113results about How to "Low real-time requirements" patented technology

Provided is a method for realizing S curve acceleration and deceleration of a motion control system. (1) The realization condition of S curve acceleration and deceleration is as follows: the basic limiting condition formula of the S curve acceleration and deceleration control process is shown as formula (6): t0=t2-t1=t4-t3=t6-t5, at0=at1=-at4=-at5 and Vt0=Vt2-Vt1=Vt3-Vt4=Vt5-Vt6; and the complete S curve acceleration and deceleration process satisfies formula (7): L / VL>=t0+delta t(1-2)+delta t(3-4)+delta t(5-6), and aM<=aMax. (2) Recursion formulas of S curve acceleration and deceleration are as follows: the initial velocity is set to V0, the current sampling time is k, the corresponding accelerated acceleration is Jk, the acceleration is ak, the velocity of movement is Vk, and the recursion formulas based on the previous time are respectively formula (8): Jk=JM (0<=t<=t0, t5<t<=t6, 0<=k<=nt0, nt5<k<=nt6), Jk=0 (t0<t<=t1, t2<t<=t3, t4<t<=t5, nt0<k<=nt1, nt2<k<=nt3, nt4<k<=nt5) and Jk=-JM (t1<t<=t2, t3<t<=t4, nt1<k<=nt2, nt3<k<=nt4), formula (9): a0=0 and ak=a(k-1)+Jk*delta t, and formula (10): V0=0 and Vk=V(k-1)+ak*delta t.

The invention discloses a method for real-time synchronization and dynamic compensation between chain Ethernet nodes. The method is simple, convenient and lower in cost, and fewer software and hardware resources are occupied. The method comprises the following steps that: 1, a master node starts enumerating each slave node; 2, a zero node which is the first of the slave nodes starts a cycle timer, and implements management over a bus cycle in a way of cyclically transmitting a synchronization packet; 3, the synchronization packet starts delay measurement modules of the slave nodes for timing, and is continuously transmitted until being transmitted to the last slave node; 4, the last node constructs and uploads a standard Ethernet data packet; 5, each slave node stops the timing when receiving a returned packet, and starts a local distributed clock by taking a half of a measured value as an initial value; and 6, after completely receiving control data, the slave nodes generate synchronous signals when the time of each synchronization clock is the same, execute corresponding operations, latch a current state and wait for uploading.

The invention discloses a low-power-consumption wireless monitor and control system for an agricultural greenhouse. The system comprises a remote Web server, a gateway and wireless monitor and control nodes. The wireless monitor and control nodes are responsible for monitoring soil temperature and humidity of a parcel and executing a control command sent from the gateway; the gateway receives data from each wireless monitor and control node and displays the data on a screen in real time, and realizes data interaction with the remote Web server through a 3G network; and the remote Web server provides a monitor and control method with which a farmer can realize remote access by utilizing a browser on a mobile phone and a computer. The wireless monitor and control nodes are powered by lithium batteries, and software and hardware can work for a long time stably by utilizing the low-power-consumption design, so that the system can be arranged at any place of the greenhouse conveniently without being limited by wiring difficulty.

The invention relates to a laser direct-writing system and a photolithography method. The laser direct-writing system comprises a focal length measurement system and an exposure system, wherein the focal length measurement system adopts an offline way to measure the three-dimensional shape information of the surface of a whole object to be etched, then converts the three-dimensional shape information into focusing information and sends the focusing information to the exposure system; according to the focusing information, in the process that the surface of the object to be etched is photoetched, the exposure system regulates the focal length so as to suit the concave and convex degree of the surface of the object to be etched, and an exposure point always focuses on the surface of the photoetched object.

The invention belongs to the satellite positioning field and in particular relates to a real-time bayou precision relative positioning method. The real-time bayou precision relative positioning method particularly comprises the following steps: step I, initializing the integer ambiguity parameter; step II, carrying out cycle-slip detection; step III, performing pseudo-range single-point positioning; step IV, judging the difference of the observation epochs of a base station and a mobile station, calculating the difference of the observation epochs of the base station and the mobile station, if the difference value is more than 15s, returning to the step I, if not, entering the step V; step V, repairing cycle slip, calculating the integer ambiguity of a satellite which is subjected to cycle slip by use of the integer ambiguity of a satellite which is not subjected to cycle slip; step VI, solving the relative location of the base station and the mobile station. According to the method, the dynamic positioning real-time updating rate of the mobile station can be increased, the output delay of the positioning result of the mobile station can be reduced, the base station data is sampled and broadcast at low frequency, the requirements for the real-time performance and the reliability of a data communication link are reduced and the costs of the wireless communication equipment and the links are also reduced.

