576 results about "Wave propagation" patented technology

The invention relates to an ore crushing equipment operation monitoring method. Comprising the following steps: establishing a physical field distribution equation including a vibration wave propagation path and sound wave attenuation characteristics in a crushing cavity in the ore crushing process; collecting multi-physical field data in real time by using a sensor, and converting the data into a characteristic field distribution diagram comprising a vibration intensity distribution diagram; calculating a real-time change rate of a working load through historical data and current data of equipment operation; the vibration intensity and the sound wave energy are combined, and three working conditions of a low-load area, a normal-load area and an overload area are defined in a partitioned mode; on the time scale, the signals are divided into short-time fluctuation and long-time trend, and two types of tracks are extracted through wavelet decomposition and a sliding window method; on the characteristic scale, analyzing the main frequency deviation of the vibration signal, the high-frequency energy peak value distribution of the sound wave signal and the gradient of temperature change; and combining a working condition partitioning result with a dynamic characteristic track, and establishing a working condition and characteristic linkage matrix.

The invention discloses a hydropower station feeder line fault detection system and method, and particularly relates to the technical field of feeder line detection. A hydropower station feeder line fault traveling wave signal and an amplitude change in a propagation process are collected in real time, an established theoretical propagation model is combined, a traveling wave attenuation rule is calculated, the reasonability of a signal transmission path is judged, frequency spectrum characteristics are extracted through frequency analysis for a signal with an unreasonable path, and the signal is matched with a preset fault traveling wave characteristic library. According to signal path rationality and source authenticity, fault point positioning accuracy is predicted, traveling wave propagation speed and line impedance are dynamically adjusted, deviation caused by clock synchronization errors is corrected, positioning precision is improved, and the problem of inaccurate positioning caused by synchronization signal interference in the prior art is effectively solved. And the stability and economic benefits of a hydropower station power supply system are greatly improved.

The invention provides a distribution line fault location optimization method based on single-ended traveling wave location, and relates to the technical field of traveling wave detection. The method comprises the following steps: carrying out segmented modeling on a line, calculating the traveling wave propagation speed and wave impedance of each segment, and correcting the traveling wave propagation speed and wave impedance; collecting a voltage / current traveling wave signal of a detection point, and extracting a line mode component; performing wavelet transformation on the line mode component, detecting the wave head position of the initial traveling wave through a modulus maximum search algorithm, and recording the arrival time of the initial traveling wave, a corresponding first energy value and polarity; calculating a reflected wave time window based on segmented modeling parameters, screening reversed polarity waves with qualified energy attenuation, and calculating a fault distance; if no effective reflected wave is detected in the reflected wave time window, triggering a pseudo double-end mode; a result is verified through quadruple constraints; the problems of poor parameter adaptability, low signal processing precision, strong reflected wave dependence and incomplete verification in traveling wave distance measurement of a complex distribution line are solved, and the accuracy and reliability of fault distance measurement are improved.

The invention relates to the technical field of fault monitoring, in particular to a power transmission line fault monitoring and positioning method, system and device and a medium. The method comprises the following steps: firstly, performing digital conversion on an original current signal to obtain time sequence data, and then identifying and classifying fault events through threshold detection and a feature extraction algorithm to obtain classification labels of fault types; then, based on the classification label, establishing a traveling wave propagation model and carrying out time difference calculation, carrying out clustering analysis on a plurality of wave head data in a preset time window, and judging whether the fault is a single-point fault or a multi-point fault through a clustering result; and finally, a positioning result is transmitted to the central server for comprehensive verification and alarm management, and a final fault response is formed. By introducing a time series data analysis and clustering judgment mechanism, the fault type can be accurately identified, single-point and multi-point fault conditions can be effectively distinguished, and meanwhile, the reliability of a positioning result is improved through comprehensive verification of the central server.

