2027 results about "Time delays" patented technology

The invention discloses a distribution network constant value setting and checking method, system and device and a storage medium, and relates to the technical field of electric power automation and relay protection, and the method comprises the steps: firstly collecting a real-time topology state signal of a distribution network, generating a dynamic topology matrix through state merging, and further generating an overcurrent protection directivity criterion; calculating the action value of each over-current section, and determining the zero-sequence protection constant values of different grounding networks in combination with topological parameters; secondly, differential delay parameters of a first-stage switch and a second-stage switch are set, a short-time voltage-loss locking and opening function is activated, and a digital twinborn model is constructed for checking; and finally, issuing the fixed value passing the checking to a protection device, and executing a coordination action. According to the method, the fault direction can be accurately judged, the constant value of each overcurrent section is reasonably calculated, and different grounding networks are distinguished to configure zero-sequence constant values. And through differential time delay, digital twinning check and the like, the protection self-adaption and reliability are improved, the power failure range is reduced, and stable operation of the power distribution network is guaranteed.

The invention discloses a welded pipe conveying abnormity prediction method and system based on large model reasoning, and aims to solve the problems that multi-source data is difficult to align, cross-station false correlation is caused, prediction lacks executable positioning and time sequence, and linkage control reliability is insufficient. Event alignment is carried out by taking a controller edge signal and an encoder zero position as time anchor points, a production line topology semantic graph containing time delay, capacity and interlocking attributes is constructed, and topology reachability and physical time delay constraints are applied in a self-attention long sequence model to carry out multi-step rolling prediction. And outputting a risk probability, refining the risk probability to spatial positioning of a roller way section or a shaft and the minimum executable intervention time, and generating a risk interval in combination with uncertainty estimation and calibration so as to drive an upstream beat self-adaptive speed reduction, shunting or stopping strategy. The technical effects of improving accuracy and interpretability, reducing false alarm and missing alarm, ensuring that linkage can be executed in advance and meeting edge time delay budget are achieved.

The invention relates to the technical field of chip development, and discloses a chip post-simulation verification acceleration method, system and device and a storage medium, and the method comprises the steps: collecting multi-dimensional data of a large-scale chip; collecting all module names of a given chip; establishing a mapping relation between a redundant module RTL and a corresponding gate-level netlist, ensuring that interfaces before and after replacement are completely consistent, and designing an automatic script identification and processing parameterization module; establishing a post-simulation verification environment, verifying the consistency of output responses before and after replacement, analyzing the time delay change of a key path, calculating the dynamic power consumption and static power consumption of each functional module before and after replacement, and generating a simulation verification result. According to the method, the hybrid simulation model is constructed, and part of the gate-level netlist irrelevant to the current simulation function is replaced with the RTL, so that the actual simulation scale of a chip is reduced, the problem of overlong simulation time after a large-scale integrated circuit is remarkably solved, and the simulation efficiency is effectively improved.

The invention belongs to the technical field of data processing, relates to an aircraft multi-mode instruction conflict resolution method and system, and aims to solve the problems of high conflict detection time delay and priority strategy staticization of a traditional method. The method comprises the steps that after a multi-mode instruction is received, semantic feature extraction and time sequence alignment are completed through a three-layer attention mechanism and a dynamic time warping algorithm, and a structured instruction set is generated; evaluating the priority of each instruction by combining a four-dimensional dynamic weight system with reinforcement learning; inputting the instruction set with the priority into a six-tuple model to identify a conflict type and an instruction set; and a three-level progressive arbitration method is adopted to resolve conflicts, an optimal execution sequence is generated, and the four-dimensional dynamic weight system is fed back and optimized according to an execution result. According to the method, the real-time performance and the dynamic adaptability of multi-mode instruction conflict resolution are remarkably improved, and reliable guarantee is provided for aviation instruction interaction safety.