The invention provides a novel signal detection scheme aiming at a 60GHz millimeter wave non-linear communication system, wherein the scheme is based on the Bayesian statistical inference mechanism, and capable of effectively solving the problems of system nonlinear distortion and frequency selective multipath fading, and achieving united blind estimate of channel gains and source signals. The method of the detection of the signal of the 60GHz millimeter wave communication system designs an important function applied to the nonlinear system and therefore overcomes the limits of the nonlinear characteristics to the traditional bayes method, further approaches an actual probability distribution function (PDF) through a series of dispersed particles with weights based on the thoughts of the Monte Carlo sequential importance sampling (MC-SIS), and finally utilizes the particle filtering technology to achieve real-time estimating and multi-channel iteration replacement of code element signals (shown in a attached diagram). The method and the device of the detection of the signal of the 60GHz millimeter wave communication system can be applied to the detection of signals of the nonlinear system, improve transmission performance of the system, need no training sequence, and at the same time can achieve the real-time estimating and detection of the signals.

The device includes at least two distributed type wireless access unit, at least two antennae contained in each wireless access unit. The device also includes following modules: covariance matrix calculation and character decomposion module is in use for calculating covariance matrix of baseband data corresponding to each distributed type wireless access unit, and carrying out character decomposion for the covariance matrix so as to obtain eigen vector matrix; projection value calculation module is in use for calculating projection value by using the covariance matrix and the eigen vector matrix; module for selecting eigen vector is in use for selecting eigen vector corresponding to large projection value of specific number; synthetical signal forming module is in use for carrying out weighting calculation for baseband data by using eigen vector as weighted vector so as to form a route of synthesized signal.

The invention disposes equipment for realizing time synchronization with a time reference station. The equipment comprises a signal source module which is used for generating a reference frequency signal and a first time signal; a satellite card which is used for receiving a satellite signal and outputting satellite card data and a second time signal in real time; a time interval counter module which is used for receiving the first time signal through utilization of a first channel and the second time signal through utilization of a second channel, and measuring a first time difference value between the first time signal and the second time signal; a remote data transmission module which is used for receiving satellite-ground clock difference data of reference time sent by the time reference station, in real time; and a master module which is used for collecting the satellite card data, the first time difference value and the satellite-ground clock difference data, in real time, and generating time difference result data. The signal source module adjusts the reference frequency signal in real time according to the time difference result data, so the reference frequency signal and the reference time are synchronized. According to the equipment, the time synchronization can be carried out in real time, and the equipment has relatively high data confidentiality.

Provided is a control circuit for realizing S curve acceleration and deceleration of a motion control system. A CPU bus interface circuit writes the accelerated acceleration, the average speed, the initial speed, the termination speed and instruction displacement parameters into corresponding registers in an instruction parameter register and sends out the working state of the circuit in response to an external request; an initialization circuit reads instruction parameters in the instruction parameter register, calculates the total speed change and reasonably plans the speed change of each section; an accelerated acceleration integral circuit and an acceleration integral circuit execute integral operation and writes the integral operation into corresponding registers in an execution register; a drive pulse inter-pulse calculation circuit reads a speed register and calculates the inter-pulse count value of drive pulses; a pulse generating circuit uses the inter-pulse count value to count a reference clock so as to achieve the required drive pulses; a displacement control circuit counts the output drive pulses, calculates the output displacement and writes the output displacement into a displacement register; and a state transfer and control circuit causes the S curve acceleration and deceleration control circuit to act in an orderly and coordinated mode in response to the reference clock.

