71results about How to "Meet the needs of practical engineering applications" patented technology

The invention relates to a high-speed calculation correlated imaging system and method based on a preset modulatable light source.The imaging system comprises the light source, an electro-optical modulator array modulating system, a single-point light intensity detector, a data collecting module and a data synchronizing and processing module; the electro-optical modulator array modulating system is used for performing random binary intensity modulation on light emitted by the light source to form a light field with intensity distributed in a random fluctuation mode in free space; the single-point light intensity detector is used for detecting total light intensity obtained after the light field is reflected or transmitted by a target object to be detected and converting the total light intensity into electric signals related to the total light intensity; the data collecting module is used for obtaining the electric signals and obtaining total light intensity fluctuation information, the data synchronizing and processing module is used for controlling data synchronization between the electro-optical modulator array modulating system and the data collecting module and then conducting correlation calculation to obtain an image of the target object to be detected.The electro-optical modulator array modulating system is used for modulating light, the modulation speed is high, the refreshing frequency effect of the preset light source is improved, the refreshing frequency is at least improved to megahertz order, and imaging result and imaging quality are improved.

The invention provides a polyurethane rail tie plate which is a microporous polyurethane elastomer made from raw materials of a polyalcohol composition, an NCO-blocking modified isocyanate curing agent and a foaming agent. The invention further provides a preparation method of the polyurethane tie plate, comprising the following steps: adding the foaming agent to the polyalcohol composition; adding the modified isocyanate curing agent to a mixture of the polyalcohol composition and the foaming agent according to a certain proportion at the temperature of 25-60 DEG C; and stirring and evenly mixing the obtained mixture, casting for molding, curing, taking out and then post-curing to obtain the polyurethane tie plate. The dynamic-static stiffness ratio of the tie plate is not more than 1.5; fatigue tests for 3 million times show no damage to appearance of the tie plate and low dimensional change rate of not more than 30%, thus achieving good damping and cushioning effects and enhancing comfortableness when a train runs; and meanwhile the rail tie plate has good durability.

The invention provides a biological fermentation adaptive control system and a control method based on neural network inverse. The control method comprises the following steps: constructing the neural network inverse by using a neural network and a time division multiplexing time delay link, enabling the neural network to achieve an inverse system function of a biological fermentation system by adjusting the weight coefficient of the neural network, connecting the neural network inverse and the biological fermentation system in series to form a pseudo-linear compound system, decoupling the pseudo-linear compound system in a linearization mode into two pseudo-linear subsystems with single input and single output, presetting desired signals, according to the control inputs of each pseudo-linear subsystem and the outputs of the biological fermentation system of current time and prior moment, constantly renewing the parameters of a model-free adaptive controller and the control input of each pseudo-linear subsystem of the following moment, enabling the outputs of the biological fermentation system to follow the preset desired signals effectively, thereby achieving the model-free adaptive control of the biological fermentation system, and improving the control performance of a biological fermentation process.

The invention relates to a method for repairing oxidized graphene by an organic matter containing an amino group at low temperature, which is characterized by comprising the following steps of: reducing the oxidized graphene with defects by an organic matter containing an amino group; filtering all matters after reduction and removing an excessive reducing matter without any matter retained on the graphene; and finally drying. The invention has simple, convenient and easily-applied operation, low reaction temperature and non-toxic reaction system. The reaction can be carried out in a solid phase and a liquid phase, and the operating process can not introduce a new matter or group and cause damage in other ways to the graphene. The graphene repaired by the method greatly has greatly reduced carbonyl content and the conducting performance improved by more than six magnitude orders. Furthermore, the method can be also used for repairing a graphene conducting thin film so that the graphene conducting thin film is changed into a conductor from an insulator. The invention has general applicable significance for fully exerting various specific physical and chemical performance of the graphene.