The invention relates to a network slice optimization method for a 5G private network, and the technical scheme comprises the steps: constructing a time sequence performance model in a slice operation process, and monitoring tiny changes including end-to-end time delay, throughput and packet loss rate; then extracting a short-period fluctuation mode of the index, and comparing the gradient with a historical stability threshold value; judging whether the index is in a performance critical state or not by identifying an index drifting behavior which continuously jitters but does not default yet; non-equal-ratio responses including jitter improvement and delay decline after each time of resource adjustment are recorded; then trend fitting is carried out on the data, and whether a performance platform period or a critical jump point exists or not is judged; delimiting three intervals of resource investment in the model: an inactive area with invariable investment, a high-sensitivity area with rapid performance change and a rising saturation area with stable performance and continuous resources, wherein the three intervals include an inactive area with invariable investment, a high-sensitivity area with rapid performance change and a rising saturation area with stable performance; and identifying the current response area of the slice through the model, determining that the regulation strategy does not take equal proportion input as the core, and taking the optimal response area as a resource allocation interval to make a choice.

The invention provides an AmBC-NOMA communication resource joint optimization method for a high mobility V2X scene, and relates to the technical field of communication resource joint optimization. Aiming at channel dynamic change caused by high-speed motion of a vehicle and the influence of the channel dynamic change on short packet communication reliability and rate performance, the method combines reflection type communication and non-orthogonal multiple access technologies, and on the basis of fully considering channel time-varying characteristics, a reflection coefficient, a power distribution coefficient and block length resource distribution in a system are jointly optimized, so that the reliability and the rate performance of short packet communication are improved. Therefore, the communication rate performance and the resource utilization efficiency under the requirements of short time delay and low error rate are improved. Through the method, the short packet transmission rate of the system can be remarkably improved under the conditions of limited time delay and channel uncertainty, and the actual application requirements of the future Internet of Vehicles system for efficient, low-time-delay and high-reliability short packet communication are met.

The embodiment of the invention discloses a multi-core heterogeneous system and a data processing method thereof. The method comprises the steps that a plurality of kernel functions corresponding to a device end in the multi-kernel heterogeneous system are configured, a corresponding special register is reserved for each kernel function, the special registers store parameter taking address pointers, the parameter taking address pointers point to kernel function parameters stored in a public memory of the device end, and in the kernel function compiling process, the parameter taking address pointers point to the kernel function parameters stored in the public memory of the device end; according to the method, the parameter fetching address of the kernel function is initialized into the parameter fetching address pointer stored in the special register, so that when the target kernel function is started, the target parameter fetching address pointer can be determined according to the target special register corresponding to the target kernel function, then the parameter of the target kernel function is fetched, and finally the target kernel function is executed according to the fetched parameter. And obtaining a corresponding data processing result. The parameters are directly read from the public memory of the device end through the special register of the kernel function, the kernel function parameter transmission process is simplified, the starting time delay of the kernel function is shortened, and the data processing efficiency is improved.

The invention belongs to the technical field of production monitoring systems, and discloses a numerical control machine tool dynamic fault diagnosis method and system. The method comprises the following steps: generating a global time reference signal through a main shaft encoder and a clock synchronization protocol; the method comprises the following steps: collecting vibration data of a main shaft bearing in each unit time, current data of an electric cabinet and process parameters, and generating a preprocessed data sequence through transmission delay compensation and multi-rate frequency raising processing; inputting the vibration data and the current data into a preset mechanical-electrical transfer function model, and calculating a time delay parameter; performing phase alignment on the preprocessed data sequence based on the time delay parameter to generate an aligned data sequence; inputting the aligned data sequence into a time sequence neural network, and outputting a fusion feature vector; calculating a cross correlation coefficient of the fusion feature vector, and generating a fault diagnosis result based on a preset cross correlation threshold value; the problem of failure of fault feature extraction caused by data asynchronization in the prior art is solved.

