109results about How to "Guaranteed solution accuracy" patented technology

The invention provides a measuring device and method for the target line-of-sight angel offset and distance. The device is composed of a four-quadrant avalanche photodetector, a receiving and sending optical unit, a noise compensation circuit, a four-circuit front amplification circuit, a video amplification circuit, an automatic gain amplification circuit, a peak keeping circuit, an AD conversion circuit, a laser, a dominant wave sampling circuit, a summing circuit, a time identifying circuit, a time test circuit and a digital processing circuit, wherein the receiving and sending optical unit enables narrow pulse laser rays emitted by the laser to be converged on the photoelectric detector to form echo light spots after target reflection, photovoltaic conversion of the four-quadrant avalanche photodetector, front amplification, video amplification and automatic gain amplification are conducted, narrow-pulse peak keeping is conducted, transmission of the AD conversion circuit is conducted, and the digital processing circuit extracts the digital line-of-sight angel offset; summing is conducted on the four-circuit front amplification circuit, the dominant wave sampling circuit is combined, the time identifying circuit determines laser emitting and echo coming and returning time, the time is transmitted to the time identifying circuit to be measured, and the digital processing circuit decodes the corresponding distance.

The invention discloses a method for designing a bias orbit of a spacecraft in a halo orbit in a sun-earth three-body gravitational field. The invention proposes a semi-analytic-solution-based orbit design method for a task demand of thrusting the spacecraft in the halo orbit to a heliocentric grave orbit by adopting a small thrust force in the sun-earth three-body gravitational field. According to the method, the calculation amount can be greatly reduced while the orbit precision is ensured. In addition, the invention proposes a method for realizing orbit maneuvering by adopting a minute continuous thrust system which mixes a variable reflectivity solar sail with electric propulsion. The method for realizing the orbit maneuvering by a mixed thrust force is capable of greatly reducing fuel consumption. The purpose of orbit maneuvering with minimum fuel consumption is achieved through optimization design of a posture angle of the solar sail. Compared with a conventional pulse bias orbit design method, the method proposed by the invention has the advantages that the calculation time can be shortened to a great extent on the premise of ensuring the solving precision.

The invention relates to a system and a method for measuring vision of a variable optical axis. The measuring system comprises a substrate, a camera, a rotary prism device and a computer, wherein the computer is connected with the camera and the rotary prism device respectively; the camera is arranged on the substrate through a camera adjusting mechanism; the rotary prism device is fixed on the substrate and aligns to the camera in the axial direction; an imaging plane of the camera and a prism plane of the rotary prism device are parallel to each other; and the rotary prism device comprises a prism capable of rotating in a complete cycle. Compared with the prior art, high-resolution target images can be collected by the camera under various optical axis pointing states respectively by sufficiently utilizing accurate pointing characteristic and wide-field scanning capacity of the rotary prism, the imaging view field and measuring range of the system can be enlarged obviously, relatively high imaging resolution and three-dimensional measurement accuracy are realized, and simultaneously, the integration and economical efficiency of system structure design also can be guaranteed.

The invention discloses a satellite joint observation task planning method, and relates to a satellite joint observation task planning method. The objective of the invention is to solve the problems of insufficient modeling consideration constraint conditions, low algorithm convergence speed and long algorithm calculation time when a satellite joint observation task planning problem is solved in the prior art. The method comprises the steps of 1, constructing a satellite observation task model; 2, establishing a satellite observation task planning model on the basis of a satellite observationtask model under the conditions that satellite observation tasks and observation resources in a given planning time period are not changed and interstellar links are stable; Step 3, constructing a mathematical model of constraint conditions based on the constraint condition set in the satellite observation task planning model obtained in the step 2; and step 4, designing a genetic algorithm basedon a greedy strategy based on the mathematical model of the constraint condition to complete satellite joint observation task planning. The method is applied to the field of satellite joint observation task planning.