The invention provides a defect positioning accurate identification method considering the change of the section of a pile body, and the method comprises the steps: carrying out the simulation comparison of a constructed sound wave signal feature vector and a pre-constructed sound wave feature vector of a defect-free pile foundation, calculating the feature difference degree of the two, setting a difference degree threshold value, and if the feature difference degree exceeds the threshold value, carrying out the recognition of the defect-free pile foundation. If yes, preliminarily determining that the pile body has defects; on the basis of the adjusted sound wave detection, sound wave signals are collected again, signal processing and feature extraction are conducted through a self-adaptive path tracking algorithm, and the three-dimensional coordinates of the defect in the pile body are calculated according to the time delay and the propagation speed of reflected waves by combining the established multi-reflection model and an inversion sound wave propagation path; and according to the calculated three-dimensional coordinates of the defect reflection points, the influence degree of the defects on the bearing capacity of the pile foundation is calculated by combining the defect size estimated through the amplitude of reflected waves, the defect type recognized through waveform features and the strength parameter of a pile body material through a finite element method.

The invention discloses a rock burst global monitoring and dynamic and static far and near field cooperative early warning method and system, and the early warning method comprises the steps: determining a stope space key monitoring region and a stress wave type based on a dynamic load stress wave far field generation and propagation mechanism, delineating a working face surrounding rock high-stress region, and analyzing the structural characteristics of a rock stratum. Arranging a micro-seismic sensor in a far-field key area, and obtaining parameters such as seismic source fracture size, energy and magnitude through waveform inversion; an acoustoelectric system is arranged in a near-field high-stress area, coal rock fracture characteristics are dynamically monitored, and the static load energy storage state of surrounding rock is quantitatively analyzed. And in combination with a stress wave propagation attenuation coefficient, a far and near field fusion early warning criterion under the action of dynamic and static energy superposition is established, and advanced accurate early warning of the rock burst is realized through collaborative analysis of multi-source monitoring data. The disaster-pregnant space global monitoring technology fusing earthquake, sound and electricity is provided, the chain evolution disaster-causing process of dynamic load generation, cross-space propagation and working face surrounding rock damage is considered, and the accuracy of rock burst early warning can be remarkably improved.

The invention relates to the technical field of power system fault positioning, in particular to a traveling-wave-based power distribution network fault positioning method, system and device and a medium, and the method comprises the steps: extracting a first fault traveling wave signal from a line signal when a power distribution network has a fault; taking the traveling wave sensor of the first fault traveling wave signal as a target sensor, and determining an adjacent sensor on a target power line where the target sensor is located; calculating a fault traveling wave propagation area of the fault point on the target power line according to the physical distance between the target sensor and the adjacent sensor, the timestamp difference value and the traveling wave basic propagation speed; separating a traveling wave head superposed in the first fault traveling wave signal, and extracting an original fault traveling wave head feature of each independent traveling wave head; and obtaining a power distribution network fault point positioning result according to the original fault traveling wave head characteristics and the fault traveling wave propagation area. According to the invention, rapid and accurate positioning of the fault point of the power distribution network is realized by analyzing the fault traveling wave signal, and the operation reliability of the power distribution network is improved.

The invention discloses a large-section long-footage mechanical blasting mixed excavation method suitable for a subway station, and relates to the technical field of underground rail transit engineering, and the method comprises the following steps: obtaining a tunnel section contour, a geologic structure and blasting parameters, building a three-dimensional blasting wave propagation inversion model, and combining geology and material heterogeneity to obtain a three-dimensional blasting wave propagation inversion model; and identifying a closed space region forming reflection interference, and predicting a space point location where blasting wave energy is abnormally accumulated. Based on the three-dimensional blasting wave propagation inversion model, the abnormal wave energy accumulation area is predicted in combination with geological heterogeneity, the high-risk blasting section is recognized, parameters are reconstructed, vibration real-time monitoring and model feedback correction are assisted, a closed-loop control system is constructed, local wave crest abnormity is effectively restrained, and the safety and controllability of large-section tunnel blasting construction are improved.

The invention discloses a micro-seismic multichannel data processing method and system based on a DBSCAN algorithm, and belongs to the technical field of micro-seismic monitoring. According to the invention, through feature vector construction and optimization distance calculation, the clustering reliability is enhanced; a multi-dimensional feature vector Xi containing P-wave refinement arrival time ti, an amplitude Ai and space coordinates (xi, yi, zi) is constructed, distance calculation is performed by combining a normalized cosine distance with wave velocity constraint, a micro-seismic wave propagation rule is fully utilized, the discrimination capability of DBSCAN clustering on physical consistency is enhanced, and the robustness of a screening result is improved, so that noise interference can be effectively processed in a complex environment, and the accuracy and the robustness of the screening result are improved. And the stability and the reliability of a micro-seismic positioning result under different geological conditions are ensured.