The invention belongs to the technical field of communication, and discloses a positioning method and system based on differential time delay and an alternating direction multiplier method, and the method comprises the steps: obtaining the position information and differential time delay of a receiver; performing joint estimation on the position of the target object and the position of the transmitter based on an alternating direction multiplier method; wherein during joint estimation, a first variable and a second variable are introduced, an original optimization problem is decomposed into two sub-problems related to the first variable, the second variable and a Lagrangian multiplier coefficient during iterative calculation in the joint estimation process, and in each iterative process, analytical solutions of the two sub-problems are solved respectively; and updating the first variable, the second variable and the Lagrange multiplier coefficient. According to the method, the accuracy of target object position estimation can be improved while the calculation complexity can be remarkably reduced.

The invention provides a mechanical arm predefined time trajectory tracking control method and system based on time delay estimation, and relates to the technical field of multi-degree-of-freedom mechanical arm trajectory tracking control. Constructing a predefined time error conversion function to define a system error and conversion error system, designing a barrier function and a feedback control rate based on the conversion error system, and designing a Lyapunov function to prove the stability of the system so as to track an expected trajectory; according to the method, time delay information is deeply fused, dependence on a complex model approximate structure is not needed, stable convergence of the mechanical arm system state within predefined time can be achieved when a mathematical model is not accurate, the system control performance and robustness are effectively improved, and the requirement of modern industry for mechanical arm high-performance control is met.

The invention relates to the technical field related to intelligent production control, in particular to a coal mine production equipment control method and system based on remote body interaction, and the method comprises the steps: coal mine production equipment uploads parameters, analyzes the state, configures a twin architecture, and carries out local decision abnormity early warning. A remote end is communicated with an interaction device, biological characteristics are reflected as a pose instruction, time delay compensation and track deviation prediction are embedded, a multi-mode feedback unit triggers smooth control according to the pose instruction, and tactile feedback is enhanced in combination with a vibration spectrum. The technical problems that the network condition of the underground coal mine environment is poor, obvious communication delay exists in remote control, operation instruction lagging exists, and the response speed and operation safety of equipment are affected are solved, dynamic time delay is predicted through the LSTM network, track deviation is compensated, the real-time performance and stability of remote control are improved, accurate execution of instructions is ensured, and the service life of the equipment is prolonged. And the remote operation efficiency and reliability of the coal mine equipment are improved through high-precision pose control and real-time compensation.

The invention provides an unmanned aerial vehicle visual servo intrusion target tracking and intercepting method based on time delay compensation. The method comprises the following steps: acquiring a latest image of a tracking target through a camera on an unmanned aerial vehicle; based on the latest image, determining the position of the tracking target in an image coordinate system of the latest image as a first position; determining a position error of the first position by adopting a prediction algorithm based on improved Kalman filtering based on the delay time of collecting the latest image; based on the position error, determining a control parameter used for visual servo tracking of the corresponding tracking target; and based on the first position and the control parameter, controlling the unmanned aerial vehicle to fly to track and intercept the corresponding tracking target. Therefore, the position error compensation is performed through the delay time of the latest image, and the unmanned aerial vehicle is controlled to track the corresponding target based on the position error, so that the tracking accuracy is improved, the tracking interception error is reduced, and the interception success rate is improved.

The invention relates to the technical field of downhole operation control, in particular to a downhole operation platform control system and a crane, and the system comprises a task identification module, a demand index module, a power sequencing module, a rhythm switching module and a command reconstruction module. According to the method, through accurate recognition of the structure state and parameter linkage, accurate judgment of the initial operation stage is achieved, false starting and false action of the platform are avoided, coupling analysis between operation data can dynamically set the scheduling priority, it is guaranteed that key tasks are executed in advance, coordination is improved, energy supply conditions are judged through power parameter fusion, and paths are distributed according to needs; the energy utilization efficiency is enhanced, stage rhythm conversion achieves stable switching based on action states and logic mapping, action disjunction is prevented, finally, control instructions are rearranged through feedback time delay and an execution sequence, an efficient and ordered response mechanism is formed, the overall operation efficiency, stability and the intelligent level are improved, and the risk of manual intervention and operation imbalance is reduced.

