36 results about "Transfer matrix" patented technology

The invention belongs to the field of industrial process fault diagnosis, and discloses a fault diagnosis method based on an enhanced multi-mode switching dynamic system model, an LDS model is used as a penetration point, a transfer matrix is used to describe mode switching so as to establish an SLDS model, in addition, a hidden Markov chain is combined with the transfer matrix, and a fault diagnosis result is obtained. And an enhanced hidden Markov transfer matrix is constructed to further consider the high-order dynamic characteristics of multi-mode switching of process data, the establishment of an aSLDS model is completed, and the fault diagnosis performance is improved. The aSLDS model not only provides a new method for the fault diagnosis technology, improves the effectiveness and superiority of fault detection and classification, but also supplements process operators to grasp dynamic information among multi-modal data features and multiple groups of data modals, guarantees the safety and reliability in the industrial production process, and improves the fault diagnosis efficiency. And further development of fault diagnosis in an actual industrial process can be promoted.

The invention provides an integrated energy system integrated dynamic simulation method, system and device and a medium, and relates to the technical field of energy utilization, and the method comprises the steps: configuring a transfer matrix and a state equation based on an energy network dynamic two-port model, and representing a dynamic transmission process corresponding to a gas network pipeline parameter characteristic and a heat network pipeline parameter characteristic; constructing an equipment dynamic simulation model; a comprehensive energy system model with a dynamic transmission process and an equipment dynamic simulation model is built based on a nonlinear finite difference method, dynamic simulation is conducted on the built comprehensive energy system model, transient behaviors of gas net turbulence and heat pump working medium phase change are captured through a nonlinear partial differential equation, dynamic simulation is achieved, and a simulation result is stored. According to the invention, the transient process can be captured, and dynamic interactive simulation of gas-heat-power grid is supported; the dynamic coupling equipment is abundant, the expansibility and the adaptability are excellent, a novel equipment model or an external control strategy can be accessed, and the method is suitable for various application scenes.

The invention relates to the technical field of power buoys, in particular to a power buoy self-positioning control method based on an MPC algorithm and a power buoy. The method comprises the following steps: firstly, establishing a kinematic model of a buoy, converting the kinematic model into a continuous state space model, secondly, establishing a continuous time system equation according to the kinematic model, and then, discretizing the continuous state space model to obtain a continuous time system equation; discretizing a state transition matrix and an input influence matrix in the continuous state space model according to a continuous time system equation, then establishing an objective function, constraining control parameters in a kinematic model, and finally solving an optimal solution of the objective function in a constraint range by adopting a linear quadratic programming function, so as to obtain a continuous state space model. Optimal control parameters are obtained, and optimal positioning and navigation control are achieved. A positioning control system and a power propelling system are arranged, the posture and position of the buoy can be rapidly and automatically adjusted, and the adaptability and flexibility of the buoy are greatly improved.

The invention relates to the technical field of electromagnetism, in particular to a multi-layer slab waveguide mode processing method, device, equipment, medium and program, and the method comprises the steps: constructing a transfer matrix model of a multi-layer slab waveguide; obtaining boundary conditions of the infinite space, and determining a corresponding real number domain characteristic equation and a complex number domain characteristic equation according to the transfer matrix model and the boundary conditions so as to determine a guided mode and a leakage mode of the multilayer slab waveguide in the infinite space; introducing a perfect matching layer to convert a radiation condition of an infinite space into an absorption boundary in a finite computational domain, constructing a finite space characteristic equation according to the thicknesses of the perfect matching layer and the absorption boundary, and positioning a plurality of correction leakage modes according to the finite space characteristic equation to generate a Bereger mode; and generating complete mode distribution according to the guided mode, the leakage mode and the Bereger mode. Therefore, the problems of relatively poor calculation precision, relatively slow calculation speed, limitation of complete mode solving in the multilayer slab waveguide and the like in related technologies are solved.