The invention relates to a sensor setup method capable of supporting failure prediction. The method is technically characterized by comprising two steps: sensor number optimization and sensor location optimization: firstly, performing the sensor number optimization step: obtaining a minimum acceleration peak value of a signal according to parameters of an instrument, obtaining an incident wave propagation limit distance threshold according to a wave amplitude attenuation formula of incident wave and obtaining the minimum number n of the required sensors; and then obtaining the sensor arrangement location by a finite element model, and adjusting the number and the location of the sensors according to the incident wave propagation limit distance threshold. The method can help realize that parameter information which reflects real structure state is maximally obtained with the minimum sensor number. The method adapts to setup complexity of the sensors for structural health monitoring and damage detection, and can better meet the needs of the actual engineering application. The invention can provide a sensor setup standard for the structural damage detection and the structural health monitoring; and help configure a detection system or a monitoring system more economically and reasonably.

The invention relates to a target detecting method of weighted robust broadband beam forming. The target detecting method comprises theoretical analysis, theoretical derivation, numerical simulation, algorithm improvement and result verification, and comprises the following steps: according to the characteristic that radiated noise of an underwater target contains a high-strength steady line spectrum, utilizing the characteristics that an amplitude difference between a main lobe and a minor lobe of frequency unit beam forming of the line spectrum of the target is larger and steadier, and an amplitude difference between a main lobe and a minor lobe of frequency unit beam forming of the noise is smaller and more random, firstly optimizing each frequency band beam forming by a second-order cone so as to obtain high gain beam forming of a low side lobe; then forming a weighting factor by utilizing a difference between the main lobe and the minor lobe of each frequency unit beam forming; then performing weighting statistics on each frequency unit beam forming by utilizing the weighting factor. The target detecting method can restrain the interference of background noise energy, enhance the gain of the signal to noise ratio of the target detection, overcome the difficulties of four-dimensional display of detecting a traditional line spectrum, improve the properties of an energy accumulation detecting method for long-range target detection, and improve the robustness of general broadband beam forming.

The invention belongs to the technical field of aviation equipment design and discloses a DIMA (distributed integrated modular avionics) system evaluation method. The method includes: performing physical layer modeling, and mapping hardware equipment in a DIMA system to a mounting space to create a two-dimensional physical layer mapping vector; performing functional layer modeling, and mapping subtasks in the DIMA system to the hardware equipment according the known system-task-subtask tree to create a two-dimensional functional layer mapping vector; performing priority ranking on multiple performance evaluation indexes, and building a DIMA system multi-target performance description function set; substituting the physical layer mapping vector and the functional layer mapping vector into the DIMA system multi-target performance description function set to obtain a DIMA system evaluation result. The invention further discloses a DIMA system optimization method.

The invention aims to provide a comprehensive re-setting control method for ship rudder stabilization, which comprises the following steps of: collecting a ship roll angle signal e(t); setting each control parameter initial value; by taking e(t) as input, calculating an output signal u1(t); by taking u1(t) as input, filtering high-frequency noise; weakening a spike caused by a nonlinear integral; calculating an output signal u2(t); by taking the u2(t) as input, calculating a closed loop feedback control signal u(t); drawing the open loop Nyquist graph and the closed-loop frequency characteristic of a system; judging whether a design index satisfies the condition or not, if not, regulating each control parameter value again; and calculating feedback output u(t) again until an index requirement is satisfied. According to the comprehensive re-setting control method for the ship rudder stabilization, which is disclosed by the invention, big phase lag caused by non-minimum phase characteristic in a rudder stabilization system is effectively solved, the comprehensive re-setting control method has the strongest disturbance attenuation capability on sea wave disturbance near the ship rolling resonance frequency, and therefore the system stabilization capability is greatly improved.