The invention discloses a high-voltage cable operation state on-line monitoring, intelligent early warning and fault positioning system, particularly relates to the technical field of power equipment insulation monitoring, and is used for solving the problems that transient discharge signals generated in the cable insulation degradation process are difficult to effectively capture and accurate fault positioning cannot be realized in the prior art. The method comprises the following steps: collecting transient leakage current signals and traveling wave propagation characteristic parameters, performing phase correlation analysis on leakage current pulses and power frequency voltage to identify discharge types, and performing variational mode decomposition and Hilbert-Huang transform on the signals to respectively extract complexity characteristics and energy distribution characteristics; signal logic conflicts are judged by analyzing similarity and statistical distance among characteristics of a plurality of monitoring points, and collaborative diagnosis is started or traveling wave distance measurement is directly utilized to carry out insulation state evaluation and fault location. And finally, differential early warning levels are generated according to the diagnosis result, and fault line selection and positioning information is output to realize real-time monitoring, intelligent early warning and accurate positioning of the operation state of the high-voltage cable.

The invention relates to a power distribution network single-phase earth fault positioning method and system based on transient traveling waves, and the method comprises the steps: 1, collecting a zero-sequence current signal at the moment when a single-phase earth fault occurs, carrying out the decomposition of the collected zero-sequence current signal through a variational mode decomposition algorithm, carrying out the feature extraction through a convolutional neural network, and carrying out the optimization through an alternating direction multiplier method; wherein the zero-sequence current simultaneously comprises a high-frequency traveling wave component and a transient abrupt change characteristic; 2, on the basis of the sampling signals optimized in the step 1, carrying out feature extraction from two dimensions of a transient abrupt change feature and a traveling wave propagation feature, and packaging the features into a fusion vector; 3, identifying a fault line by means of a Grubm angle and field method and the improved DenseNet; and 4, based on the fusion vector in the step 2 and the fault line information determined in the step 3, carrying out iterative operation by adopting an improved sparrow search algorithm, and outputting a finally determined fault section position result. According to the invention, the requirements of intelligent fault sensing and accurate response in a complex power distribution environment are met.

The invention discloses a marine surveying and mapping method based on multi-beam sounding correction, and belongs to the technical field of marine surveying and mapping. The method comprises the following steps: acquiring sounding echo signals, sound wave propagation time delay data and temperature data through a multi-beam sonar array, an acoustic chromatography transceiving array and a laser Raman probe; and fusing the data to construct a dynamic refractive index field model, correcting sound ray refraction distortion by adopting an adaptive variable step size algorithm, carrying out weight allocation and data fusion on space-time adjacent beams to obtain high-confidence water depth, and generating an isobath topographic map. The problem of refraction distortion is solved through multi-source data fusion, the sound ray tracking step length is dynamically optimized, noise interference is suppressed through weighted fusion, and the precision and reliability of topographic surveying and mapping in complex environments such as a deep sea hydrothermal region are remarkably improved.

The invention discloses a high-precision three-dimensional first-motion wave travel time chromatography velocity inversion method and device, and relates to the field of seismic exploration. A multi-template windward difference algorithm and an undulating surface narrow-band continuation strategy are adopted to determine three-dimensional global forward first-motion wave propagation travel time; ray tracing is carried out according to the three-dimensional global forward first-motion wave propagation travel time, and a first-motion wave propagation path and a Frechet differential quotient matrix are obtained; establishing a three-dimensional initial inversion velocity field constrained by micro-logging information; constructing a tomographic inversion equation based on the apparent slowness constraint and the regularization constraint according to the travel time residual error and the Frechet differential quotient matrix; and solving the tomographic inversion equation to obtain a tomographic inversion slowness solution, and converting the slowness solution into a velocity solution. The problem of non-uniform travel time delay of seismic wave propagation of a complex near-surface structure can be solved, a more accurate superficial layer velocity structure can be obtained, and the quality of seismic data processing and imaging inversion can be improved.