This invention discloses a dynamic load identification method and apparatus based on a physically guided convolutional long short-term memory network, relating to the field of data processing. The method includes: constructing and training a dynamic load identification model based on a convolutional long short-term memory network to obtain a trained dynamic load identification model; the loss functions used in the training process of the dynamic load identification model include a data-driven loss function and a physically guided loss function. The physically guided loss function is constructed based on the dynamic equations transformed from the motion equations of a linear system under dynamic action, and uses an overall transfer matrix; acquiring the time-domain signals of acceleration and / or strain responses of each test point collected within each time window when the dynamic load to be identified is applied to one or more points on the structure, and inputting these signals into the trained dynamic load identification model to obtain the predicted dynamic load corresponding to one or more points. This invention solves the problem of the current load identification method's strong dependence on data.

The present invention provides a humanoid trajectory planning method based on kernelized motion primitives of posture coordination, which includes collecting motion data of a subject; obtaining four upper limb coordinate systems through vector operations on the motion data, and constructing a transfer matrix through the four upper limb coordinate systems; calculating joint angles based on the solution of the Euler angle equation and the transfer matrix to obtain a trajectory sequence; extracting the posture coordination principal components of the trajectory sequence through principal component analysis (PCA); setting a reference curve based on the posture coordination principal components, and predicting the probabilistic reference curve distribution of the reference curve using a Gaussian mixture model and Gaussian mixture regression; using a kernelized motion primitive algorithm (PSKMP) based on posture coordination to learn and generalize the probabilistic reference curve distribution, and obtaining an objective function of the reference curve to adapt to new task points; and generating a target trajectory through the objective function based on input task conditions.

The invention provides a trajectory prediction method based on improved Kalman filtering, which can improve reaction time and prediction accuracy. Comprising the following steps: step 1, substituting a position velocity vector of a target object and a noise vector possibly causing the state change of the target object at the current moment into a state prediction equation to obtain the target velocity and position information at the next moment; 2, substituting the state transition matrix into a covariance prediction equation to obtain an error covariance matrix; 3, performing Kalman gain according to the error covariance matrix obtained in the step 2 to obtain a Kalman gain matrix; 4, performing state updating according to the Kalman gain matrix obtained in the step 3 to obtain a state updating equation; 5, substituting the state updating equation into the covariance matrix in the step 2 for updating, and recalculating the covariance matrix; and step 6, obtaining a trajectory prediction state vector from the state xk obtained in the step 4 based on a BP neural network and a Kalman gain equation.

The invention relates to the field of ice load identification of an ice region ship structure, and discloses a large-area distributed ice load quasi-static identification mathematical model morbidity elimination method, which comprises the following steps of: firstly, establishing a high-dimensional initial mathematical model containing massive redundant measurement point information; and then carrying out dimensionality reduction and optimization on a transfer matrix of the model by adopting an innovative regional discrete retrieval method. According to the method, an optimal measurement point combination is screened out from tens of thousands of initial measurement channels by iteratively searching in divided sub-domains and taking matrix condition number minimization as a target, so that an optimized transfer matrix with remarkably reduced dimensionality and good performance is obtained, and the optimal physical layout of the sensor is synchronously determined. Finally, an enhanced mathematical model is constructed based on the optimization matrix for solving, the number of sensors is greatly reduced, the cost is reduced, interference of measurement noise is effectively overcome, and the stability and accuracy of an ice load identification result are ensured.

The present invention discloses a method and device for measuring defects of plate-like specimens based on Lamb wave dispersion, including: testing the plate-like specimen to obtain material parameters and basic equations of the plate-like specimen; using the state space method to establish a propagation model of Lamb waves on the plate-like specimen; obtaining the control equation of Lamb wave propagation through generalized displacement and stress solutions; obtaining the solution of the control equation according to the matrix index, and obtaining the dispersion relationship and modal vibration shape of Lamb wave propagation through the global transfer matrix method; using the obtained material parameters, dispersion relationship and modal vibration shape of the plate-like specimen, and establishing a finite element model for plate-like specimen detection according to Snell's law; calculating the vertical displacement of the signal according to the pre-placed monitoring point on the top surface of the plate-like specimen, thereby obtaining the position of the crack. The theoretical and numerical models of the present invention have the advantages of non-destructiveness, real-time monitoring, high sensitivity, applicability to complex structures and multi-modality, and provide a powerful method for structural analysis and evaluation.

