308results about How to "Achieve interference" patented technology

Provided is an optical fiber distributed type sound wave monitor system. Narrow-linewidth frequency-modulated lasers output by a frequency modulation DFB fiber laser are used as the light source of the optical fiber distributed type sound wave monitor system, the lasers output by the frequency modulation DFB fiber laser enter an acoustic optical modulator and are modulated to be pulse lasers through the acoustic optical modulator, the pulse lasers pass through a first optical amplifier and a first optical filter and then enter a second circulator and sensor fibers, the pulse lasers per unit can emit rayleigh scattering light within the range of the passed sensor fibers per unit length, and signals output by the second circulator pass through a second optical amplifier to enter a second optical filter and output backscattering rayleigh signals. The backscattering rayleigh signals between different unit lengths on one sensor fiber are interfered with the method of an interferometer, the interfered signals pass through electrical signals output by a second photoelectric detector and enter the optical fiber distributed type sound wave monitor demodulation system though a phase carrier demodulation module, and the change analysis of the phases of the sensor signals at corresponding positions is achieved.

The invention provides a target situation fusion sensing method based on multiple sensors. The target situation fusion sensing method comprises the steps: monitoring a detection region, and obtainingmulti-target situation information data in a recognition environment; reconstructing a point cloud target and a three-dimensional scene model based on the visual features; detecting a target track, and carrying out registration fusion on a local track and an overall track; obtaining a target identity through a DS evidence theory to realize target friend or foe grouping; and analyzing the behaviorsituation of the enemy target, obtaining the threat degree of the enemy target, and taking suppression measures according to the threat degree level. The invention further provides a device which comprises a measuring and positioning system, an information fusion system, a situation awareness and threat evaluation system, a decision-making system and a display system. The target situation fusion sensing method realizes target situation awareness and threat assessment based on DS evidence theory and target data multi-fusion, and realizes target and scene reconstruction by using point cloud so that accurate information can be provided for detection and identification of the shielded target, scene reproduction, track detection and prediction, battlefield target situation awareness and the like.

The invention relates to an AP (access point) transmitting power optimization method based on energy conservation and interference avoidance in a green WLAN (wireless local area network). The AP transmitting power optimization method is used for solving the problems of energy waste caused by the dense deployment of APs and the superposition of coverage areas, and the influence of common-frequency components on the communication quality in the WLAN. The AP transmitting power optimization method comprises the following steps of: determining the number of the APs required to be used for realizing WLAN full coverage according to the WLAN and the coverage range of a single AP with default transmitting power; clustering the APs with the dense deployment in the WLAN by adopting a fuzzy K-mean clustering method or a neural network method or other methods; selectively closing the majority of APs according to a clustering result, realizing WLAN wireless signal full coverage by the remainder minority of the APs, and forming an AP distribution structure simultaneously, namely, initializing an AP transmitting power optimization algorithm; repeatedly calculating the repeated coverage degree of each AP coverage area, and arraying the coverage areas; and controlling the AP transmitting power to reduce the coverage radius of each AP, so as to realize the purposes of energy conservation and interference avoidance of the APs.

The invention discloses a method and a device for predicting cell interference. The method comprises the following steps: dividing a coverage area of a cell to be predicted into grids, and determining latitude and longitude information corresponding to each grid; acquiring latitude and longitude information of a base station in the cell to be predicted, and acquiring latitude and longitude information and signal transmission power of a base station in a cell adjacent to the cell to be predicted; calculating a distance from each grid to each base station according to the latitude and longitude information of each grid and the acquired latitude and longitude information of the base stations; and determining interference values of the cell adjacent to the cell to be predicted for each grid according to a propagation model, the distance from each grid to each base station and the signal transmission power of the base station. The method and the device can realize the prediction for the cell interference.

The invention discloses an intrusion and tracking interference system and method of an unmanned aerial vehicle. The system comprises a wireless intrusion device unit, a tracking device unit and an interference device unit. The wireless intrusion device unit combines with radio interception technology to obtain movement and location information of the unmanned aerial vehicle, the tracking device unit controls directional antennas to point to the unmanned aerial vehicle in real time according to the location information of the unmanned aerial vehicle, the interference device unit generates interference signals and sends out the interference signals by the tracking device unit to achieve the interferences of unmanned aerial vehicle instructions, navigations and image transmission signals. The intrusion and tracking interference system and method of the unmanned aerial vehicle obtain the movement and location information of the unmanned aerial vehicle by adding the radio interception technology based on the unmanned aerial vehicle signal interference device, adopt the directional antennas to track the unmanned aerial vehicle through the tracking device and guide the interferences at the same time, the impacts on the surrounding electronic device by the signal interferences are reduced, the effectiveness and efficiency of the interferences are improved, defense tasks of the unmanned aerial vehicle are completed accurately and efficiently, the defense costs and incidental wireless interference impacts are reduced.