The invention discloses a multifunctional experimental device capable of realizing a wind wave coupling effect, which comprises a deep water experimental area, a transition experimental area and a shallow water experimental area, and is characterized in that a lifting floating bottom mounted at the bottom of a water tank can simulate the elevation change from a deep sea to a shallow sea seabed; a wind generating system is assembled above the water tank and is matched with the flow guide arrays on the two sides to provide a high-quality wind field for the experimental water tank; the L-shaped wave maker can make multi-directional irregular waves, the wave flow experiment water tank and the wind making system are used for constructing a target joint field required by an experiment, and the whole process that the waves are gradually propagated from deep sea to shallow sea under the wind wave coupling effect can be achieved. The device has multiple functions of wind generation, wave generation, current generation and the like, has the function of simulating various load factors which mainly influence ocean engineering structures, and compared with an existing experimental device, the device can achieve the real wind and wave coupling effect, more truly and completely simulate the whole process of ocean wave propagation, and the experimental device has the advantages of being simple in structure and convenient to use. And a more accurate marine simulation environment is provided for experiments.

The invention relates to the technical field of vibration monitoring, in particular to a self-powered transmission line fitting aeolian vibration damage diagnosis system and method, and the system comprises a sensing collection module, a signal decoupling module, a damage identification module, a damage association module and a risk assessment module. According to the method, stress wave velocity and acceleration data are synchronously collected, time alignment is implemented, feature coupling precision is enhanced, wave crest offset and energy density are respectively extracted by using moving average filtering and wavelet transform, effective data segments are dynamically screened, and environmental noise interference is suppressed. A stress wave propagation change rate is quantified based on a path attenuation model, a continuous energy abnormal node is matched to realize damage positioning, a breeze response abnormal region is identified by combining vibration direction change and a signal envelope offset degree, multi-dimensional features are coded and subjected to risk judgment through a neural network, a damage positioning and risk assessment closed-loop framework is formed, and the risk assessment accuracy is improved. And the spatial resolution and evaluation precision of aeolian vibration damage identification under complex working conditions are significantly improved.

The invention discloses an ocean-ionized layer ultralow-frequency electromagnetic target detection simulation method based on ADI-FDTD and SIBC, and belongs to the field of computational electromagnetics. The ocean-ionized layer ultralow-frequency electromagnetic target detection simulation method comprises the following steps: introducing a frequency domain surface impedance boundary condition SIBC into an ADI-FDTD model; the ocean-ionosphere simulation model is used for carrying out ocean-ionosphere ultra-low frequency electromagnetic wave attenuation analysis on the ocean-ionosphere ultra-low frequency electromagnetic wave attenuation. According to the method, the frequency domain surface impedance boundary condition (SIBC) is combined with the ADI-FDTD method for the first time, so that the calculation space for analyzing the influence of the seabed on electromagnetic wave propagation is reduced. The calculation requirement is obviously reduced, and the efficiency is improved. In addition, the SIBC model based on the ADI-FDTD method can be used for simulating the scattering effect of electromagnetic waves on a high-conductivity and low-conductivity area interface.

The invention relates to the field of power distribution network ground fault accurate judgment, and discloses a power distribution network ground fault accurate positioning method based on traveling wave detection and artificial intelligence, which comprises the following steps: (a) collecting a power distribution network traveling wave voltage signal through a multi-node synchronous sensor array, and generating a preprocessing signal through baseline correction and wavelet threshold denoising; (b) constructing a Gaussian random field model of line resistance, inductance and capacitance, and simulating a traveling wave propagation process in combination with a nonlinear wave equation; and (c) defining Finsler measurement on the traveling wave signal manifold, and separating the aliasing mode by minimizing path integration. According to the invention, the technical scheme of multi-node synchronous signal acquisition and self-adaptive preprocessing is adopted, so that the effect of eliminating coupling of power frequency interference and high-frequency noise is achieved. Compared with a scheme depending on a single sensor and a fixed filtering threshold in the prior art, the method solves the defect that the wave head time difference extraction is not accurate due to asynchronous sampling.