The invention discloses a method for balancing capacitor voltage of a modularization multilevel converter. The method comprises the following steps: (1) the present value of submodule capacitor voltage is sampled to obtain increment of capacitor voltage in a power frequency period; (2) the increment of the capacitor voltage and the present value of submodule capacitor voltage are ranked; (3) a new corresponding relation between a drive signal and a submodule is obtained; (4) the drive signal is allocated to the submodule again according to the new corresponding relation. According to the method, the requirement for real-time performance is lower, and the computing resource of controllers is saved, so that the controllers can be used for processing a large-scale MMC system; no bridge arm current needs to be detected, so that the communication complexity among the controllers is simplified, part of the cost of a current sensor is saved, an additional hardware circuit is not needed to be added, and additional system cost is avoided; under the control of the method, all switch frequencies of the submodule are the same, the switch frequency is lower, the switch stresses are consistent and the system thermal design is facilitated and the system reliability is realized.

The invention discloses a method and a device for detecting residual paper money in a money rolling wheel type temporary storage part as well as an ATM (automatic teller machine). The method comprises the following steps: detecting rotation of a money rolling wheel; when detecting that the money rolling wheel rotates by integral multiple of at least one circle, obtaining a residual detection pulse string signal output by a residual sensor; judging whether the residual paper money exists in the temporary storage part or not according to the number of high / low levels in the residual detection pulse string signal and a preset threshold value. The number of pulses generated by the residual sensor when the money rolling wheel rotates a circle is calculated and compared with the preset threshold value so as to judge whether the residual paper money exists in the temporary storage part or not. According to the method and the device, the threshold value does not need to be specifically set depending on the speed of a motor driving the money rolling wheel, a setting method is simple, and a circular queue does not need to be used for storing a pulse string, so that excessive memory occupation is not needed; in addition, the system time does not need to be used, the system real-time requirement is low, and the accuracy for detecting the residual paper money can be improved.

The invention discloses a task planning method for cooperative ground battle of a manned and unmanned aerial vehicles, and relates to the field of unmanned aerial vehicle task planning, and the method comprises the following steps: S1, battlefield environment modeling: employing a digital map information fusion principle to fuse original landform and threat information of a battle space into comprehensive landform information; s2, obtaining the number of manned aerial vehicles, the number of unmanned aerial vehicles and the number of targets: setting that the ground strike formation comprises one manned aerial vehicle and m unmanned aerial vehicles (v1, v2,..., vm), and discovering n targets (t1, t2,..., tn) needing to be striked in total; and establishing a task allocation target function, wherein the establishment of the target function comprehensively considers factors in three aspects, including the attack value of the target, the track cost for going to the target and the threat cost in the cruise process. An A * algorithm is adopted to solve two parts of plane planning and height planning, and a task planning scheme meeting requirements can be provided for cooperative combat of people / unmanned aerial vehicles to the ground.

The invention provides a synchronous detection method for TD-LTE (time division long term evolution) network optimized equipment. The synchronizing with a base station is finished by fully using the hardware (mainly comprising an FPGA (field programmable gate array) and a CPU (central processing unit)) of the existing network optimized equipment. The method comprises the steps that a near end generates a synchronous switch signal according to an input signal and transmits the switch signal to each far end; each far end controls a radio frequency switch to realize uplink-downlink switching according to the switch signal. As the CPU is not a special signal processing chip, the CPU cannot realize real-time treatment under the condition of larger delay (time for calculating SSS once is at second level) and an LTE (long term evolution) semi-frame being 5ms long when massive data are processed. The method adopts an asynchronous calculation mode, so the demand on real-time property is reduced. The demand on the real-time property of the CPU is not high, a GPS (global positioning system) module and a modem do not need to be connected, the equipment cost is reduced, and the structure is more compact.