The invention relates to a motor energy-saving control method for adaptive parameter adjustment. The method comprises the following steps: constructing an operation parameter sequence and comparing the operation parameter sequence with a preset reference model by collecting the rotating speed, the torque and the current signal of a motor in real time to generate a parameter deviation vector; based on a deviation threshold comparison result, carrying out noise processing on the overrun deviation to obtain a filtered sequence, and calculating a time delay degree in combination with historical parameters; calculating a compensation gain according to the time delay, fusing the compensation gain with the filtered deviation to generate a control instruction sequence, correcting the compensation gain through fuzzy control to obtain a stabilization parameter, and further generating a correction control instruction sequence; and finally, acquiring load data, fusing the load data with the correction instruction to obtain a system operation characteristic value, and generating an optimization state identifier when a judgment standard is met. By adopting the method, adaptive adjustment of the control parameters can be realized, the dynamic working condition is accurately responded, and the energy-saving efficiency of the motor under the variable-load working condition is improved.

The application discloses a 5G network slice access control method based on service type, which comprises the following steps: 1) in a 5G network supporting multiple network slices, the type of a newly arrived service is judged, and the service is divided into a time delay sensitive service and a non-time delay sensitive service; if the service is the time delay sensitive service, step 2) is executed; if the service is the non-time delay sensitive service, step 3) is executed; 2) a bearing slice of the time delay sensitive service is selected; 3) a bearing slice of the non-time delay sensitive service is selected; 4) the next service needing transmission is waited for, and step 1) is executed. The application can minimize the time delay of the time delay sensitive service, realize the relative fairness of the time delay of various services, minimize the transmission waiting time of the non-time delay sensitive service, and improve user perception.

The invention discloses an industrial Internet of Things control method for multi-type working parameter deployment, which relates to the technical field of industrial automation control, and comprises the following steps: S001, establishing a time sequence observation baseline of a multi-stage redundant path, injecting micro-amplitude identification pulses into all control nodes, generating an instruction time delay distribution curve and a resource occupation track, and establishing a time sequence observation baseline of a multi-stage redundant path; the method is used for revealing potential conflict sources and providing initial conditions. According to the method, a conflict source is revealed by establishing a time sequence observation baseline, competition nodes are identified by using a loop retrieval graph, a conflict list is formed, a single-source control right token is issued to realize link convergence, token stagnation is monitored, snapshot rollback and standby path takeover are combined to avoid interruption, and after takeover, time delay shaping is implemented to ensure stable landing of an instruction. Finally, the topological weight, the token priority and the fusing threshold value are dynamically updated, a self-evolution closed loop is constructed, and high reliability and high safety of industrial Internet of Things control are achieved.

The invention discloses an industrial equipment interconnection and intercommunication method based on an industrial control platform, and relates to the technical field of industrial equipment interconnection and intercommunication, and the method specifically comprises the following steps: calculating a behavior entanglement degree between a resending data frame with repeated content and a resending data frame, and if the entanglement degree exceeds a preset threshold value, determining that the resending data frame is the resending data frame; if yes, extracting a sequence offset, a time delay amount and a field fluctuation amplitude, and generating an index vector used for describing the aging degree of the data identifier; the generated index vector is input into a pre-trained graph embedding algorithm model, a first parameter and a second parameter are generated, the first parameter is used for describing the consistency of the data frame and a historical evolution path, and the second parameter is used for describing the aging degree of the data frame identifier. According to the method, the problem that the reissued data of the industrial equipment cannot be accurately identified is solved, and timeliness judgment and validity identification of the state data are realized based on the causal atlas and the graph embedding model.