The invention provides a calculation method for propagation of underwater explosion shock waves in a non-uniform acoustic flow field, and the method comprises the steps: simulating the propagation of the underwater explosion shock waves in a non-uniform fluid through an axial symmetry calculation model of an underwater explosion load in the non-uniform fluid based on a local discontinuous Galerkin method and a continuity condition; according to the method, a calculation model special for heterogeneous fluid is constructed, and continuous conditions are combined, so that the propagation process of underwater explosion shock waves in a heterogeneous flow field containing a sound velocity discontinuous interface and a sound velocity gradient is effectively simulated. According to the method, the influence of the sound velocity spring layer interface on the underwater explosion shock wave propagation path and the load peak value can be accurately analyzed, and more reliable underwater explosion load data are provided for the action of the submarine near the sound velocity spring layer. According to the invention, the influence of the flow field sound velocity gradient on the underwater explosion load and cavitation characteristics can be effectively studied, and the design and construction scheme of the protection ship and maritime work structure is optimized according to more accurate underwater explosion load input data.

The invention discloses a composite shielding material effect experiment data analysis method, and particularly relates to the field of material shielding effect analysis, and the method comprises the following steps: measuring key data such as dielectric constant, magnetic conductivity, conductivity and thickness of each layer of a composite shielding material through an electromagnetic performance measurement instrument; establishing an electromagnetic wave propagation model for describing propagation of electromagnetic waves in the multilayer medium based on a Maxwell equation, and defining boundary conditions of a test sample; time domain and frequency domain characteristics of an electromagnetic interference source are simulated through Fourier transform, and actual input interference is simulated. And analyzing the dynamic response of the electromagnetic wave propagation model under transient and steady-state interference signals to form an electromagnetic wave interference response propagation model. Through comparison with actual shielding effectiveness test data, model parameters are adjusted, and it is ensured that model calculation errors are within an acceptable range. A full-band shielding effectiveness prediction map of the composite shielding material is generated based on the model, and theoretical support is provided for material design and optimization.

The invention discloses a semantic tag generation method based on a power grid engineering corpus, particularly relates to the technical field of power grid system fault analysis, and is used for solving the problem that the existing semantic tag technology cannot accurately represent dynamic association and physical propagation paths of composite events. Equivalent traveling wave propagation delay of an event entity is extracted based on an electromagnetic transient waveform, and a sequential relation graph is constructed to restore a fault dynamic evolution process; establishing a physically interpretable causal chain hierarchical structure through equipment topology path matching and wave impedance gradient difference analysis; a gradient clustering algorithm is adopted to adaptively adjust label granularity confidence, noise interference is eliminated, and a key propagation path is reserved; and finally outputting a versioned label set fusing the dynamic causal chain, the traveling wave propagation time delay and the equipment physical association path, and forming a closed-loop modeling mechanism of event space-time association and equipment topology linkage.

The invention discloses a method, a system, equipment and a medium based on a multi-composite ultrasonic penetration technology, and the method comprises the steps: generating high-frequency fundamental ultrasonic waves through a piezoelectric transducer array, and adjusting the frequency range to match the acoustic impedance characteristic of target soil; first, second and third harmonics are generated through the induction of a nonlinear medium in the fundamental wave propagation process, the phases of the harmonics are adjusted to realize coherent superposition, and the fundamental wave and the first, second and third harmonics are guided into a composite waveguide device for focusing and delay compensation to form a high-energy composite wave beam; a pulse interval is adjusted by adopting an intermittent emission strategy so as to inhibit energy attenuation in the soil; reflected wave spectrum components are monitored through an embedded acoustic sensor array, and driving parameters are dynamically adjusted; and residual ultrasonic energy is captured and fed back to a driving circuit to form a closed-loop energy utilization system. By integrating multi-order harmonic resonance and a dynamic frequency tuning technology, efficient transmission and deep penetration of ultrasonic energy in a complex medium are realized.