The invention provides a Hermite-Newton formula milling stability domain prediction method based on prediction correction, and the method comprises the steps: converting a time delay differential equation considering regenerative flutter milling dynamics into a space state form, and obtaining a space state equation; the cutter tooth cutting period is divided into a free vibration time period and a forced vibration time period; equally dividing a forced vibration time period into a plurality of small intervals, and performing integral calculation on the space state equation in any small interval to obtain a relation equation between a state item and a time delay item; using Hermite and Newton formulas to approach a state item and a time delay item to obtain state quantities which are respectively used as a predicted value and a corrected value; calculating a mapping relation between cutter tooth responses of adjacent periods through simultaneous prediction value and correction value equations; constructing a transfer matrix according to the mapping relation; according to the method, the defect that calculation precision and calculation efficiency cannot be considered at the same time in a traditional numerical solution method is overcome, and the milling stability domain is estimated more accurately and efficiently.

This application discloses a method and related device for identifying the stiffness and resistance parameters of pipeline hangers, relating to the field of pipeline system dynamics analysis technology. The method includes acquiring the geometric and material parameters of the pipeline system and establishing a transfer matrix dynamic model; constructing a frequency response function based on vibration response and extracting experimental frequency response data; constructing a forward calculation model of the frequency response function, calculating theoretical frequency response data, and extracting characteristic parameters; comparing experimental and theoretical frequency response characteristic parameters to obtain frequency response error data; searching for Pareto optimal solutions within the feasible search range of stiffness and damping based on the frequency response error data and the NSGA-II algorithm, and selecting optimal stiffness and damping parameters from the Pareto optimal solution set based on the normalized weighted Euclidean distance criterion. This application eliminates the need for direct contact measurement of the hangers; parameter identification can be achieved simply by collecting the vibration response on the pipeline, solving the technical problem of accurately measuring the dynamic parameters of hangers under complex working conditions.

The application discloses a MoM-PO electromagnetic scattering hybrid method based on matrix dimension reduction, according to the region division of a target into an original region and a dimension reduction region, impedance matrices in a method of moments (MoM) are divided into blocks, and then two transfer matrices are constructed to establish an expression of unknowns between the two regions; through simple operation of the matrix blocks, the high-dimensional impedance matrix is changed into a low-dimensional impedance matrix, so that the complexity of matrix element filling and subsequent equation solving and calculation can be effectively reduced; and through the introduction of an electric dipole model, the calculation process of matrix element filling is further simplified.

The invention discloses an optimal loading time domain signal acquisition method and system suitable for finite element analysis, and the method comprises the steps: building a finite element model of a product structure, and constructing a transfer matrix relation in a time domain range; constructing a compatibility matrix in combination with response data of a plurality of measuring points and the transfer matrix relationship; acquiring a row with the maximum average compatibility index in the compatibility matrix, and taking a measuring point corresponding to the row as an optimal response point; based on the optimal response point, performing inversion through the transfer matrix relation to obtain an optimal time domain loading load signal; and applying the optimal time domain loading load signal to a loading surface of the finite element model to obtain other mechanical response data of the product structure. The time domain load obtained by inversion of the optimal response point is accurate and reliable so as to more accurately support numerical simulation analysis of a product.