The invention discloses a three-phase imbalanced power distribution network robust dynamic reconfiguration method taking an uncertainty budget into consideration. According to the method, the defect that in an existing power distribution network reconfiguration technology, power distribution network injection power fluctuation and uncertainty are not taken into full consideration is made up; a three-phase imbalanced power distribution network robust dynamic reconfiguration model is established; the influence of the uncertainty on the reconfiguration under the condition that the injection poweris dynamically changed in a plurality of periods is taken into consideration; an uncertain set range is changed through control over the uncertainty budget; the conservative property and robustness control effect of a robust reconfiguration scheme are analyzed; and the theoretical support is provided for the reconfiguration technology of an intelligent power distribution network under the condition that a distributed power supply is connected in high permeability.

The invention discloses an inertial navigation assisted Beidou three-frequency carrier phase whole-cycle ambiguity calculation method. The method comprises the steps of firstly determining BDS three-frequency combination carrier phase double difference and a pseudo-range double difference observation model, and obtaining pseudo-range and carrier phase observation values; then taking different scaling factor values, and performing linear combination on the pseudo-range observation quantity and the carrier phase observation quantity to obtain a narrow-lane, wide-lane and ultra-wide lane carrierphase and pseudo-range observation equation and a carrier phase and pseudo-range observation equation under an ionized layer independent and geometric independent model; obtaining an INS observation equation by using inertial navigation; and simultaneously setting the carrier phase and pseudo-rang observation equations and the INS observation equation, and solving the equations by using a weightedleast square method to obtain a floating point solution of the whole-cycle ambiguity; and finally solving an integer value of the whole-cycle ambiguity by using the LAMBDA. The method introduces theinertial navigation information and calculates the solution by using redundancy of the equations, thereby being capable of effectively improving the solving precision of the whole-cycle ambiguity value, and being applicable to a high-precision positioning system of the Beidou satellite system.

The invention provides an inverse kinematics solving method for a 6-DOF (degree of freedom) industrial robot. The method comprises the following steps: establishing a connecting rod coordinate system, wherein the connecting rod coordinate system comprises an X-Z axis plane, coordinate systems corresponding to six joints of the industrial robot and a coordinate system of an end effector of the industrial robot; on the basis of the connecting rod coordinate system, calculating an Euler angle transformation matrix according to structure geometric parameters among the six joints of the industrial robot; sequentially solving rotation shaft rotation angles of the six joints of the industrial robot through the Euler angle transformation matrix according to the preset sequence; and according to the eight solving results corresponding to the rotation shaft rotation angles of the six joints, disintegrating the sum of norms of difference values of the joint rotation shaft rotation angles corresponding to previous joint space places, and selecting an optimal solution according to a norm comprehensive minimum principle. The method has the advantages of being high in solving precision, fast in solving speed, easier to understand in the solving process, and small in calculation amount.

The invention discloses a pose measurement method of a rotating target in an approaching state. The method comprises the steps of constructing a three-dimensional feature library of the target according to known model data and a shot target image sequence of the target, denoising and enhancing an input initial frame image, performing target positioning and profile extraction via image erosion anddilation operation, extracting ring features and corner features of the target from the second frame of the input image sequence, achieving matching between two-dimensional image corner features and three-dimensional features of a target model, obtaining more feature point locations via cross-ratio invariance interpolation, calculating a pose parameter of the target via the ring features and the corner features, and performing parameter optimization. The method reduces the area of a region to be processed in the image and improves calculating efficiency via target positioning. The calculatingprecision of the pose parameter is ensured by using the scheme that the ring features, a profile and the corner features are combined for use and more feature points are obtained by the cross-ratio invariance interpolation.