The invention provides an overhead transmission line fault positioning method based on double-end induction traveling waves. The method comprises the following steps: extracting non-fault phase induction traveling waves of a transmission line; judging the wave head of the non-fault phase induction traveling wave and determining the starting moment of the wave head; calculating traveling wave head time difference on two sides of the fault point based on the wave head starting time; the traveling wave propagation speed is calculated based on the line distance between the two adjacent traveling wave acquisition devices and the traveling wave head time difference acquired by the two adjacent traveling wave acquisition devices, and the position of the fault point is determined based on the traveling wave propagation speed, the traveling wave head time difference on the two sides of the fault point and the distance between the traveling wave acquisition devices on the two sides of the fault point. Compared with a traditional method, the method can accurately calculate the fault position of the power transmission line under the conditions that a fault phase traveling wave acquisition device is damaged and fault traveling waves are missed in acquisition, reduces the troubleshooting time, and improves the operation and maintenance level of the line and the power supply reliability.

The invention provides a shallow-buried tunnel blasting surface vibration waveform prediction method and system, and relates to the technical field of surface vibration waveform prediction, and the method comprises the steps: collecting geological, blasting and environmental parameters of historical and current blasting, and forming a standardized parameter set through three-stage index storage, abnormal value screening and standardization processing; establishing a mapping relation between blasting parameters and a vibration waveform time domain sequence based on an LSTM neural network, and predicting a current blasting vibration waveform; fusing the geological condition influence factors, the environmental sensitivity influence factors and the predicted waveform features to generate a comprehensive safety assessment index; and according to a matching result of the index and a multi-level safety threshold value, the risk is divided into four levels of safety, low risk, medium risk and high risk, and differential management and control are executed, so that accurate prediction and dynamic regulation and control of the blasting vibration risk are realized. According to the invention, the vibration wave propagation process in the shallow tunnel blasting construction can be accurately simulated, so that the influence of blasting can be better evaluated.

The invention belongs to the field of computational explosion mechanics, and particularly relates to a rapid calculation method for a shock wave and detonation wave propagation process in a non-uniform medium, and the rapid calculation method comprises the following steps: 1, initializing a calculation program; step 2, estimating and calculating step length in each time step; step 3, carrying out integration on the ordinary differential equation by adopting an explicit three-order TVD Runge-Kutta format; 4, solving a Mach number through an A-M relation; 5, data correction is carried out, wherein the data correction comprises regularization and smoothing processing of grids; and step 6, checking whether termination time is reached or not, if so, ending all processes to complete operation, and if not, returning to the step 2 to continue to circularly solve. According to the rapid calculation method, rapid numerical calculation of propagation of shock waves and detonation waves in a non-uniform medium is achieved, wherein the phenomena comprise refraction, transmission, Mach reflection and the like.

The invention relates to the technical field of power distribution network fault positioning, in particular to a power distribution network fault traveling wave positioning method and system, and the method comprises the steps: synchronously collecting a transient signal through a distributed traveling wave sensing unit, and extracting an initial traveling wave arrival time; constructing an adaptive wave velocity model based on line physical parameters to calculate an equivalent propagation velocity; dynamically generating a traveling wave propagation tree according to the real-time switch state to determine an effective monitoring path; based on the propagation path and the actual arrival time, an optimization algorithm is adopted to determine a preliminary fault point; and calculating a consistency index of the polarity of the traveling waves of the adjacent nodes, starting a multi-hypothesis tracking mechanism in a preliminary point neighborhood when the consistency index is lower than a threshold value, performing confidence coefficient weighted evaluation by combining a traveling wave attenuation model, and outputting an accurate positioning result. According to the method, through cooperation of dynamic topology mapping, adaptive wave velocity correction and multi-source closed-loop verification, the precision, reliability and adaptive capability of fault positioning in a complex power distribution network environment are remarkably improved, and the operation and maintenance requirements of rapid self-healing are met.

The invention belongs to the technical field of radio wave propagation, and particularly discloses a three-dimensional FDTD complex path ASF prediction method based on multiple GPUs. According to the method, the three-dimensional FDTD algorithm is realized through multiple GPUs, and the method is used for predicting the ASF on a complex path. The method comprises the following steps: firstly, preprocessing parameters, and copying the parameters to a device end, namely a GPU end; secondly, updating an electric field component in the whole calculation area; then updating the field source, and exchanging the electric field components # imgabs0 # and # imgabs1 # on the adjacent GPUs; updating the magnetic field component in the whole calculation area; and finally, circulating and judging an end condition, and outputting the ASF when the calculation is finished. The method solves the problem of poor ASF prediction precision caused by the fact that a two-dimensional time delay prediction method cannot consider the transverse effect, overcomes the defect that a traditional three-dimensional FDTD method is difficult to simulate large-area low-frequency ground wave propagation, and provides a theoretical basis and technical support for improving the service precision of a low-frequency radio navigation time service system.