The present invention relates to a simulation analysis method and system based on fluid-solid coupling, which belongs to the field of simulation analysis technology, and solves the problem that the existing fluid-solid coupling has low computational efficiency and slow convergence speed, resulting in the inability to quickly obtain accurate analysis results. The method includes importing a structural geometry model of an element, generating a fluid geometry model, and performing discretized grid division; calculating the first transfer matrix of physical quantities from the flow field coupling interface to the structural field coupling interface according to boundary conditions; constructing a fluid-solid direct coupling system equation and transforming it into three sub-equations; performing fluid-solid coupling analysis, and updating the unknown quantities of the flow field and structural field, as well as the Lagrange multipliers, in each iteration of each time step by using an iterative calculation method based on the three sub-equations using any one of the flow field solvers and the structural field solver, until they are all less than their respective convergence tolerances and all time steps are completed; and extracting the analysis results from the output result file. Efficient and accurate fluid-solid coupling simulation analysis is achieved.

The invention discloses an LTP system feature vector calculation method for power system stability analysis and application, and belongs to the field of linear periodic time-varying system analysis in a power system.The LTP system feature vector calculation method comprises the steps that dynamic differential equations of a left feature vector and a right feature vector of LTP system feature values are obtained; establishing a relation among the LTP system characteristic value, the left characteristic vector, the right characteristic vector and the state transition matrix, and deducing to obtain solutions of the left characteristic vector and the right characteristic vector at 0 and T moments; based on the differential equation of the right feature vector, deriving a solution of the right feature vector in a period T through a forward modeling form; and based on the state transition matrix and the differential equation of the left eigenvector, deriving in a time inversion form to obtain a solution of the left eigenvector of the eigenvalue in the LTP system in a period T. Through the LTP system feature vector calculation method disclosed by the invention, the requirement for ill-conditioned STM inversion is avoided, and more reliable left and right feature vectors are obtained.

The invention provides a self-adaptive underwater buried object detection method and device, and relates to the technical field of underwater detection. The method comprises the following steps: establishing a wave number integral model of a non-uniform medium, and correcting a traditional Helmholtz equation to represent sound wave propagation characteristics between a sedimentary layer and a buried target; constructing a coupling perturbation scattering model, expanding the coupling perturbation scattering model to a second order through Taylor expansion, and realizing joint modeling of coherent scattering and diffuse scattering in combination with a correction integral equation; carrying out global modeling on the multi-interface layered medium by adopting a transfer matrix method, and deducing a total reflection coefficient; establishing a constitutive relation model of the viscoelastic material based on the fractional derivative, and realizing acoustic response prediction of multi-physics coupling in combination with a random equivalent medium theory; and training detection signal data by using a long short-term memory auto-encoder network, and judging the existence of a target by calculating a reconstruction error. Through the method and the device provided by the invention, accurate detection in a complex underwater environment is realized, the problems of poor environmental adaptability, insufficient data and the like of a traditional method are avoided, and the detection accuracy and reliability are improved.

The invention discloses a multi-time-delay processing system stability analysis method based on an updating precise integral method. The method comprises the following steps: S1, obtaining a state space according to a multi-time-delay n-dimensional linear dynamic system equation; s2, obtaining continuous output of the multi-time-delay processing system according to the ordinary differential equation solution; s3, obtaining a discrete output expression of the multi-time-delay processing system according to the second-order Newton polynomial; s4, further modeling the discrete output expression obtained in the step S3; s5, constructing a state transition matrix irrelevant to the initial value according to the Floquet theory; s6, judging the stability of the equation according to the characteristic value of the transfer matrix phi of the system; and S7, analyzing the stability of the multi-time-delay processing system based on the updated accurate integral. According to the method, high-order discretization is adopted, so that the calculation precision is improved; and only one matrix instead of m matrixes is constructed in one period, so that a large amount of calculation time can be saved, and the processing efficiency is improved.