The invention provides an intelligent electronic safety rail used in places such as transformer stations, various engineering construction places and the like. An intelligent entrance guard control system and alarming rail control systems form an electronic safety rail and an electronic safety door. When the intelligent electronic safety rail is in use, working personnel record finger-prints or card numbers into the intelligent entrance guard control system first; no alarm signal is given out when the working personnel get in / out of the electronic safety door through the finger-prints or the card numbers; once that a person gets in the electronic safety door by force is detected, the intelligent entrance guard control system can give out a loud voice alarm to alert an operation superintendent that the person gets into the working area by mistake; and when that the person gets into a working area by mistake through the electronic safety rail is detected, a forbidden line built of raster is triggered, and a voice alarm is given out promptly. Through the adoption of the invention, a circle of invisible retaining wall is formed at the boundary of a guard area by utilizing the intelligent electronic safety rail, so that under normal conditions, when the working personnel get in / out of the guard area through the finger-prints or the card numbers, no alarm signal is given out; and once that the person gets into the guard area by force is detected, the loud voice alarm is given out. Therefore, the purpose of safety management is achieved; false alarms can be distinguished effectively; and the guard function is obvious.

The invention discloses a data storage system based on visible light communication which comprises a light signal transmission system, an electronic lock system and a data storage system, wherein the light signal transmission system is used for transmitting light signals; the electronic lock system is used for converting the light signals into digital signals and unlocking an electronic lock according to the digital signals; the data storage system is used for storing and checking the unlocking information in the electronic lock system; and the data storage system comprises a database module for storing the unlocking information and a terminal device for reading the unlocking information. According to the invention, the unlocking function is realized by adopting a light communication mode, the transmission rate reaches 1 kilomega per second, and the visible light is adopted for transmitting the data for light transmission, and the data is difficult to interfere and capture; and a database storage technology is also utilized, the unlocking information is stored, the data storage system is convenient to maintain and manage, and the safety performance of the visible light communication can also be enhanced.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an autonomous low-attitude unmanned aerial vehicle defense system based on multi-sensor information fusion. Thedefense system comprises a detection monitoring system used for monitoring a target in a monitoring detection area and uploading the obtained target position and state information to a control computation center; a decision system used for processing related information searched by sensors in the detection monitoring system, obtaining situation information of the target according to a processing result, calculating and obtaining a threat level of the target, and generating a decision command; a disposal system used for executing the corresponding decision command and performing interference oppression on the target; an operation maintenance system used for monitoring the state of each device in real time, completing state data analysis, record and return visit of the devices and monitoringoperation environments and communication links of the devices in real time; and a monitoring center platform used for monitoring and controlling the whole system and disposing the monitored target. According to the scheme, interference defense of the unmanned aerial vehicles can be effectively realized.

The invention discloses a rare earth organic framework material for iron ion fluorescence detection and a preparation method thereof. Methoxyl functional group-containing linear dicarboxylic acid (L-OCH3) is used as an organic raw material, a hydrothermal reaction is performed on the organic raw material and metal rare earth salt, and in the reaction process, an in-situ reaction is performed on methoxyl functional groups of an organic ligand to produce hydroxyl functional groups and the rare earth organic framework material is obtained. After adoption of the hydrothermal preparation method, the method is simple and the yield is high; the prepared rare earth organic framework material can be used as a fluorescent probe and interacts with iron ions, so that fluorescence of the organic ligandis quenched and new fluorescence generating a Ln2 (L-OH) 3-Fe<3+> compound is enhanced, and the intensity ratio between two peaks has a relatively good linear relationship with the concentration of the iron ions; the rare earth organic framework material can be applied to ratio detection of the iron ions.

The invention provides a moving vehicle detecting method based on aerially photographed video images, and relates to image movement analysis in image data processing. The moving vehicle detecting method based on the aerially photographed video images comprises the following steps: matching of input colored sequence images of a moving vehicle and further obtaining of background compensated images: carrying out image matching based on SURF feature points and estimating global moving parameters of a camera to obtain the background compensated images; roughly detecting the position of the moving vehicle; and accurate detection of the position of the moving vehicle: adaptively detecting roads, extracting CHLBP features of an alternative vehicle region and judging CHLBP features by using a SVM classifier to obtain the position of the moving vehicle. In the method, time and space characteristics are fused, and the shortcomings that a method in the prior art is only suitable for detecting a simple moving vehicle in single scenes, and is difficultly suitable for detecting multiple moving vehicles in different scenes, and detection accuracy is easily affected by changing in scale, complicated environments and movement of cameras are overcome.