The invention discloses an X-ray thermoacoustic imaging method based on a diffusion model and sound velocity compensation, and relates to the technical field of X-ray thermoacoustic imaging and deep learning imaging reconstruction. According to the method, the influence of sound velocity non-uniformity on a thermal sound wave propagation path and time delay is fully considered, and a new method combining sound velocity compensation and diffusion model reconstruction is provided; on the premise that the hardware complexity of an imaging system is not increased, accurate correction of a wave propagation path is achieved through sound velocity modeling, and imaging artifacts and space positioning errors are effectively avoided; meanwhile, the image inversion framework based on the conditional diffusion model has excellent noise suppression and high-frequency detail recovery capabilities, and can generate a high-quality thermoacoustic image with a clear structure and remarkable contrast under the imaging conditions of low signal-to-noise ratio, low energy dose and the like.

The invention relates to the field of ocean internal solitary wave automatic detection, and discloses an internal solitary wave detection method based on sentinel No.3 satellite altimeter data, which comprises the following steps: acquiring sentinel No.3 satellite altimeter data of a sea area to be detected, and preprocessing the data; sequentially extracting a posterior scattering coefficient of each coordinate point of the Ku wave band and the C wave band, and response characteristic parameters SSHA and SWH; sequentially calculating the difference mean square slopes of the posterior scattering coefficients of the Ku wave band and the C wave band; the response characteristic parameters are smoothed twice, and variables # imgabs0 # and # imgabs1 # are obtained; and respectively calculating a differential mean square slope and a local standard deviation of variables # imgabs2 # and # imgabs3 #, and extracting data fluctuation characteristics by setting a threshold value so as to realize internal solitary wave detection. The method disclosed by the invention has higher accuracy and lower false detection rate, and still has a good detection effect under the condition that the propagation direction of the inner solitary wave is greatly different from the running direction of the satellite.

A computer-implemented method for modeling acoustics of an object as a numerical simulation model in an unbounded domain to determine a field variable within a control volume of the unbounded domain includes providing a coordinate system mapping positions in the control volume. A geometrical specification of a sound source is provided in the control volume based on the coordinate system. To improve efficiency of numerically modelling transient acoustics wave propagation phenomena in unbounded domains, a convex shape is constructed around the sound source using Quickhull algorithm, infinite elements are extruded starting from the convex shape, and the coordinate system is transformed into a field variable coordinate system by mapping a radial coordinate of the coordinate system to an auxiliary coordinate extending from the convex shape to the infinite elements. Field shape functions are constructed using the auxiliary coordinate, and the field variable is determined by solving the numerical simulation model.

The invention discloses a bionic joint humanoid robot navigation positioning method, device and equipment, and the method comprises the steps: monitoring a landing shock wave signal and reflection echo data of a robot, carrying out the time domain expansion of the shock wave signal to form a pulse characteristic spectrum, extracting multipath propagation components, and carrying out the time difference correlation to generate an environment response value. Screening a direct wave component by using an environmental response value, positioning a sound wave propagation trajectory, and detecting impedance mutation to construct an acoustic matrix. A strong reflection zone is identified through node analysis, a sound pressure gradient field is extracted to determine an obstacle boundary, and a landmark feature bit is determined in combination with an environmental response value. And adjusting a dynamic stride frequency interval based on a landmark feature bit, forming an adaptive detection sequence, and performing sparse processing to construct path configuration. The mechanical vibration component of the shock wave signal is used for piezoelectric conversion to generate recycled electric quantity, the recycled electric quantity is matched with path configuration power to determine a sensing period, intermittent sensing is executed to obtain detection data to construct a detection convergence field, and finally an accurate positioning window is determined and converted into position coordinates.