The invention belongs to the technical field of dynamic modeling research, and particularly relates to an analytic method for free vibration characteristics of a chain type beam structure containing a conical beam. A conical beam transfer matrix expression based on a Bezier equation form is formed, the obtained transfer matrix expression has good ductility and can be connected with transfer matrixes of other beams with different characteristics, and the free vibration characteristic of the chain type beam structure containing the conical beam is solved based on typical boundary conditions of the chain type beam structure. The method comprises the following steps: acquiring a singular submatrix under a field transfer matrix, deducing to obtain a transcendental equation, solving the equation to obtain a free vibration frequency characteristic of the chain beam structure, obtaining an inherent frequency, reversely substituting the inherent frequency into the transfer matrix, and further solving to obtain a chain beam structure array. Therefore, the inherent characteristic solution of the chain type beam structure containing the conical beam is realized. The method is used for solving the problem that the chained beam structure containing the conical beam lacks analysis and expression.

The application discloses a kind of based on finite difference reduction multibody system transfer matrix method of rotating beam system dynamic characteristic analysis method and system.Method includes: the physical parameter model of rotating beam system is established, and the structural parameter of rotating beam is acquired;Rotating beam system dynamics control differential equation is established;Rotating beam system is discretized using finite difference method;The transfer matrix of the discretized multibody system model is constructed, and the transfer matrix is processed using reduction equation, and the reduced difference point reduction transfer matrix recursive relationship is obtained;The reduced state vector recursive equation is established, and the dynamic characteristic parameter of rotating beam system is calculated and output.The application is combined with finite difference method by multibody system transfer matrix method, and rotating beam element is discretized difference, and the differential term of rotating beam differential equation is differentially approximated to deduce transfer matrix, retains the characteristics of low matrix order involved in transfer matrix method, reduces the calculation scale, improves the success rate of numerical calculation result, and can effectively solve rotating beam and other dynamics problems.

The present invention belongs to the technical field of ship flow field analysis and prediction, and specifically relates to a method, program, device and storage medium for rapid prediction of the flow field of a ship moving in waves based on the combination of POD and DMD. The present invention obtains the initial moment reconstructed flow field of any sample ship structure based on the POD method, obtains the linear transfer matrix of any sample ship structure based on the DMD method, and combines with the proxy model. When the ship to be predicted is sailing in the monitored sea area, the initial moment flow field data vector and the POD basis coefficient of the transfer matrix of the corresponding ship structure are obtained according to the proxy model, and then the initial moment flow field data vector and transfer matrix are obtained, so as to realize the rapid prediction of the flow field in waves for any ship structure at any time.

The invention relates to a method for reconstructing an image by improving a two-dimensional mirror image synthetic aperture through a metamaterial and a medium, and the method comprises the steps: configuring a two-dimensional mirror image synthetic aperture system which comprises a two-dimensional antenna array and two groups of reflection structures which are perpendicular to each other; two groups of mutually perpendicular reflection structures are replaced by magnetic conductor structures, and the magnetic conductor structures have in-phase reflection characteristics in a target frequency band; according to the position coordinates of the antennas in the two-dimensional antenna array and the in-phase reflection characteristic of the magnetic conductor structure, correlation values between the antenna pairs are calculated; constructing a transfer matrix according to the calculated correlation values; establishing a system of linear equations through the transfer matrix and the cosine visibility function, and solving the system of linear equations to obtain cosine visibility; and performing anti-cosine transform on the cosine visibility, and reconstructing a brightness temperature image of the target scene. According to the method, the negative interference of the transfer matrix is effectively eliminated through the electromagnetic regulation and control characteristics of the artificial magnetic conductor, and the optimization of the rank defect error is realized.