The invention relates to the technical field of response time testing of electro-hydraulic proportional valves, and discloses a response time testing method and system of an electro-hydraulic proportional valve, and the method comprises the steps: collecting multi-point pressure, step response, pipeline length and medium parameters, and unifying the time reference to obtain an original pressure sequence; constructing an inverse filter spectrum to remove damping interference so as to recover a sharp peak value; lagging offset is calculated according to pipeline and medium parameters, time delay compensation is carried out, and an alignment sequence is obtained; intercepting a non-stationary segment to eliminate residual delay deviation; constructing a response dynamic data set, extracting harmonic frequency domain representation, and reconstructing a pressure sequence through inverse transformation and superposition of compensation factors; and calculating a deviation integral quantity, adjusting a dynamic compensation parameter, performing weighted correction, and outputting an optimized reconstruction response sequence. According to the method, accurate reconstruction of the real pressure response of the proportional valve can be realized, so that the accuracy and the reliability of response time testing are improved.

The invention discloses an automatic integrated system from an asynchronous pipeline to an asynchronous circuit, which adopts a modular architecture, takes a high-level structure description file in a JSON / XML format as input, and gradually maps to generate a gate-level netlist and a standard delay format file so as to be in butt joint with a commercial back-end design process. According to the method, asynchronous design based on an asynchronous structure can be automatically mapped into an asynchronous circuit, the automatic mapping process can seamlessly process multi-level design representation, the mapping result is stable and cooperatively operated, asynchronous circuit time sequence detection and delay matching are automatically completed, the design efficiency is greatly improved, and the design cost is reduced. An automatic delay matching mechanism enables the circuit to have a good data ready detection and handshake mechanism, and the characteristics of low power consumption, high throughput and no global clock drift sensitivity are realized; in addition, automation of asynchronous design key links such as structure abstraction, time delay modeling and testability insertion is achieved while design readability, hierarchical consistency and time sequence controllability are guaranteed.

The invention relates to the technical field of electrical variable monitoring, and further relates to a pole-mounted circuit breaker electrical variable monitoring method. The method comprises the steps of 1, collecting a plurality of real-time electrical variables of the pole-mounted circuit breaker, performing normalization processing on each real-time electrical variable, and performing nonlinear fusion to form a single-dimensional electrical variable observation sequence; 2, acquiring historical sampling values of multiple electrical variable observation sequences within a fixed time delay interval so as to avoid embedding dimension explosion caused by vector operation and explicitly reflect a low-dimensional manifold hypothesis; and step 3, performing combined mapping on the intrinsic state quantity and the difference value of the insulation leakage current and the arc voltage, and predicting the fracture phase voltage in the future time. According to the invention, high-precision, high-robustness and prospective localized fault early warning and protection control can be realized, and the intelligent monitoring and safe operation capability of the pole-mounted circuit breaker in a complex power distribution environment can be obviously improved.

The invention relates to the technical field of real-time kernel performance testing of special chips, in particular to a special chip real-time performance evaluation method based on an FPGA (Field Programmable Gate Array), which comprises the following steps: (1) aiming at a real-time system on an ASIC (Application Specific Integrated Circuit) chip, setting an external interrupt source and an interrupt service program through a hardware interrupt controller; (2) two tasks with the same priority are created, scheduling of the tasks is achieved through time slice rotation, and a real dynamic load scene is simulated; (3) configuring an external FPGA (Field Programmable Gate Array) to generate a square wave signal to trigger external interruption of the ASIC chip, receiving a feedback signal, and connecting the FPGA and the GPIO through an external physical connecting line to form a hardware interruption triggering-response closed loop; and (4) realizing nanosecond timestamp capture through a counter built in the FPGA, acquiring time delay data, calculating interrupt response time, and transmitting the time delay data to a PC (Personal Computer) through a UART (Universal Asynchronous Receiver / Transmitter) to calculate a maximum value, a minimum value, an average value and a data jitter range of test data. The method can effectively solve the problem that the traditional internal closed-loop test cannot reflect the real interruption randomness and the dynamic load.