The invention discloses a self-adaptive key distribution mechanism based on a QKD network, and the mechanism comprises three key strategies: 1, using a classic key independently; 2, independently using a quantum key; and 3, the quantum key and the classic key are used in a fusion manner, so that the condition that the requirement on the key quantity cannot be met due to low quantum key generationrate is avoided. According to the invention, a playing type video is downloaded; Audio information, assigning a candidate packet encryption algorithm for it; AES, 3DES, IDEA, SM1, SMS4, Twofish. The method is used for an RTSP streaming video. Audio information, High real-time performance needs to be guaranteed, The method comprises the following steps: aiming at RTSP streaming video / audio information; assigning a candidate encryption algorithm for it; AES, SM1, SMS4, RC4, Rabbit, ChaCha20, The method has the advantages that the requirements on real-time performance of text information such aselectronic mails and control information are low, a symmetric encryption algorithm is distributed for the application of the type mainly according to the security level required by the application, and accordingly candidate encryption algorithms such as DES, AES, SM1, SMS4 and Twofish can be designated for the application of the type;

The invention relates to a differential protection signal synchronizing method for a distribution network system. A distribution network automatic device is arranged in each distribution network place in the distribution network system; each distribution network automatic device comprises a terminal device or a protection device; each distribution network automatic device is provided with a differential protection part; each distribution network automatic device calculates system current and voltage vectors with stable phase angles, which are sampled by the distribution network automatic device, by adopting a Fourier recursive algorithm and the system current and voltage vectors are transmitted to the adjacent distribution network automatic device by data links through the distribution network system; and on the basis of the basically consistent voltage vectors at each point in the distribution network system, each distribution network automatic device corrects the current vector of the adjacent distribution network automatic device according to the deviation of a reference voltage vector of the adjacent distribution network automatic device so as to implement the synchronization of the current vector on each side of the differential protection part of each distribution network automatic device. The differential protection signal synchronizing method is applied to the distribution network system; the differential protection on two sides or a plurality of sides is flexibly implemented; the synchronizing method is simple to implement, does not need a special point-to-point data link, has low data exchange capacity between the protection parts and has low requirement on the real-time performance of the data transmission, low calculated quantity and high synchronizing accuracy.

An embodiment of the invention discloses a method and a device for synchronously playing stitched video in indirectly acquired video application occasion. In the indirectly acquired video application occasion, data are implanted into the video to acquire the data and recover the video. Meanwhile, via asynchronous cache, instantaneity requirement is lowered, the problem about synchronization in video stitching is effectively solved, synchronized playing effect of the video is greatly improved, and the method and the device have the advantages of wide applicability.

The invention provides an electronic name card information exchange method and an electronic name card information exchange system, which take a mobile phone as a terminal, are not limited by distance and have low instantaneity requirement. A user is registered on an electronic name card exchange server by using a mobile phone number; when the registered mobile phone number is logged into the electronic name card exchange server, the electronic name card exchange server immediately sends name card information in a new name card information storage area to the name card storage area of the mobile phone of the logged mobile phone number; and after the registered mobile phone number is logged into the electronic name card exchange server and the mobile phone number of a receiver is input, the electronic name card exchange server extracts local end name card information corresponding to the logged mobile phone number, and queries whether the receiver is logged into the server, if so, the electronic name card exchange server sends the local end name card information to the name card storage area of the mobile phone of the receiver, otherwise, the electronic name card exchange server stores the local end name card information to the new name card information storage area corresponding to the mobile phone number of the receiver.

The present invention discloses an MMC capacitor voltage equalization control method based on driving signal logic processing. The method comprises: (1) collecting the current capacitor voltage values of submodules; (2) ranking the current capacitor voltage values of the submodules; (3) grouping and calculating the capacitor voltage difference values according to the ranking of the submodules.; and (4) performing logic processing of the original driving signals and distributing driving signals again for the submodules according to the grouping and the voltage difference values. The MMC capacitor voltage equalization control method based on a driving signal logic processing is low in real-time requirement, saved in the calculation resource of a controller and easy to be applied to a large-scale MMC system, does not need the detection of the leg current so as to reduce the communication complexity of the system and reduce the cost of partial current sensors, and does not need the addition of the hardware circuit so as to avoid extra system cost. Under the control of the MMC capacitor voltage equalization control method based on the driving signal logic processing, all the submodules share the same switch frequency and the switch stress, and the switch frequency is low so as to facilitate system thermal design, effectively recover from the capacitor voltage unbalance and improve the system reliability.