The invention relates to a method for quantitatively analyzing dispersion and dissipation characteristics of a numerical algorithm. The method comprises the following steps: carrying out numerical discretization on a linearized convection diffusion equation by using the numerical algorithm; solving a transfer matrix and a plurality of transfer characteristic values; sorting according to the mode length of the complex transfer characteristic value corresponding to each mode to obtain a continuous dispersion main mode curve and a continuous dissipation main mode curve; obtaining a dispersion fitting degree; if a continuous dissipation curve cannot be obtained, projecting the class wave solution to each feature vector to obtain a complex weight, and calculating a complex weight to obtain a joint modal dissipation curve; obtaining the maximum fitting range of the dispersion main mode curve and the dissipation main mode curve / joint mode dissipation curve through a 1% rule; and quantitatively analyzing the dispersion dissipation performance based on the dispersion fitting degree and the maximum fitting range. Compared with the prior art, quantitative analysis can be effectively carried out on dispersion and dissipation, and the problem that the main dispersion dissipation mode is difficult to obtain is solved.

The invention discloses an elastic element-containing pipeline frequency domain TMM calculation method, and relates to the technical field of pipeline system dynamics analysis. The method comprises the following steps: firstly, establishing a straight pipe local coordinate system and dividing system units, and constructing a pipeline element 14 equation model based on a Timoshenko beam theory; constructing a field transfer matrix and a point transfer matrix of the elastic element and the elastic support by referring to a four-end parameter method and combining impedance parameters, and integrating the field transfer matrix and the point transfer matrix into a system overall transfer matrix; and finally, establishing a complete frequency domain TMM calculation logic, and solving a pipeline frequency domain response through a node force balance condition, a continuous condition and a boundary condition. The method solves the problems that a traditional method is difficult to consider both precision and efficiency and poor in universality, can accurately reflect the dynamic characteristics of the elastic element, greatly improves the calculation efficiency, is adaptive to various elastic elements, and can provide reliable support for low-vibration design of pipelines in the fields of ocean engineering, shipbuilding and the like.

The invention relates to the technical field of model optimization, in particular to an aggregation Markov model dimension reduction method and device for dynamic system monitoring, and the method comprises the steps: firstly obtaining a probability transfer matrix Q, an observation probability matrix O and an initial distribution vector p of a target model; generating a diagonal matrix based on O, and constructing an intermediate matrix M fusing dynamic and initial information of the model; calculating the maximum matching number E of the bipartite graph constructed by the M, and comparing the maximum matching number E with the model dimension n to judge whether the dimension of the model can be reduced or not; if the dimension can be reduced, for each observation category, constructing a conversion sub-matrix based on a bipartite graph matching result of the sub-matrix blocks, and combining to form a conversion matrix T; and finally, constructing a dimensionality reduction aggregation Markov model with lower dimensionality by utilizing T and a left inverse matrix thereof. The invention provides a determinable automatic dimension reduction mechanism, which can obviously reduce the calculation complexity on the premise of ensuring the function equivalence of the model, and is particularly suitable for edge calculation scenes with limited resources.

The invention provides a space target collision early warning method based on a semi-analytical orbit theory, and the method comprises the steps: carrying out the orbit prediction through large-step mean root integration based on the semi-analytical orbit theory, and calculating a relative position vector at an approaching moment in combination with a J2 perturbation first-order short period term; then, on the basis of a J2 perturbation semi-analysis first-order mean root equation, a mean root deviation state transition matrix equation without singular points is constructed, and the position error covariance at the approaching moment is calculated; and finally, based on the joint position error covariance of the space target, utilizing a Mahalanobis distance criterion to judge a collision risk. The collision early warning method provided by the invention can obtain good balance between the calculation speed and the early warning accuracy, can avoid the problem of artificially introducing the collision probability threshold, has the advantages of no singular point, simple calculation and convenient engineering application, and is suitable for rapid and high-precision collision early warning of a large number of space targets.