The invention provides a rudder and fin combination stabilization method based on a dual-control H to infinite design, which comprises the steps that a roll angle signal is acquired and initial control parameter values are set; a stabilization fin loop control output u1(t) is calculated by adopting the roll angle signal as an input; a sensitivity weight function and a control sensitivity weight function are determined, and a stabilization rudder loop control output u2(t) is calculated by adopting the roll angle signal as the input; an open-loop Nyquist characteristic of a system is drawn according to a rudder and fin combination stabilization object model and a synthetized rudder and fin control action; then whether the open-loop Nyquist characteristic meets an index requirement is judged; and if the open-loop Nyquist characteristic does not meet the index requirement, the control parameter values are readjusted till the open-loop Nyquist characteristic meets the index requirement. The rudder and fin combination stabilization method takes full advantages of actions of a rudder and a stabilization fin; with the adoption of the zero phase shift design on a rudder loop and a stabilization fin loop, stabilization effects synthetized by the rudder and the stabilization fin are superimposed; and the dual-control on the system is realized, so that the stabilization capability of a ship is improved greatly.

The invention discloses a nuclear zirconium alloy cladding surface high temperature and corrosion resisting high-entropy alloy coating and a preparing method thereof. The high-entropy alloy coating deposited on the surface of a Zr alloy is a CrCuFeMoNi high-entropy alloy, and according to the atomic percents of Cr, Cu, Fe, Mo and Ni in the high-entropy alloy, Cr is 25%-35%, Cu is 20%-30%, Fe is 10%-14%, Mo is 15%-20%, and Ni is 15%-20%. The high-entropy alloy coating is deposited on the surface of the Zr alloy through the multi-target magnetron sputtering technology. According to the CrCuFeMoNi high-entropy alloy coating, the surface hardness of the Zr alloy is improved, corrosion resistance and radiation resistance are improved, good high-temperature resisting performance and corrosion resisting performance are shown, the actual engineering application can be achieved, and the CrCuFeMoNi high-entropy alloy coating is the potential alternative material for accident fault tolerance fuelcladding coatings. The adopted multi-target magnetron sputtering technology is mature, operation is simple, industrial production of the nuclear zirconium alloy cladding surface high temperature andcorrosion resisting high-entropy alloy coating to the engineering field can be achieved, and good development prospects are achieved.

The invention relates to an unknown target line spectrum detection method based on phase variance weighting and a system thereof. The unknown target line spectrum detection method is characterized in that a signal radiated by an unknown target can be received by a receiving array element; the signal received by the receiving array element can be filtered and amplified, and the sampling of the filtered and amplified data can be carried out to acquire a discrete signal, and by the Fourier conversion analysis of the discrete signal, the spectrum data can be acquired; various frequency unit phases can be extracted from the spectrum data; the signal received by the receiving array element can be updated, and the previous steps can be repeated until the number of the repeated times reaches the preset value M, and then every frequency unit is provided with M phase values; the variance calculation of the phase values of the frequency units can be carried out; the phase variance weighting statistic of all of the frequency units can be carried out to acquire the estimation values of the final spectrum, and the maximum value can be acquired from the estimation values of the final spectrum to acquire the estimation value of the signal line spectrum; and the estimation value of the signal line spectrum can be used to detect the line spectrum of the unknown target of the underwater target radiation noise.

The invention discloses a green building energy consumption composite prediction method, relates to the technical field of electric power demand side energy consumption analysis and prediction, and particularly relates to a building electric energy consumption prediction model. The method comprises: monitoring personnel information, building body information, building external environment conditions and other information on the basis that historical electric power consumption data are collected on the basis of a big data center. The big data center can observe the energy consumption condition of the building demand side in real time; meanwhile, the energy consumption is evaluated and diagnosed through big data mining. On the premise of recording climate and power consumption, an FCM fuzzy C-means method is adopted to carry out data cleaning on power data of a demand side. An analytic hierarchy process is adopted to carry out data reduction on collected building basic information and main factors influencing energy consumption, and then a swarm intelligence algorithm (PSO-BP prediction model) is adopted to propose an optimal energy-saving strategy.