The present invention provides an adaptive 3D measuring device and related devices. The measuring device comprises an image acquisition device, an adaptive unit, a processing unit, and a measuring unit. The image acquisition device is used for collecting one group of images of a target object by relative movement between the image acquisition device and the target object. The adaptive unit is usedfor adjusting the image acquisition device during the relative movement process according to the distance between the image acquisition device and the target object, thereby obtaining a clear image of the target object. The processing unit is used for acquiring 3D information of the target object according to multiple images in the one group of images. The measuring unit is used for measuring thegeometric size of the target object according to a calibrated dimension and the 3D information of the target object. According to the invention, solutions with a mobile camera, re-focusing, and automatic focusing are put forward for the first time in the 3D measurement field, so that a problem of poor 3D synthesis effect caused by one-time focusing in the prior art is solved.

The invention discloses a ramp speed limit recognition method, which comprises steps: the speed limit sign information recognized from an acquired road image is obtained; based on the speed limit information, whether the speed limit information is ramp speed limit information is judged; if yes, the lane information, the route planning information, the traffic light information and the environmentinformation of the vehicle are obtained; according to the lane information, the route planning information, the traffic light information and the environment information, whether the vehicle enters aramp driving-in preparation state is judged; and if the vehicle is determined to enter the ramp driving-in preparation state, based on the ramp speed limit information, a speed limit value of the vehicle is determined and prompted. According to the method and the device provided in the invention, the correct recognition rate of the ramp speed limit recognition scheme can be improved, missed reportand error report risks can be reduced, and the driving experience of a driver can be improved. When the vehicle is overspeed after entering the ramp, the vehicle speed is limited below the ramp speedlimit, and the driving safety factor of the vehicle is improved.

The invention relates to a predictable traffic signal controller, a device and a method, and belongs to the technical field of intelligent traffic. According to the invention, the state information ofa traffic signal lamp of a required phase is calculated and judged according to the running rule of a traffic signal controller and the synchronous time information of the traffic signal controller.When the related operation rule information is not changed for a long period of time, such as a most-common multi-period fixed period control mode is not changed for the long period of time, the stateinformation of the corresponding traffic signal lamp can be calculated and judged without the real-time interconnection. When the real-time interconnection is needed, data such as the corresponding operation rule information can be sent in advance. Therefore, the requirement for the real-time performance of interconnection can be reduced. The real-time interconnection part can be reduced under many situations, so that the reliability can be improved. The material cost and the maintenance cost of a traffic signal control machine taking the traffic signal controller as a core can also be reduced.

The invention provides a high-precision digital array multi-channel delay compensation method, and belongs to the technical field of digital arrays. The method comprises the following steps: generating a calibration signal by a radio frequency source; making the calibration signal arrive at radio frequency receiving ends of all channels of a digital array through space radiation, and mixing and filtering the calibration signal and a local oscillation signal after low-noise amplification and filtering to obtain an analog intermediate frequency signal; converting the analog intermediate frequency signal into a digital signal through AD sampling, and transmitting the digital signal to a frequency measuring device for processing; measuring the frequency of the digital signal in the frequency measuring device to obtain a high-precision frequency value, and calculating the high-precision delay values of the channels through the high-precision frequency value; and changing the NCO (Numerically Controlled Oscillator) frequency value in digital down-conversion of the channels in the frequency measuring device with the delay values as references, and performing frequency compensation equivalence on all the channels to realize delay compensation. Through adoption of the method, hardware of the digital array is not added; the aims of delay measurement and compensation are fulfilled by means of software on the basis of original hardware of an FPGA (Field Programmable Gate Array); and high delay compensation precision and high speed are achieved.

The invention provides a device which protects voice over internet protocol in terminal concurrent service, which comprises a first processing entity which is used to execute shifting function for MAC-hs PDU to get MAC-d protocol data unit MAC-d PDU, and execute shifting to the MAC-d PDU when the MAC-d PDU is provided with C / T field, a second processing entity which is used to receive and transmit the processing results of the first processing entity, and process DCH service, when the process of processing shifting of the first processing entity conflicts with the process of process DCH of the second processing entity, the DCH service is firstly processed. The invention firstly process voice over internet protocol through repeatedly diving MAC layer protocol of the UE side into an MACHS entity and MACD entity when HSDPA service and voice over internet protocol are concurrent, thereby guaranteeing conversion quality.