The application discloses a kind of shipboard aircraft dynamics fast calculation method.Method includes following process: establishing shipboard aircraft catapult take-off multi-flexible body system dynamics model, establishes shipboard aircraft catapult take-off multi-flexible body system topology, utilize finite element method to establish main tire refinement finite element model, then tire flexible body dynamics characteristic parameter is exported and deduces the dynamics equation of tire flexible element, based on multi-body system transfer matrix method (MSTMM) and finite element modal synthesis method deduce shipboard aircraft catapult take-off multi-flexible body system total transfer equation and total transfer matrix, solve the inherent frequency of shipboard aircraft multi-flexible body system considering inflatable flexible tire and the dynamic response of catapult take-off;The method proposed in the application overcomes the defects of high matrix order and large amount of calculation of traditional methods when dealing with complex coupling system of shipboard aircraft containing inflatable flexible tire, has the advantages of fast calculation speed, high degree of programming and strong universality, provides an efficient calculation method for the dynamic analysis of complex shipboard aircraft multi-flexible body system.

The invention discloses a Filippov stability analysis method for a series capacitor buck converter, and the method comprises the steps: firstly building a differential equation model and a switch switching surface equation of the series capacitor buck converter in different switching states, and calculating the differential equation model into a state transition matrix in a discrete time domain; and calculating a transition matrix corresponding to the switching surface of the switch based on the Filippov thought, and multiplying the state transition matrix and the transition matrix according to the switching sequence to obtain a single-valued matrix corresponding to the system. The stability states of the system under different system parameters and modulation strategies can be obtained by analyzing the characteristic value of the single-valued matrix. According to the method, the problems that a system closed-form solution cannot be obtained through Poincare mapping and the calculation complexity of a multi-mode system is high can be solved, and the system accuracy is improved to 1 / 2 switching frequency; the stability characteristics of the SCBC are accurately analyzed; the method is simple in general calculation and easy to program, and has very high engineering practical value.

The invention relates to the technical field of dynamic modeling of precise optical instruments and mechatronics systems, in particular to a rapid reflector system modeling and performance prediction method based on a transfer matrix method. The FSM system is modularly decomposed into basic elements such as a flexible hinge and a rigid connecting rod; respectively establishing a transfer matrix of each element to describe an input-output mechanical relationship; assembling the matrixes into a total model according to a system topological structure, and solving by introducing a boundary condition, so as to quickly and accurately calculate a mapping relation from the driving displacement to the mirror plane directional angle; according to the method, the calculation error is relatively small, the single analysis time is greatly shortened, and the order of magnitude of efficiency is improved.

The present application relates to a Riemannian manifold excavator behavior cloning method and device based on improved biquaternions. The method includes: constructing a forward dynamics model of the excavator by the DH parameter method, obtaining the transfer matrix in the Cartesian coordinate system of the excavator end, the translation variables and rotation variables in the Cartesian coordinate system of the excavator according to the forward dynamics model, obtaining the quaternion representation of the rotation part of the excavator end, obtaining the biquaternion representation of the position and attitude of the entire excavator according to the quaternion representation, representing the position and attitude of the excavator end in the Cartesian coordinate system as the Riemannian manifold biquaternion representation in the tangent space of the Riemannian manifold through Riemannian manifold mapping, constructing a non-parametric Bayesian Gaussian process model, calculating the mean and variance of the output behavior data components given the query timestamp, and finally obtaining the behavior cloning result. Using this method can improve the expression ability of the excavator operation behavior.

The application discloses a kind of ultra-low field magnetic resonance radio frequency coil design method and related device, the flow function of Fourier-B-spline adaptive hybrid base function is structured;Based on Fourier-B-spline adaptive hybrid base function, the target field transfer matrix under error reference scene and error disturbance scene is structured, and the robust target field normal equation is established based on target field transfer matrix;According to the intermediate flow function solution of robust target field normal equation calculation, the path complexity adaptive pre-regular matrix is structured based on intermediate flow function solution;According to the path complexity adaptive pre-regular matrix, low-complexity sparse winding regular matrix is structured;Robust target field normal equation and low-complexity sparse winding regular matrix are jointly substituted into robust sparse hybrid base target field inversion equation, and the final flow function is solved and three-dimensional winding path is generated;Based on three-dimensional radio frequency transmitting coil winding path, the real winding path complexity index is calculated, and the radio frequency transmitting coil design scheme is filtered through multi-objective optimization.