47 results about "Wave variables" patented technology

The invention provides a wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication, which can be applied to a teleoperation system under time-varying delay. On the basis of a passivity wave variable method, a delay predication step and a wave integral step for the LS-SVM are added, the LS-SVM method is used for delay predication, predication delay which has small error with actual delay is obtained, the wave integral method can be used for enabling the communication step to have passivity, and thus instability caused to the teleoperation system due to time variable delay can be overcome. The invention relates to a control method in the teleoperation system under time-varying delay; at the main end, the force applied by a hand and the contact force fed back to the main end from a slave end together act on the main hand, speed and displacement are generated by the main hand, the speed signals of the main hand are transmitted to the slave end via a communication channel, and the signals serve as a control command to control movement of the slave hand.

The invention relates to a 14-bit width image compression hardware coder which can be used for reducing the storage space and transmission bandwidth required for recording and transmitting high bit width image with 8-14 bits and is developed based on a small wave image compression algorithm with low complexity. The coder comprises the modules as follows: an overall situation state machine controller, four data path gates, four data caches A, B, C and D, an image buffer, a first-stage small wave driver, a second-stage small wave driver, a third-stage small wave driver, a two-dimensional predicator, a two-dimensional small wave variable engine, a data transfer device, an optimization quantizer, a self-adaptive zero-course coder and an index Columbus coder. All the modules are organically combined for parallel processing, thereby realizing high-speed and high-bit width image compression with higher image quality. The real-time compression of a high-bit width camera image can remarkably reduce the image data amount, the storage volume and the requirements for transmission bandwidth.

The invention relates to a high-precision digital acoustic variable density graduating method, which comprises: soaking an acoustic sonde of a variable density acoustic instrument in a graduated drum filled with water at a pressure of 2MP, or using a sine wave signal source of which the frequency is 20KHz to provide a signal without amplitude limit at a highest gain grade to a signal acquisition circuit of the instrument; fully resetting each correction coefficient of acoustic wave at each grade to be 1; acquiring several data with maximum values in a wave train, and calculating a mean value X1; using the formula X0 (40 percent)<n>Xn to calculate the correction coefficient; fading the density of the acoustic wave to 40 percent of the last grade in turn, and repeating the above steps for 8 grades; and storing the correction coefficient into a storage device of the variable density acoustic instrument. Therefore, the graduation precision of the instrument does not depend on precision of a high-performance resistance network; and the method reaches the precision through calculation and correction of software, improves test running speed of the instrument, and is favorable for large-scale production of the instrument.

The invention discloses a four-way teleoperation bilateral control method based on time delay compensation. Based on a traditional four-way bilateral control method, by establishing a master-slave endkinetic model and additionally adopting a time delay compensation communication channel, the system stability is ensured, and the system transparency is improved substantially. To solve the problem that a traditional four-way bilateral control method has a destabilization phenomenon on the correspondence time delay condition, a correction wave variable method based on the passive theory is provided, so that the influence on the system transparency by wave reflection of a traditional wave variable is reduced, and the realistic degrees of position tracking performance and force feedback in theteleoperation process are ensured. The stability of a teleoperation system on the time delay condition can be ensured very well, and at the same time, the realistic degrees of the position tracking performance and the force feedback of the slave end are improved. The four-way teleoperation bilateral control method is easy to implement, and can be mainly used for bilateral control on the teleoperation system, and the stability and transparency of the teleoperation system are ensured.

The invention relates to a device generating random intermediate frequency output in a receiving frequency conversion system. The device comprises a second local oscillator circuit with continuously variable frequency. The minimum amount of a frequency step is 1Hz. The device also comprises a local oscillator segmentation filtering circuit and a wide bandwidth high out-of-band inhibition low pass filter. According to the device generating random intermediate frequency output in the receiving frequency conversion system, the range of intermediate frequency output is from 10MHz to 200MHz. Random intermediate frequency output of the microwave and millimeter wave variable frequency receiving frequency conversion system is realized, and greater flexibility is provided for subsequent signal analysis.

The invention discloses a wave variable calculation method for a variable advantage factor double teleoperation. The method comprises: firstly, establishing master end and slave end kinetic models of the variable advantage factor double teleoperation; secondly, designing a to-be-transmitted master end variable; thirdly, selecting a wave variable and establishing a communication model; and finally, obtaining the wave variable. According to the method disclosed by the invention, location information of a plurality of master ends is fused, and wave variable conversion is carried out. A relatively small amount of wave variable information needs to be transmitted. Compared to a conventional method for transmitting location information of two master ends via respective transmission channels, the method disclosed by the invention only needs one channel to transmit the wave variable information. In addition, aimed at the time delay problem ubiquitous in the teleoperation, the passivity of the teleoperation can be ensured very well. According to the wave variable method adopted by the invention, energy is temporarily stored in a remote operating system through time delay, so that the passivity of the remote operating system can be ensured, and the remote operating system has stability.

The invention discloses a stability control method for a time-delay asymmetric double-teleoperation system. The method is characterized by, to begin with, establishing a model of the asymmetric double-teleoperation system; then, designing wave variables; and finally, establishing a time delay model. According to the method, speed and force information is converted into the wave variables and then, are transmitted; according to the passivity theory, passivity of channels under any fixed time delay condition can be ensured, and passivity of the double-teleoperation system under any fixed time delay condition can be ensured; and wave transform can be realized only by carrying out simple arithmetic operation on the speed and force information, and the method is easy to realize. Finally, the method can ensure the passivity of the channels under any fixed time delay condition; and master ends, a slave end and an environmental model are passive, so that passivity and stability of the whole system under any fixed time delay condition can be ensured.