The invention provides a data processing method and device based on a quantum circuit, electronic equipment, a computer readable storage medium and a computer program product, and relates to the field of quantum computing, in particular to the technical field of data processing. According to the implementation scheme, the method includes obtaining a to-be-solved Hamiltonian of an n quantum bit system, wherein n is a positive integer; determining a to-be-optimized quantum circuit capable of acting on the n quantum bits; obtaining a mixed state of n quantum bits, wherein the mixed state is a probability mixture of a plurality of orthogonal calculation ground states; inputting the mixed state of the n quantum bits into a quantum circuit, and measuring the Hamiltonian based on the quantum state output by the quantum circuit to obtain an expected value; optimizing the parameters corresponding to the quantum circuit based on the expected value to obtain the quantum circuit after parameter optimization; and inputting a corresponding calculation ground state in a plurality of orthogonal calculation ground states into the optimized quantum circuit to obtain a characteristic state corresponding to the Hamiltonian.

The invention discloses an SAR image noise reduction method based on shear wave coefficient processing and belongs to the technical field of digital image processing. The SAR image noise reduction method based on shear wave coefficient processing comprises the steps of based on the sparsity of converted image shear wave coefficients, firstly establishing a sparse representation model based on the image shear wave coefficients, and then realizing unbiased estimation on sparse representation coefficients in statistical mean sense by use of a Stagewise Orthogonal Matching Pursuit (StOMP) algorithm and reconstructing the sparse-represented shear wave coefficients into a noise-reduced image, making up for the loss of image details due to the partial lost coefficients in sparse representation, performing further iterative denoising on the result of the projection reconstruction of the image in the shear wave function space corresponding to the lost coefficients by use of the capacity of a shear wave function corresponding to the part of coefficients in extracting image edge details in combination with an energy functional-based Total Variation (TV) method, and finally, obtaining a denoised image rich in details; as a result, the speckle noise of the SAR image is suppressed and the detail texture of the image is also maintained; the SAR image noise reduction method based on shear wave coefficient processing can be applied to SAR image noise reduction.

The invention provides a space analytic geometry-based line-scan camera calibration method and belongs to the line-scan CCD camera calibration field. The space analytic geometry-based line-scan camera calibration method is especially suitable for fast, accurate and flexible calibration of line-scan cameras. According to the calibration method, a new target is designed, and space analysis geometrical relationships are utilized, and the parameters of a line-scan camera can be obtained based on a vector method, and therefore, rapid calibration of the camera can be realized. With the method adopted, calibration accuracy can be ensured without making a precise target required, and the target is not required to move precisely according to a prescribed direction; and the plane of the target and the plane of the camera are not required to be parallel to each other, and therefore, the arrangement position and attitude of the camera can be arbitrary, and the flexibility of the calibration of the line-scan camera can be effectively improved. The space analytic geometry-based line-scan camera calibration method of the invention has the advantages of fast calibration speed, high accuracy, flexible operation and the like. With the space analytic geometry-based line-scan camera calibration method adopted, a precise target is not required to be produced, and fast calibration of the line-scan camera under harsh environment conditions can be realized.

The invention relates to an optical flow field rapid estimation method based on a non-linear multigrid method. The method includes the following steps that an image sequence is input, an image receives graying and downsampling; a variational method is used for obtaining a discretization Euler-Lagrange equation set which is equivalent to an optical flow estimation model; the non-linear multigrid method is used for solving the optical flow; an Open MP parallel programming model is used for accelerating a solving process of an energy functional. The non-linear multigrid method is used for solving the non-linear optical flow model, a non-linear residual error is omitted from each multiple-grid circulation and solving errors of the linear multigrid method are omitted. Thus, the solving precision of the optical flow is ensured. The numerical solution method only needs to be iterated for 20 to 30 times. Compared with the existing method, the real-time capacity of the optical flow calculation is greatly improved. Meanwhile, the OpenMP parallel programming model is used for accelerating the solving process of the energy functional and the operation speed of a program is improved.

