adopting a no-extension hypothesis, and a dynamic differential equation adopting an extension hypothesis: establishing the complete dynamic differential equation of the system; establishing the dynamic differential equation adopting the no-extension hypothesis; establishing the dynamic differential equation adopting the extension hypothesis; introducing coordinate conversion for converting the three dynamic differential equations to a support follow-up coordinate system so as to obtain corresponding three constant coefficient partial differential dynamic equations; performing discrete processing on the three constant coefficient partial differential dynamic equations in the support follow-up coordinate system to obtain three constant differential matrix equations; obtaining an eigenvalue of the complete dynamic differential equation and eigenvalues of two simplified dynamic differential equations; and analyzing a parametrically excited vibration mode characteristic and a dynamic stability change law of the rotational symmetric structure according to the three eigenvalues. According to the method, a specific analysis expression of system eigenvalues can be obtained more clearly.
Owner:TIANJIN UNIV

Control method for compensating receiving system gain temperature stability in real time

The invention provides a control method for compensating receiving system gain temperature stability in real time. According to the control method, receiving system gain stability change resulting from a temperature can be compensated rapidly and efficiently. The method is realized through utilization of the following technical scheme that gain values at different frequency points of each channelunder different temperatures are actually measured, and a data table of a channel-frequency-temperature-gain corresponding relationship is established and is flash programmed into FLASH; a DSP processing module in a signal processor queries gain data of corresponding channels, frequencies and temperatures stored by a FLASH circuit according to reported temperature information of a digital temperature sensor and computes gain difference of concerned receiving channels and receiving frequencies among the channels under different temperatures, through application of the queried gain data, whereinthe gain difference is changed along with the temperatures; and gain fluctuation amplitude resulting from temperature change is compensated through utilization of the gain difference, and an error factor resulting from the gain difference among the channels of a receiver circuit system changed along with the temperatures is compensated.
Owner:10TH RES INST OF CETC

Breeding swine frozen semen unfreezing diluent, and preparation method thereof

The invention discloses a breeding swine frozen semen unfreezing diluent, and a preparation method thereof, and belongs to the technical field of swine frozen semen unfreezing. The breeding swine frozen semen unfreezing diluent can be used for solving a problem that semen oxidation damage of swine frozen semen is easily caused in unfreezing diluting process. The breeding swine frozen semen unfreezing diluent is composed of D-glucose, fructose, potassium chloride, disodium ethylene diamine tetraacetate, sodium bicarbonate, trisodium citrate, polyvinyl alcohol, gentamycin, astragalus polysaccharide, and resveratrol. A preparation method comprises following steps: 1, D-glucose, fructose, potassium chloride, disodium ethylene diamine tetraacetate, sodium bicarbonate, trisodium citrate, and polyvinyl alcohol are prepared into an aqueous solution with double distilled water; 2, the aqueous solution is introduced into a water-bath kettle at 26 DEG C for balance treatment until full dissolvingis realized, and the pH value is stable; 3, a bacterial filter is adopted for filtering; 4, and gentamycin, astragalus polysaccharide, and resveratrol are added 30min before using. The breeding swinefrozen semen unfreezing diluent is capable of achieving oxidation resistance effectively, and reducing oxidation damage of violent stability change in frozen semen unfreezing process on semen.
Owner:NORTHEAST AGRICULTURAL UNIVERSITY

System for predicting influence of amino acid variation on protein structure stability, and method thereof

The invention discloses a system for predicting the influence of amino acid variation on protein structure stability, and a method thereof. The system consists of an amino acid variation information input module, an amino acid variation site attribute calculation module, a protein sequence attribute calculation module, a prediction stability change module and a prediction result output module. The method comprises the following steps that: inputting and obtaining variation information; extracting AAindex attribute features, and calculating the micro-electrical physical and chemical attribute features of amino acid; calculating the conservative property and the protein attribute of a protein sequence corresponding to the amino acid variation; adopting a two-layer three-classification random forest algorithm to calculate the influence of the amino acid variation on the protein stability; and storing and outputting a prediction result. By use of the system and the method, on the basis of the amino acid variation provided by a user and the corresponding protein sequence, a situation that the structure stability of protein where the amino acid is positioned is raised and lowered or is invariant due to the amino acid variation is accurately predicted, a corresponding probability is also accurately predicted, and the result is stored and sent to the user to be stored.
Owner:SUZHOU UNIV