The invention discloses a millimeter wave variable gain amplifier structure, and relates to the technical field of electronic circuit design, in particular to the technical field of radio frequency variable gain amplifier design suitable for a millimeter wave phased array system. The circuit comprises a first part of circuit formed by a common source transistor; A second partial circuit that generates a variable gain output signal; A third part circuit composed of an input matching network; And a fourth part of circuit of the output matching network. According to the invention, the purposes oflow cost, suitability for CMOS technology, high gain, large adjustment range, high precision and low phase shift are achieved.

The invention relates to a high-power pseudo-spark switch tube for power electronic pulse conversion, belonging to the technical field of a gas power electronic switch device. The high-power pseudo-spark switch tube comprises a main electrode, a trigger electron gun, a hydrogen storage unit, a sealing tube body and an outer circuit, wherein the main electrode comprises a first anode and a second anode; the first anode and second anode are closed at the two ends, leave each other for certain distance and are coaxial hollow cylinders; the trigger electron gun comprises a tubular cathode, a tungsten heating wire, an outer tube and a trigger electrode, and is arranged below the main electrode while the muzzle of the electron gun is aligned with an electron injection hole of the second anode; titanium hydride powder is arranged in the hydrogen storage unit, and the heating wire is spirally wound on the surface; and the outer circuit comprises a main power supply and load thereof, a triggerpower supply and a voltage division resistor thereof, a heating wire power supply and an electronic switch. According to the invention, the on / off of the main electrode is realized through the pseudo-spark discharge between two anodes; and the high-power pseudo-spark switch tube has the advantages of high withstand voltage, large on current, high repeat switch frequency, low on voltage drop and the like, is easy to conduct by trigger, allows short circuit of an output end, and is suitable for being used as a main switch element in an indirect type constant-energy pulse chopped-wave variable-frequency speed control system.

The invention discloses an improved wave variable method in a bilateral remote operating system. The bilateral remote operating system comprises an operator, a main end, a communication link, a slaveend and an environment. In the communication link, an improved wave variable transformation is performed, an adjustable additional wave impedance coefficient is added during a transformation process,and a relationship among the improved wave variable, a position variable and a force variable is obtained. Through the improved wave variable method, under the condition of ensuring the stability of the bilateral remote operating system, operational performance of the system is improved, and a force / position tracking error is reduced.

The invention relates to a 14-bit width image compression hardware coder which can be used for reducing the storage space and transmission bandwidth required for recording and transmitting high bit width image with 8-14 bits and is developed based on a small wave image compression algorithm with low complexity. The coder comprises the modules as follows: an overall situation state machine controller, four data path gates, four data caches A, B, C and D, an image buffer, a first-stage small wave driver, a second-stage small wave driver, a third-stage small wave driver, a two-dimensional predicator, a two-dimensional small wave variable engine, a data transfer device, an optimization quantizer, a self-adaptive zero-course coder and an index Columbus coder. All the modules are organically combined for parallel processing, thereby realizing high-speed and high-bit width image compression with higher image quality. The real-time compression of a high-bit width camera image can remarkably reduce the image data amount, the storage volume and the requirements for transmission bandwidth.

The invention discloses a fixed time delay teleoperation control method based on a wave variable. A dynamical model and a time delay model of a master-slave terminal are established, a forward channel wave variable compensation term is designed, a backward channel wave variable compensation term is designed and finally an energy setting device is designed so that a problem of stability caused by time delay in teleoperation can be solved, and tracking performance and force feedback fidelity in the teleoperation process can be enhanced. Stability of a teleoperation system under the condition of fixed time delay can be greatly guaranteed so that the method has great position tracking performance and great force feedback fidelity. According to the teleoperation control method, stability of the teleoperation system under the condition of time delay can be guaranteed through a wave variable method, and position and force tracking performance of the time delay teleoperation system can also be enhanced.

The invention discloses a series resonance voltage-withstanding partial-discharge test method utilizing frequency modulation phase shift, and relates to alternating current voltage-withstanding and partial-discharge test of electrical equipment. According to the series resonance voltage-withstanding partial-discharge test method utilizing frequency modulation phase shift, a frequency modulation series resonance voltage-withstanding partial-discharge test system composed of a rectangular wave variable-frequency power source, a resonant electric reactor, a partial-discharge instrument and the like is utilized, excitation voltage frequency is down-regulated when a resonance voltage reaches a set value of the test voltage, the system deviates from the resonant state and produces phase shift, four burrs (namely interference signals) formed on a time base of the partial-discharge instrument when a variable-frequency power source switching tube is switched on and switched off are moved to second and fourth quadrants rightwards from positions distributed on two edges of + / - 90 degrees, the excitation voltage pulse width is increased to enable the resonance voltage to reach the set value of the test voltage again, and then windows can be opened at first and third quadrants for partial discharge test of tested products. By means of the series resonance voltage-withstanding partial-discharge test method, interference on the partial-discharge test, caused by variable-frequency power source switching pulses, is avoided, the fact that people doubt whether windowing or blanking eliminates the partial discharge of the tested products is avoided, and therefore the reliable and high-efficiency rectangular wave variable-frequency power source is used for the voltage-withstanding partial-discharge test of various kinds of electrical equipment.