The invention discloses a method and device for notifying and receiving downlink demodulation reference signal initialization configuration parameters. The notifying method is applied to a base station. The downlink demodulation reference signal initialization configuration parameters comprise identifications (IDs) and / or scramble identifications. The notifying method comprises two steps, wherein the first step is that the base station configures N IDs for a terminal according to a high-level signaling exclusive to a user; the second step is that the base station judges whether more than two of the N IDs are identical, and decides to determine the initialization value of a downlink DMRS sequence in one of the following modes according to the judging result; the scramble identification nSCID and the ID used for determining the initialization value of the downlink DMRS sequence are sent to the terminal. By means of the method and device for notifying and receiving the downlink demodulation reference signal initialization configuration parameters, the switchover between dynamic orthogonality and interference randomization of the interference of one UE to other UE can be realized, and therefore the effects of offsetting the interference of users, improving the accuracy of data acceptance and enabling cells to split and gain under the Scenario 4 are achieved.

The invention relates to the technical field of communication, and especially relates to a user scheduling method and apparatus, a system and a base station in a TDD system. The method comprises the following steps: setting a co-frequency full-duplex scheduling period, wherein the scheduling period includes N subframes; determining K subframes to serve as co-frequency full-duplex subframes from the N subframes, the number K of the co-frequency full-duplex subframes being associated with the specific value of uplink business demand quantity and downlink business demand quantity; and for the co-frequency full-duplex subframes, first scheduling data of uplink users, and based on the estimated interference conditions, determining downlink users matched with the uplink users and scheduling data of downlink users. For the co-frequency full-duplex subframes, the data of the uplink users is firstly scheduled, and then based on the estimated signal interference conditions, the downlink users, of which the interference degree is low, is determined to be the downlink users matched with the uplink users and the data of the downlink users is scheduled, thereby avoiding the interference between the uplink and downlink users, realizing co-frequency full-duplex transmission, and improving the communication efficiency of a system.

The invention discloses a wideband multicarrier adaptive radio frequency interference system. The system comprises an operating console, an interference signal source, an interference transmitter, an feed system, a power supply system and the like. The interference method of the system comprises the following steps: a detection receiver inputs the corresponding radio-signal frequencies of the detected target interference frequency band in an interference waveform data generating device; the interference waveform data generating device sets the corresponding interference signal frequency points and generates control information according to the received radio-signal frequency and also generates interference waveform data; then the control information and interference waveform data are transmitted to the interference signal source and processed by a baseband signal source module to generate intermediate frequency analog signals, the analog signals are filtered and transmitted to a converter module, the converter module moves the filtered signals to the corresponding frequency band of radio frequency and then transmits the signals to a power amplifier for power amplification; and then the signals are sent to an antenna through a feeder line and then transmitted to the space for interfering the target signal. The system has high energy utilization rate and can perform continuous interference to the target signal.

The invention relates to a device for rolling bearing detection and fault diagnosis. The device comprises a bearing fixing module, a power driving module, a hydraulic servo module, a signal collecting module and a computer. By the aid of the device, under the condition of applied static load, a load-deformation curve of the bearing with different roll angles can be measured through fixed points. The invention further relates to a method for rolling bearing detection and fault diagnosis. Bearing shifting signals, pressure signals and shifting signals of the hydraulic servo module and angle shifting signals of a rotary angle are collected, and are combined by a bearing load-deformation static mechanics simulating system to perform three-dimensional load-deformation simulating calculation of bearing inner rolling channels, bearing outer rolling channels and rollers at different positions, a measured curve is compared with a simulation curve, and bearing defect detection and quantitative diagnosis and processing are realized. Since a static method is adopted to diagnose, influences by large amount of environmental interference factors are avoided, and accuracy of bearing defect detection is improved. By the aid of the device and the method, bearing defect detection and fault quantitative diagnosis can be realized well.