The invention relates to the technical field of intelligent scheduling, and discloses an intelligent scheduling control method and system based on multi-objective optimization, and the method comprises the steps: obtaining an attribute set of different tasks, obtaining a disturbed task attribute initial value, and carrying out the calculation to obtain an importance score of the tasks during initialization; based on the task attribute initial value and the attribute weight, calculating the conflict degree between the tasks through the task scheduling conflict degree; defining an optimization target according to the importance score of the task and the conflict degree between the tasks, and automatically generating an association rule; and after optimization, calculating the task importance score of the final time step based on the task attribute value and the attribute weight of the final time step, and generating a final scheduling scheme according to the final importance score of each task. According to the method, through dynamic conflict evaluation, adaptive weight adjustment and a closed-loop feedback mechanism, the environmental adaptability, global optimization and stability of a scheduling system are remarkably improved, and resource competition and time delay are effectively reduced.

The invention discloses a task unloading and resource allocation collaborative optimization method for an industrial hybrid network, and belongs to the technical field of industrial communication networks. The method comprises the following steps of: firstly, acquiring multi-dimensional attributes of an industrial field terminal task and a network node state in all directions through intelligent super-sensitive sensing and quantum-level monitoring means; thirdly, constructing a dual-objective function joint optimization model dominated by task total execution time delay minimization and assisted by resource utilization rate maximization, integrating factors such as local queuing time delay and transmission and calculation time delay under the influence of a quantum state, and setting strict constraint conditions; then, an improved quantum heuristic distributed co-evolution algorithm is adopted for solving, and a fine operation and self-adaptive quantum dynamic parameter adjustment mechanism is designed to approach an optimal solution; and finally, allocating tasks and resources according to an optimization result, establishing a continuous monitoring system, and rapidly restarting an optimization process in case of an abnormality.

The invention discloses a low-delay computing power network optimization method and system based on artificial intelligence, and relates to the technical field of network optimization, and the method comprises the steps: obtaining a delay requirement and resource state data of a computing power network, and building a delay optimization model based on the delay requirement and the resource state data; based on the time delay optimization model, computing power resource scheduling information in the network is obtained, and time delay prediction is carried out through an AI algorithm; and generating an optimization strategy according to a time delay prediction result, and dynamically adjusting the computing power network to optimize the time delay and ensure that the time delay meets service requirements. According to the method, the delay requirement and the resource state data of the computing power network are acquired in real time, the delay optimization model is dynamically established, the delay requirements of different services are met, the AI algorithm is used for efficient delay prediction, computing power resource scheduling is optimized, the delay is controlled within the service requirement range, and the service performance of the computing power network is improved. Routing paths and node resources are adjusted according to the real-time network state, and time delay fluctuation is reduced.

The invention relates to the technical field of laser displacement meters, discloses a calibration method of a laser displacement meter for a Beidou device based on multi-data coupling, and effectively solves the problems of time delay compensation and data synchronization of cooperative work of multiple devices in a dynamic environment. According to the invention, when a carrier moves at a high speed or environmental parameters suddenly change, submillimeter-level positioning precision can still be maintained, meanwhile, data processing delay is controlled within a millisecond-level range, the reliability of a measurement system under a complex working condition is remarkably improved, and through double marking of a GNSS timestamp and a local clock, the measurement precision is greatly improved. And an accurate time deviation observation value is provided for a subsequent time delay compensation algorithm, so that a time-space unified data basis is established in a data preprocessing stage, and the feasibility of multi-source heterogeneous data fusion is remarkably improved.

The invention provides a gateway data transmission control method and system based on an improved token bucket method. According to the method, a traditional token bucket flow limiting method is improved by introducing a parameter self-optimization mechanism, a burst flow self-adaptive adjustment mechanism and a multi-node cooperative control mechanism. The method comprises the following steps: firstly, generating tokens according to a specified frequency and distributing the tokens to token buckets, and requesting to perform access control according to token acquisition conditions by a client; dividing the data into a plurality of independent data groups, queuing and processing the data groups in corresponding token buckets, and solving the optimal token bucket capacity and issuing rate to minimize data processing delay by analyzing the arrival rate and queuing probability of data packets; when a single-channel or group-level burst traffic event is detected, the token bucket rate and capacity are automatically adjusted to achieve traffic limiting adaptation and cooperative stabilization. According to the invention, system load balance and rate convergence can be maintained under a high concurrency condition, time delay and jitter caused by flow fluctuation can be substantially reduced, and continuity of data transmission and gateway scheduling efficiency can be improved.