The invention relates to a satellite-borne accelerometer nonconservative force data accurate calibrating method based on a novel dual-satellite adjacent energy difference principle in the technical field of crossing of satellite geodesy, geophysics, space science and the like. The satellite-borne accelerometer nonconservative force data accurate calibrating method comprises the steps of: on the basis of establishing a reference disturbing potential-free dual-satellite disturbing potential difference observation equation, by using priori information of a global gravitational field model, establishing a novel dual-satellite adjacent energy difference observation equation on the basis of the dual-satellite adjacent energy difference principle, and fitting a scale factor and an offset factor of calibration parameters so that satellite-borne accelerometer nonconservative force data is accurately calibrated. The method has high calibration precision and is suitable for rapid calibration of single-satellite and dual-satellite accelerometer data, thus earth gravitational field inversion precision can be effectively enhanced.

Disclosed is an optimal three-dimensional morphology measurement method. First of all, according to actual measurement requirements, a measurement system composed of a projection system and a camera is well arranged; then according to measurement needs, a fringe pattern is designed and is projected to the surface of a measured object by the projection system, and the fringe pattern reflected by the object is sampled by the camera; then a wrapping phase is demodulated from the sampled fringe pattern, and a real phase value of the fringe pattern is obtained after unwrapping; then X-axis and Y-axis coordinates of the measured object are obtained through magnifying power of a telecentric lens, the pixel size of the camera and image coordinates of the sampled fringe pattern; and finally, correlation parameters of the projection system are obtained through calibration, and through combination with a fringe phase, according to a triangular relation, Z-axis coordinates of the measured object are solved. The calibration process is simple, the solving speed of three-dimensional coordinates is improved and higher measurement precision can be realized; and application of all subsequent measurement can be ensured through calibration once, and the efficiency is quite high.

The invention discloses a magnetic levitation flywheel motor structure parameter optimization design method, which mainly comprises the steps of establishing a motor finite element model, and determining motor optimization performance parameters; establishing a response surface experiment arrangement table; obtaining response values of the motor torque and the suspension output under each parameter combination; establishing a polynomial response surface model FRSM; calculating and recording error data between the FRSM fitting value and the finite element value; establishing an error non-parametric response surface model FSVM by using a support vector machine; obtaining each performance output model of the final motor; establishing a comprehensive multi-objective optimization function fobj;and obtaining the optimal structure parameters of the motor by using a firefly algorithm. According to the invention, a traditional polynomial response surface and a non-parametric response surface model based on a support vector machine are combined to establish a dynamic dual-response surface model between motor output performance and structural parameters, and a firefly algorithm is used to carry out global optimization on the structure parameters, so rapid and accurate modeling under small sample data and motor multi-output performance collaborative optimal parameter design are realized.

The invention relates to a reactive power optimization method for new energy grid connection. The method comprises the following steps of generating scenes, cutting down the scenes, and establishing a reactive power optimization model. The scenes that may occur are used to simulate random variables approximately, the total distribution of the random variables can be reflected via lower sampling frequency, and it is ensured that sampling points are distributed in all sampling areas; and it is avoided that an appeared sample is sampled in the sampling process, and it can be ensured that a low probability area also includes sampling points. The uncertainty of new energy is simulated by the scenes, a calculation scene is obtained by generating the scenes and cutting down the scenes, a combined optimization calculation model is used to obtain reactive power output values Qk of the different scenes, and the reactive power cost and grid loss of the scenes are made minimal under the condition that physical and operation constraints are met.

The invention relates to an offshore wind turbine generator maintenance path stochastic planning method considering a wake effect. The method comprises the following steps: 1) describing correlation and uncertainty of wind, waves and surges in ocean weather; 2) considering the cost composition of personnel, ships, punishment and shutdown loss, taking the minimum maintenance cost as an objective function, and constructing corresponding constraint conditions based on the influence of wind, waves and surges on the navigation time of the ships and the accessible windows of the ships; 3) because the maintenance state changes the wake flow distribution among the units, describing the change of the input wind speed of each unit in combination with the wake flow model and the maintenance state, and refining the unit shutdown loss in the objective function; and 4) solving the target function to obtain an optimal maintenance path. Compared with the prior art, the method has the advantages of high adaptability, high economy, high solving speed and the like.