The invention relates to the technical field of textile warp knitting, and specifically relates to a real-time high and low speed communication control system of a carbon fiber multiaxial warp knitting machine. The system comprises a real-time high-speed PowerLink bus, low-speed X2X communication buses, and a man-machine operating device connecting the real-time high-speed PowerLink bus and the low-speed X2X communication buses through a signal converter. The low-speed X2X communication buses are connected with a master controller in a communication manner, a first weft thread controller connected with the master controller in a communication manner, a second weft thread controller connected with the first weft thread controller in a communication manner, a third weft thread controller connected with the second weft thread controller in a communication manner, and an assistant controller connected with the third weft thread controller in a communication manner. The system manages in a centralized manner, and controls in a distributed manner, and coordinates and manages each control unit, thereby greatly improving operation stability and efficiency of the system.

The invention discloses an improvement system and an improvement method for a third party unified network management system on access equipment, which relate to the field of new network element online management. The improvement system comprises the third party unified network management system, convergence equipment and online access equipment, wherein the third party unified network management system actively polls the online access equipment which goes online in a network at regular time, obtains equipment information of an adjacent node, automatically completes registration of newly-added access equipment to the third party unified network management system if the access equipment applies for registration, and manages the newly-registered access equipment. The improvement system and the improvement method can fully promote the online effectiveness of new network element and reliability of the third party unified network management system.

The disclosure provides a transmission and distribution cooperative reactive power optimization method and system in consideration of static voltage safety constraint. The method comprises the steps of obtaining the static voltage stability margins of the load nodes in transmission and distribution networks based on Thevenin equivalent parameter identification; establishing an approximate linear mapping relationship between the static voltage stability margins and regulation quantities by using a perturbation method; and in consideration of the real-time requirement of online reactive power optimization, introducing the static voltage stability margin constraint of the weak nodes. A simulation result shows that by introducing the static voltage safety constraint into the reactive power optimization model, the optimization result not only reduce the network loss, but also increase the voltage stability margins of the weak nodes, which makes the grid control economical and safe.

The invention discloses a universal domain controller supporting SOA, which is applied to a vehicle, and comprises an S32G chip deployed with an SOA protocol stack module set, the SOA protocol stack module set comprises a DDS protocol stack module, an SOMEIP protocol stack module and an MQTT protocol stack module, and the MQTT protocol stack module is used for analyzing data received by the vehicle from a cloud server to obtain to-be-processed data and sending the to-be-processed data to a cloud server; the to-be-processed data comprises first data and second data, the real-time requirement of the first data is high, and the real-time requirement of the second data is low; the SOMEIP protocol stack module is used for processing the second data; and the DDS protocol stack module is used for processing the first data. Therefore, the SOA-based universal domain controller is integrated on the vehicle, so that the vehicle has better expandability, and the intelligent level of the vehicle is improved.

The invention discloses a bandwidth demand method in the global intercommunication WiMAX system through microwave, which divides the demand business into real-time business and non-real-time business. The method comprises the following steps: the A1.SS reports bandwidth demand for each real-time business; the SS reports bandwidth demand for non-real-time business; the B1. SS sends bandwidth demand report to BS. The invention can reduce bandwidth demand report occupation of vacant resource.

The invention discloses an elevator vibration attenuation method and device. The elevator vibration attenuation method comprises the steps that the current actual elevator car load and the current elevator floor position are obtained; a car load is selected from recorded car loads, wherein the difference between the selected car load and the actual elevator car load is within the preset range, and the selected car load is used as the current car load; according to the corresponding relation among recorded car loads, the elevator floor position and servo motor rotation displacement, the servo motor rotation displacement corresponding to the current car load and the current elevator floor position is determined; according to the determined rotation displacement, a servo motor installed on a guide shoe is adjusted. According to the elevator vibration attenuation method and device, the requirement for acceleration signal collection real-time performance and accuracy is lowered, the servo motor adjusting accuracy and the elevator riding comfort level are improved, and meanwhile the problem that the guide shoe is damaged caused by over adjustment of the servo motor is avoided due to the fact that the rotation displacement of the servo motor is a known and determined adjustment variable.