The invention discloses a micro burst traffic detection method, network element equipment, a computer readable storage medium and a computer program product, and relates to the technical field of communication, the method is applied to the network element equipment, the network element equipment is provided with a microsecond-level timer, and the method comprises the following steps: counting the number of forwarding message bytes of each sub-time window in a sliding time window; performing mean value calculation on the forwarding message byte numbers of all the sub-time windows in the sliding time window to obtain a sub-window byte number mean value of the sliding time window; determining a sub-window byte number threshold value of the sliding time window based on the sub-window byte number mean value; and determining the state of the sub-time window of which the forwarding message byte number is greater than the byte number threshold value of the sub-window as a flow micro-burst state. According to the invention, the size of the micro-burst flow and the corresponding time delay can be accurately detected in a fine-grained manner, and the detection precision of the micro-burst flow is effectively improved.

The invention discloses a PUF (Physical Unclonable Function) structure based on delay difference quantization, and the structure comprises a PUF circuit which comprises two time delay circuits which are connected in parallel; a plurality of layers of differential tapped circuits TDC, and decoders connected with each layer of differential tapped circuit TDC; the delay data quantization unit is connected with the multi-layer decoder, and the delay data quantization unit is connected with the LFSR confusion structure; the two delay circuits are connected with the multi-layer differential tap circuit TDC through the signal selection structure, the signal selection structure inputs delay signals which respond first and then respond in the two delay circuits into a start end and a stop end of each layer of differential tap circuit TDC, the decoder determines delay time of the two delay circuits under corresponding delay resolution, and the decoder outputs the delay time to the multi-layer differential tap circuit TDC. The delay data quantization unit is used for averaging the delay time under different time delay resolutions to serve as final delay data, and the final response R is output after the final delay data is confused by the LFSR confusion structure. Signals of the two symmetrical delay paths are respectively input into a framework of a multi-layer TDC quantization circuit, so that delay difference digital code quantization is realized.

The invention belongs to the technical field of information and communication, and relates to an active user detection and data decoding method of an asynchronous massive machine type communication system. Aiming at the problem that the detection and estimation performance is reduced due to unknown user time delay in asynchronous transmission, the method comprises the following steps: initial estimation and preprocessing: detecting initial active users and transmission time delay thereof through correlation peaks, and whitening received signals; the iterative joint detection and channel estimation module is used for iteratively updating channel information and data symbol information for multiple rounds based on a factor graph and a message passing algorithm; the data decoding module is used for decoding data based on a soft decision device; the detection and decoding performance is improved by transmitting external information among the modules; and the time delay parameter updating adopts a greedy search algorithm to obtain the optimal time delay. According to the method, the active user detection rate, the channel estimation precision and the data decoding accuracy under the condition that the receiving and transmitting ends are completely asynchronous are improved.

The invention provides a self-adaptive fractional order nonsingular terminal sliding mode control method based on time delay estimation, and relates to the technical field of manipulator control. Designing a non-singular terminal sliding mode surface containing fractional differential and power transformation, and further constructing a reaching law with variable gain; then, the unknown dynamic state and disturbance of the system are compensated in real time through a time delay estimation technology by utilizing historical control input and state information; finally, a control law is generated by integrating the sliding mode surface, the reaching law and the time delay estimation compensation item, high-precision and strong-robustness control over an uncertain nonlinear system is achieved, and the tracking precision and the anti-interference capacity of the manipulator in the uncertain environment are effectively improved.