The invention discloses an electro-hydraulic servo system with two valves connected in parallel. The electro-hydraulic servo system with the two valves connected in parallel comprises a plunger pump,a three-phase motor, the three-position four-way servo solenoid valve and the three-position four-way proportional solenoid valve. The three-phase motor is connected with the plunger pump. An oil inlet of the plunger pump is connected with an oil tank; an oil outlet of the plunger pump is connected with a check valve and an oil-return and oil-filtering device; the oil-return and oil-filtering device and an overflow valve are arranged on a main oil-return pipeline; and the three-position four-way servo solenoid valve is connected with the three-position four-way proportional solenoid valve, andthe signal ends of the three-position four-way servo solenoid valve and the three-position four-way proportional solenoid valve are connected with a control circuit module. A control method comprisesthe steps that parameters in the electro-hydraulic servo system with the two valves connected in parallel are first defined; then the input-and-output conditions of the electro-hydraulic servo systemwith the two valves connected in parallel are restrained; numerical values output by an input-and-output module are then initialized; and finally the real-time control function of the module is achieved. The optimal configuration and control over the two valves and the precision control of the electro-hydraulic servo system can be achieved.

The invention discloses a three-phase unbalanced intelligent power distribution network reconstruction method based on a linear model. The method includes performing modeling and approximate analysison the three-phase unbalanced intelligent power distribution network by using a Distant flow branch flow model; establishing a network reconstruction mathematical model considering the problems that an intelligent power distribution network including distributed generation (DG) has the line parameters in three-phase asymmetry and unbalanced power; linearizing the established model by using an optimal isometric piecewise linear approximation method, so as to obtain a mixed integer linear model reconstructed by the network and solve the mixed integer linear model by using commercial mathematicalplanning software. According to the method, the defects that the circuit parameters are not symmetric and the power is unbalanced in the current intelligent power distribution network reconstructionoptimization process are overcome, meanwhile, the solving speed and efficiency of the network reconstruction model are improved, and a theoretical support is provided for economic and reliable operation of the intelligent power distribution network.

Disclosed is a design method of a real-time simulation solver of an active power distribution network on basis of an FPGA. The method comprises the steps of offline preprocessing and online solving. During offline preprocessing, a column approximate minimum degree algorithm is adopted for processing a node admittance matrix; the address vectors of current and the address vectors of current voltageare prestored; an LU decomposition method is adopted for decomposing the node admittance matrix; the starting time of each sub-task in the previous substitution process and the back substitution process is prestored. During online solving, the simulation starting time is set; the simulation time is advanced by one step length; information initialization of each sub-task and addressing sorting ofthe current vectors are completed; when solving begins, a starting timer of each processing unit is initialized according to the prestored starting time of the corresponding sub-task; solving in the previous substitution process is completed, and an intermediate solution vector is generated; solving in the back substitution process is completed, and a final solution vector is generated after addressing sorting; whether or not the simulation time reaches the final simulation moment is determined. By means of the method, while the solving precision and speed are ensured, sparse linear equationsare solved accurately and efficiently.

The invention discloses a system-level integrated circuit DC voltage drop parallel analysis method and system, and the method comprises the steps of carrying out the parallel analysis through employing a plurality of coarse particles according to the random dynamic distribution and applying a first distribution principle; enabling each coarse particle to independently and synchronously divide thesystem-level integrated circuit into a plurality of same subsystems by taking a layer as a unit, performing the same mesh generation on the whole system-level integrated circuit and establishing the same finite element sparse matrix; when each subsystem is processed, enabling each coarse particle to process different subsystems, combining other subsystems except the subsystem into a to-be-processed system, eliminating internal nodes of the to-be-processed system by repeatedly utilizing star triangle transformation, and obtaining and solving a finite element sparse matrix only containing a field domain of the subsystem. The invention greatly simplifies the solving process, improves the solving speed on the basis of guaranteeing the solving precision, and achieves the quick and accurate analysis of the DC voltage drop of a system-level super-large-scale integrated circuit.