The invention discloses an intelligent lock system. The intelligent lock system comprises an intelligent key, a lock core and a power control module, wherein the intelligent key comprises an optical signal emitting module for emitting an optical signal, a first storage module for presetting an unlocking password, a control module for driving the optical signal emitting module to emit the optical signal according to the unlocking password, and a power module for supplying power to above modules; the lock core receives the optical signal and judges whether to unlock the intelligent lock according to the optical signal; and when the intelligent key is inserted into the lock core and matched with the lock core, the power control module starts the power module. The unlocking function is achieved in an optical communication way, and the transmission rate is as high as GBps; during optical communication, data is transmitted by visible light and the data is not suitable to be interfered and captured; optical communication equipment is easy to manufacture and unlikely to be damaged or demagnetized; and a power switch of the intelligent lock system is triggered in a way similar to an unlocking way of a mechanical lock system, so that the intelligent lock system is relatively good in concealment and relatively convenient to use.

The invention discloses a phase modulation grating sensor and a method for realizing measurement. Phase modulation based on PZT is performed to grating measurement signals so as to prevent direct current shift and amplitude value fluctuation from influencing nanometer measurement signals; an error detection module is embedded to real-timely compensate the alignment error of the grating sensor so as to realize displacement and length measurement in nanometer accuracy; and the phase modulation grating sensor comprises an optical path part and a signal processing part. The phase modulation grating sensor and the method have the advantages as follows: installation and adjustment are simplified; redundant reflection beams are reduced; signal quality is improved; interference of the environment to the system is reduced; based on the FPGA signal processing part, the signal processing speed of the system is increased; and by phase modulation, direct current shift and amplitude value fluctuation can be prevented from influencing the measuring signals effectively, so that measurement in nanometer accuracy is realized.

The invention provides a multi-model-based high speed train suspension system multi-actuator fault detection and isolation method. The method involves a first bullet train, a trailer and a second bullet train and comprises the following steps that (1) a suspension system, of a two-bullet-train and one-trailer structure, of a train is modeled to obtain a suspension system model; (2) a fault model is built for each actuator of the suspension system of the two-bullet-train and one-trailer structure; (3) a sliding-mode observer matched with each fault model is arranged based on the corresponding fault model, and the corresponding residual quantity is generated; (4) a fault warning threshold value is generated according to the train operating environment and suspension system working conditions, and a logic controller is used for decision making for all residual quantities to judge whether an alarm needs to be given out or not and point out the fault occurrence position. The application of the fault detection and isolation technology is the effective way for improving the system reliability, and an alarm is given in time when a fault occurs, particularly, the fault occurrence position is pointed out when the multiple actuators break down, and fault screening and system maintenance are facilitated.

The invention relates to the field of unit testing of high voltage transformer products, in particular to a performance testing method for the voltage transformer. The performance testing method for the voltage transformer is characterized in that a frequency modulation voltage-controlled power source is used as a testing power source and a frequency-modulated and voltage-controlled voltage signal is output, the requirements for the exciting voltage of a secondary winding of a tested voltage transformer are met through voltage rising of an exciting transformer, the induction voltage of the first winding of the tested voltage transformer is collected by a voltage sampler, and monitoring is conducted on the output voltage, the frequency and the output currents of the frequency-modulation voltage-controlled power source and high-voltage feedback of the voltage transformer. Compared with the prior art, the performance testing method for the voltage transformer has the advantages that a third harmonic generation power source large in size is replaced, conveying cost of testing equipment is reduced, testing quality is improved, voltage waveform is improved, and disturbance of higher harmonics is avoided. During the testing process, the no-load voltage ratio and excitation characteristic testing can be achieved under the power frequency conditions, and the voltage transformer is multifunctional. Over-voltage protection can be set, and the safety of the tested voltage transformer can be ensured. Equipment is low in weight and convenient to carry.

The invention belongs to the field of air conditioner external unit assembling, and particularly relates to an intelligent transfer fixture, which comprises a fixed rack, a fixed plate arranged on the fixed rack and connected with the tail end of a mechanical arm, and a first gripper, a second gripper, a first positioning clamping jaw, a second positioning clamping jaw, a first gripper drive device, a second gripper drive device and stop screws commonly integrated on the fixed rack. The first positioning clamping jaw and the second positioning clamping jaw firstly realize the positioning of a width direction of an air conditioner external unit; the drive devices drive the first gripper and the second gripper to move and fasten a handle of the air conditioner external unit, so that the clamping on a length direction of the air conditioner external unit is realized. Through the intelligent transfer fixture provided by the invention, the compactness of overall layout of the product, the highly integration of functions, and the fixed clamping of the air conditioner external unit in the length and width directions are realized; and meanwhile, the intelligent transfer fixture also has the characteristics of simple structure, convenience in operation, convenience in use, and the like.