Vacuum spraying box with automatic water level control function

The invention belongs to the field of plastic pipe manufacturing, and particularly discloses a vacuum spraying box with an automatic water level control function. The vacuum spraying box comprises a vacuum spraying box body. The inner wall of the bottom end of the vacuum spraying box body is connected with a vertically-arranged partition, a sliding groove is formed in one side of the partition, asliding block is slidingly connected into the sliding groove, the side, away from the sliding groove, of the sliding block is connected with a connecting rod, the side, away from the sliding block, ofthe connecting rod is connected with a float ball valve, the side, away from the connecting rod, of the float ball valve is connected with a sleeve, the interior of the sleeve is connected with a spring, the end of the spring is connected with a mounting plate, the mounting plate stretches out of the sleeve, and a conductive wheel is rotationally connected between the inner walls of the two sidesof the mounting plate. The water level in the vacuum spraying box can be guaranteed, thus, it is guaranteed that the change of the pressure and the stability of cooling water slightly fluctuates, thepercent of pass of production of plastic pipes is increased, a filter plate at the position of a water outlet of the spraying box can be cleaned through the device, blockage of the water outlet is avoided, and the vacuum spraying box is suitable for being popularized.
Owner:DENG QUAN PLASTIC TECH HUNAN CO LTD

Process for the manufacture of edible water-in-oil emulsions

The invention relates to a process to manufacture a water-in-oil emulsion, comprising •10 to 85 wt. % of liquid oil; •0.5 to 50 wt. % of fat powder comprising hardstock fat; •10 to 85 wt. % of a water-phase; •0.005 to 5 wt. % of lecithin; and •0.01 to 5 wt. % of monoglyceride; comprising the steps of: 1. providing a solution of at most 5 wt. % of the liquid oil, based on the total amount of liquid oil, comprising at least 50 wt. % of dissolved lecithin, based on total amount of lecithin; and at least 50 wt. % of dissolved monoglyceride, based on total amount of monoglyceride; wherein the temperature of the solution is at least 50 degrees Celsius; 2. providing an oil-continuous system comprising at least 75 wt. % of the liquid oil, based on the total amount of liquid oil, wherein the system has a temperature of from 0 to 20 degrees Celsius; 3. contacting the solution provided at step ‘I’ with the system provided at step ‘2’; 4. mixing the mixture provided at step ‘3’ to provide a water-in-oil emulsion; wherein any remaining ingredients are added whole at step ‘2’, step ‘3’ or step ‘4’ or added in parts in any combination at step ‘2’, step ‘3’ and step ‘4’. The process of the invention results in water-in-oil emulsions with an improved stability and a reduced batch-to-batch variation in stability.
Owner:UPFIELD EURO BV

Method for rapidly and quantitatively evaluating quality stability of traditional Chinese medicine injection

ActiveCN108061715AQuick advantage of quantitative stability evaluationColor/spectral properties measurementsPharmacyMedicine
The invention relates to a method for rapidly and quantitatively evaluating the quality stability of traditional Chinese medicine injection, and belongs to the technical fields of pharmacy and traditional Chinese medicine evaluation. The method comprises the following steps: firstly, diluting a traditional Chinese medicine injection solution by a certain number of times, and setting a standard absorption curve of the traditional Chinese medicine injection; secondly, determining an isoabsorptive point of the absorption curve of the traditional Chinese medicine injection at the dilution times according to a stability experiment; thirdly, computing the areas under the absorption curve in front of and in rear of the isoabsorptive point; fourthly, further determining the reference values of theareas under the absorption curve in front of and in rear of the isoabsorptive point and/or the reference value of the ratio of the areas under the absorption curve in front of and in rear of the isoabsorptive point according to an acceptable active substance change degree; fifthly, performing stability change judgment according to the fact that whether the areas under the absorption curve in front of and in rear of the isoabsorptive point and/or the ratio of the areas under the absorption curve in front of and in rear of the isoabsorptive point exceeds a range after a standard is determined.
Owner:石药银湖制药有限公司 +1
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