The invention discloses a blade vibration response analysis method based on fluid-solid interaction. The blade vibration response analysis method comprises the following steps of: firstly, carrying out unsteady analysis on a flow field in a blade flow channel by adopting a nonlinear harmonic method to obtain unsteady load distribution on the surface of a blade, and extracting a load correspondingto a key frequency by adopting Fourier transform to obtain a pneumatic exciting force borne by the blade; secondly, carrying out fluid-solid interaction analysis on the blade and the flow field in theflow channel of the blade, analyzing aerodynamic work applied to the blade by the aerodynamic force when the blade vibrates, and acquiring modal aerodynamic damping ratios of all orders of vibrationof the blade in the flow field according to an energy equivalence principle; and finally, loading the aerodynamic exciting force and the modal aerodynamic damping ratio of each order onto the blade, and performing vibration response analysis on the blade by adopting a modal superposition method. The blade vibration response analysis method can efficiently and accurately analyze the vibration response of the blade under the action of the unsteady aerodynamic force, and provides support for the safety guarantee and design work of an engine.

The invention discloses a GNSS (Global Navigation Satellite System) three-dimensional displacement monitoring and correcting system with small errors, eliminating the distortion of displacement amount, ensuring the solution precision and the accurate monitoring result. The system comprises a monitoring station device part and a base station device part wherein the monitoring station device part comprises a monitoring station GNSS antenna, a monitoring station GNSS board clamp, a monitoring station central logic unit, a monitoring station region wireless module, a monitoring station wide area wireless module, a monitoring station differential solution unit, a monitoring station power supply management module, and a monitoring station battery. The monitoring station device part is mounted at the top end of a standing column, and the inner part of the central logic unit is integrated with a double-shaft inclined sensor. The double-shaft inclined sensor is configured to measure the inclined angle and correct the three-dimensional coordinates. Through the inclined angle, the height of the standing column and the actually measured displacement amount, the distortion of displacement amount generated at the top end of the standing column is eliminated. The invention also provides a remote data processing method.

The invention relates to a bioluminescence tomography quantitative reconstruction method based on a prior interested area of a magnetic resonance image. The method comprises the specific steps of (1) data collection and preprocessing; (2) reconstruction of an anatomical structure of a living body; (3) acquisition of the prior interested area; (4) mapping of body surface optical data; (5) construction of a forward optical transmission model; (6) establishment of a sparse regularization objective function; (7) optimized solving of the objective function; and (8) display of a three-dimensional reconstruction result. According to the method, anatomical structure information of the living body and the prior interested area for positioning a targeted objective are acquired through the magnetic resonance image, the forward optical transmission model based on a simplified spherical harmonic-diffusion approximation equation and the sparse regularization objective function based on the prior interested area of the magnetic resonance image are constructed, and the in-vivo targeted objective of the complicated living body with multiple kinds of scattering property biological tissue is positioned accurately and quickly and reconstructed quantitatively.

The invention relates to a robot cable modeling method under curved surface constraint. The method comprises the following steps of simplifying the cross section of an operation robot constraint cableinto a circular cross section; statically analyzing the simplified cable to obtain a cable nonlinear mechanical model; discretizing by adopting a finite difference method to obtain a discretized mathematical model; adding a cable curved surface constraint, a fixed-length condition constraint and a boundary condition constraint in an operation robot space; and solving the constrained discrete mathematical model by using a nonlinear least square algorithm based on trust region strategy adjustment to obtain Euler parameters and mechanical properties of all cable discrete points. According to a solving result, the correctness and reasonability of the method are verified; and the form of the high-precision operation robot cable is fitted by using the Euler parameters obtained through solving,so that the effectiveness and correctness of the method are verified, the mechanical properties of robot cable discrete points are obtained, and important support is provided for weakening the stableparting of the high-precision operation robot joint.