The invention relates to civil aviaton groud air communication self-adapting interference suppression method and its system based on the blind signal, including the following steps: translate the bi-aerial wire array received two path high frequency amplitude modulation signals into the medium frequency digital signal; and carries on the orthogonal transform after filter drawoff; changes the fact signal to the plural signal; judges the plural signal whether or not is subjected to interference, if no interference change into the six step, but change into the five step; the interference signal carries on blind extraction and cancle the signal; the one of the signal from the step four or step 5 carries on demodulate, and then filtered the high frequency noise. The invention no need uses any reference signal, using the blind self-adapting signal processing method can eliminate the interference which has a strong impact on the broadcasting station receptivity. The strong usability can suppress any form interference; and also can uses in the other communication systems, enhances the receptivity.

The invention relates to an active device and method for interfering multi-frequency-band power line communication, and belongs to the related technical fields of power line transmission, power line communication, power line interference, information safety, a power network, communication and the like. The active device and method are mainly used for interfering multi-frequency-band power line communication. The active device comprises a power module, a coupling circuit, a power self-adaptation interfering source module, an impedance matching device and a driving module. According to the active device and method, narrow-band power line communication devices in various frequency bands can be interfered, and the frequency band ranges of the frequency bands can be inquired in the international standard for narrow-band power line communication; power line communication is interred through power self-adaptation active noise signals, the power self-adaptation power line communication devices can be interfered, the interfering capacity is improved, and energy is saved.

The invention relates to a radar intermittent sampling and forwarding interference resistance method and device and radar equipment. The method comprises the steps that based on an orthogonal frequency division multiplexing technology, multiple subcarriers and phase codes corresponding to the subcarriers are constructed; according to the subcarriers and the phase codes, a multi-carrier phase coderadar signal is constructed; according to a chaotic time sequence generated in advance, a time domain and a frequency domain of the multi-carrier phase code radar signal are encoded to obtain a to-be-transmitted radar signal; and the to-be-transmitted radar signal is transmitted to resist intermittent sampling and forwarding interference. By the adoption of the method, the problem of intermittentsampling and forwarding interference can be solved.

The invention discloses a cross subframe interference detection method, a positioning method and a base station thereof. The method comprises the following steps that: a base station acquires a data sequence carried in a signal received on an interfered symbol; correlation detection is performed on the acquired data sequence and the data sequence which can be carried and is determined in advance in DwPTS; the cross subframe interference which affects the base station itself is determined according to a detection result. By using a scheme provided in the embodiments of the invention, the base station realizes the detection of the cross subframe interference without knowing physical layer configuration information of the adjacent area base station.

The invention provides a signal interference device and method. The device comprises a receiving link which is used for receiving an air signal and converting the air signal into a digital signal, andsending the digital signal to a programmable interference source module; the programmable interference source module which is used for carrying out de-synchronization processing on the digital signal, and generating a transmission modulation signal according to the de-synchronization processing result, and transmitting the transmitting modulating signal to a transmitting link; the transmitting link which is used for receiving the transmitting modulating signal, converting the emission modulating signal into a modulation interference signal, and radiating the modulation interference signal tothe air. According to the invention, the problem that a terminal signal interference device in the prior art is high in power requirement and relatively large in power consumption, and cannot completely block the terminal communication.

The invention discloses a high voltage electric loop control device for an electric automobile. The control device is characterized in that a high voltage loop on-off control unit and a high voltage loop state detection unit, the high voltage loop on-off control unit finishes on-off control of a pre-charging loop, a discharging loop, a slow-charging loop and a quick charging loop. The high voltage loop state detection unit detects high voltage, current, insulation resistance and relay state parameters. By means of the structure, a high voltage loop parameter collection harness is integrated in the device, the risk of electric shock caused by damage to the high voltage loop parameter collection harness which is arranged in a battery package or on an automobile body is reduced, and separation of high voltage signals and low voltage signals is achieved. Due to space limitation of the electric automobile or the battery package at present, multiple high voltage signal wires and low voltage signal wires are arranged together, separation of the high voltage signals and the low voltage signals cannot be achieved, and interference between the high voltage signals and the low voltage signals is reduced.