The invention provides a configuration and capacity optimization method used for distributed energy system technology selection. The method comprises the following steps that: (1) analyzing the load of a distributed energy system; (2) analyzing the resources of a place where the distributed energy system is positioned; (3) selecting one type of technology selection; and (4) adopting a mixed integer linear programming method to meet energy balance constraints, energy production equipment constraints and energy storage equipment constraints, and calculating the configuration and the capacity of lowest annual average cost. By use of the configuration and capacity optimization method used for the distributed energy system technology selection, the mixed integer linear programming algorithm is adopted to design the distributed energy system, the synthesis solving of a continuous design variable and a discrete design variable is both given consideration, the optimal modeling of various different distributed energy technologies can be realized, the optimal modeling flexibility and the solving flexibility of the system are improved, the optimal solving problem of the large time scale is effectively solved, the solving accuracy of the design variable is guaranteed, system design objectivity and optimal result accuracy are guaranteed, and a user is assisted in realizing the design of the distributed energy system.

The invention discloses a multi-surface shape measurement method based on frequency blind estimation, which comprises the following steps of: acquiring an interferogram by using a wavelength phase-shifting interferometer, and accurately solving and matching corresponding signal frequency characteristics through blind estimation of each surface interference frequency in the multi-surface interferogram; and substituting the solved interference frequency of each signal into the constructed novel least square solving equation to solve the amplitude and initial phase of each interference signal ofthe measured piece, thereby completing the multi-surface interference measurement of the transparent parallel plate. The measurement method is low in cost, avoids measurement of the average thicknessof the measured piece, and can accurately solve the contrast of each surface of the measured piece.

The embodiment of the invention discloses a high-accuracy navigation method of a low-cost inertial sensor in a mobile environment. The method comprises the following steps: acquiring an output signalof an inertial sensor IMU; using a fast fourier transform method to perform the low-pass filtering on the output signal of the inertial sensor IMU; performing the conical compensation and rotary paddling compensation according to the signal amount of the IMU in the previous period; judging a motion state of a carrier according to the rotation speed of a carrier motor and an angular speed of a gyroscope, and determining whether the attitude correction is needed or not; and finally, calculating the speed and position, and determining the current speed and position of the carrier. According to the technical scheme of the embodiment of the invention, the motion state of the carrier is sufficiently considered, the influence of vibration and shaking of the carrier on the IMU can be overcome, theattitude calculation is more accurate, the robustness is high, and the universality and expandability are relatively high.

The invention discloses an optimal initial position and posture determination method of flexible supporting series industrial robot operation, and belongs to the field of flexible supporting industrial robot system trajectory planning. The method mainly comprises the following steps that firstly, a kinematics positive solution model is established through a D-H rule; then, a set of initial valuesare reasonably selected, and a set of inverse solutions of an equation set is solved by using an fsolve function on the basis of the inverse solution equation set; next, the set of inverse solutions is taken as a bridge to roughly search for other symmetrical inverse solution initial values according to the symmetry characteristic of the working space of the robot, and other accurate inverse solutions are obtained by using the fsolve function; and finally, the size relation of the reaction force system (including force and moment) generated in the operation process of different position and posture of robot joints corresponding to different inverse solutions of the same position and posture of the robot is analyzed, wherein the position and posture which does not collide with the workpieceand corresponds to the minimum value of the reaction force system is the the optimal initial position and posture of the flexible supporting series industrial robot operation to be described.

The invention discloses a multi-working-condition one-dimensional wave equation solving method based on a neural network, belongs to the field of seismic engineering, and aims to solve the problem that time and labor are consumed when the neural network is used for solving one-dimensional wave equations under different working conditions. The one-dimensional wave equation solving method comprises the following steps: 1, selecting a one-dimensional wave equation as an equation to be solved; 2, determining a solution domain and the number of residues of an input variable; 3, establishing a full connection layer neural network comprising six hidden layers; 4, designing a specific loss function; and 5, performing pre-training and fine training of the neural network. The invention provides the one-dimensional wave equation solving method based on the neural network by taking the wave velocity as input, so that the model can learn the influence of different working conditions on an equation solution, and the interpretability of the solving method is also improved by adding a generic equation and a stress condition on the premise of keeping high solving precision.