The invention relates to a method for efficiently separating and purifying multiresidue sulfonamide antibiotics in a biological sample. The method is characterized by comprising the following steps of: (1) preparing a molecular imprinted polymer, comprising the steps of burdening according to the mol ratio of template molecule to functional monomer to cross linking agent of being 1: (2-8): 25 and obtaining the molecular imprinted polymer with special identification function to the sulfonamide antibiotics by adopting a body polymerization method; (2) weighing certain amount of biological sample to be separated into a mortar, grinding the biological sample by the mortar, adding right amount of the molecular imprinted polymer, and further homogenating to obtain a homogenated sample, wherein the weight ratio of the biological sample to be separated to the molecular imprinted polymer is 2: (1-5), and (3) placing the homogenated sample in a solid phase extraction column, sequentially rinsing with 2.0-4.0ml of water, 2.0-4.0ml of 10wt% acetonitrile aqueous solution, and then eluting with 3.0-5.0ml of methanol / methanoic acid mixed solution; and separating the sulfonamide antibiotics from the biological sample to be separated by being instantly dissolved in the methanol / methanoic acid mixed solution. The method provided by the invention has wide selectivity and good separation and purification effect.

The invention discloses a ring oscillator. The ring oscillator mainly comprises three differential delay units D1, D2 and D3 connected in series and an injection unit INJ. 180-degree phase shift is realized from the input end of the first delay unit to the output end of the third serial-connection delay unit, the delay time is reduced through feedback of multiple loops, and the oscillation frequency is further improved. Each differential delay unit is provided with a rough tuning circuit and a fine tuning circuit, wherein the rough tuning circuit is used for setting the minimum delay or the maximum delay, and the fine tuning unit is used for adjusting the minimum delay and the maximum delay. Subharmonic signals at the frequency of output signals are injected to a grid electrode of the injection unit, and the shaking performance of the oscillator is improved. The ring oscillator has the rough tuning and fine tuning functions within the wide-frequency range, is low in voltage sensitivity, reduces the influences of bias voltage fluctuation, realizes low-shaking output clock signals and can be applied to a wireless receiver frequency synthesizer or a clock data recovery circuit.

The embodiment of the invention provides an interference analysis system oriented to a power wireless private network. The system comprises a comprehensive analysis unit and a plurality of electromagnetic interference monitoring devices. Each electromagnetic interference monitoring device collects wireless signals; when the field strength value of the wireless signal exceeds the warning thresholdvalue, the wireless signal is judged to be an interference signal and an early warning signal is generated, and the interference signal and the early warning signal are sent to a comprehensive analysis unit, and the early warning signal comprises early warning information and position information of a first electromagnetic interference monitoring device which sends the early warning signal. The interference identification module identifies the interference type according to the early warning information and the interference signal, and sends the interference type to the interference positioning module. The interference positioning module determines the position of the interference source according to the position information of the first electromagnetic interference monitoring device, theinterference signal and the interference type. By implementing the invention, the interference early warning and positioning of the wireless side of the power network are realized, and the stable operation of the power network is ensured.

The invention relates to a full-position track control method of a pipeline butt weld joint. The method includes the steps that a main path of a pipeline butt weld joint trace is generated through an industrial robot teaching and playing-back system, and a root welding procedure is completed according to the main path. The main path serves as a center trace. The center trace and swing arc compensation are composited so that a filling weld trace can be determined. A filling weld procedure is completed according to the filling weld trace. A cosmetic welding procedure is completed according to the center trace. Automatic control over the welding trace, from root welding and filling welding to cosmetic welding, of the pipeline butt weld joint is achieved through the trace control method, the automation degree of pipeline welding is effectively improved, interference of current discrete values with a compensation valve is effectively shielded, and precision of the welding torch transverse swing compensation value is improved.

A Stackelberg game-based cross-layer resource allocation method of a heterogeneous network includes: building the heterogeneous network before building a MAC (media access control) layer transmission control model and a physical layer model; according to an MAC layer and the physical layer model, building a JPMO (joint physical and MAC layer optimization) model; dividing the JPMO model into two sub-models by Stackelberg game; by means of backtracking, solving an energy-saving resource allocation model with a physical layer built at the SC (small cell) terminal, by Lagrangian dual decomposition, and solving an optimal access control model with a MAC layer built at the Macro terminal, by a gradient-based iterative algorithm. The method has the advantages that cross-layer design and multi-user multi-channel diversity gain are adopted, the heterogeneous network experiences fewer cross-layer disturbances at the premise of saving energy, system efficiency is effectively improved, joint disturbance management and resource allocation are achieved in the heterogeneous network, and simulation results show that system utility is effectively improved by the use of the method compared to those using no cross-layer design.