The invention provides a method for finding feasible prestress of a cable-pole structure. The method comprises the steps that an analysis model including a load F, a prestress initial value P*, a calculation error epsilon n and a displacement calculation error epsilon d is established, a Newton iterative formula is established according to a fuzzy expression between the input value P of the prestress and the output value N of unit internal force and is used for iterative calculation on the prestress P until the error requirement is met; whether the feasible prestress of the cable-pole structure is found out or not and whether reasonable updating needs to be conducted on structure geometry are judged according to the structure self-stress modal number, the internal force of a cable and a pole and the displacement of the structure, during geometry updating, the structure deformation under the prestress P and the load F is directly stacked to an original geometry to be conducted, and the prestress iteration and geometry updating are circularly conducted until all index requirements are met. According to the method, in the process of finding the feasible prestress of the cable-pole structure, reasonable geometry updating can be conducted, and the load possibility of the structure can be taken into consideration.

The invention relates to a delay inequality estimation method with unknown frequency, wherein the method is used for estimating the delay inequality of target radiation signal reception by different receiving array elements in an acoustic positioning system. The method comprises the following steps: calculating and getting a time domain correlation spectrum and corresponding initial delay inequality of each frequency unit several times; calculating and obtaining an initial delay inequality variance corresponding to each frequency unit and carrying out reciprocal on the initial delay inequality variance to form a weighing factor; multiplying an average time domain correlation spectrum corresponding to each frequency unit by the corresponding weighing factor and obtaining a final time domain correlation spectrum by accumulation, and then calculating final delay inequality. According to the invention, on the basis of maximum value random of the noise-frequency unit cross-correlation spectrum and the characteristic of basic consistency of maximum values of the target- frequency unit cross-correlation spectrum, statistics is carried out on the delay inequality estimation results of all frequency units, thereby highlighting the proportion of the line spectrum signal in delay inequality estimation and weakening the proportion of the noise unit in delay inequality estimation.

The invention relates to an inverse beamforming method. The method comprises the following steps: discrete fourier transform is performed on a received signal to obtain a frequency domain value of the signal; a cross-spectral matrix is calculated for receiving a towed line array according to the frequency domain value; correction is performed on main diagonal elements of the cross-spectral matrix; Toeplitz averaging is performed on the corrected cross-spectral matrix to convert the corrected cross-spectral matrix into one-dimensional distribution data having the spatial distribution characteristic; phase compensation is performed on the one-dimensional distribution data in the theta angle, and then the summing process is performed to obtain a power spectrum in the theta angle; spatial scanning is performed on the power spectrum in the range from 0 degree to 179 degrees to obtain a spatial spectrum P'(f) at the current signal frequency f; and P is made to be equal to the sum of P and P'(f), and f is made to be equal to f+1, and when f is less than or equal to fmax, the above steps are repeated, or else the operation is finished, so that the broadband inverse beamforming process is completed.

The invention provides a multi-carrier underwater acoustic communication method applied to a deep-sea channel, related to the field of underwater acoustic communication. According to the invention, atwo-path channel model which is transmitted in a convergence zone is established through calculating parameters such as the amplitude attenuation coefficient caused by wave surface extension and the amplitude attenuation coefficient caused by acoustic absorption when the acoustic wave is propagated in the ocean, and a two-path channel model is established for transmission in a convergence zone andis used for communication simulation; the two-path model of the deep-sea underwater acoustic channel established by the invention not only simplifies the channel model, but also truly reflects the characteristics of the underwater acoustic channel; through performing MC-DS-CDMA system simulation, the experimental results are shown in the harsh underwater acoustic channel environment; the systemhas good characteristics and can realize more stable communication; the transmission efficiency of the system is high, and the bit error rate meets the needs of practical engineering application, therefore, the system can be applied in practice.

The invention relates to a method for adjusting the self-tracing pose of a mobile welding robot, which belongs to the technical field of automatic welding. The method comprises the following steps: getting the welding robot march toward the direction at an entrance angle of less than or equal to 90 degree, and searching a weld joint according to a characteristic model of a welding groove; according to the pose of the welding robot and the distortion characteristics of laser streaks projected on the groove, obtaining the initial entrance angle of the mobile welding robot; performing differential preadjustment to make the entrance angle of the mobile welding robot less than or equal to 20 degree; and applying a least square method to perform preweld self-tracing pose adjustment to position the mobile welding robot under the weld joint, wherein a bodywork of the mobile welding robot is parallel to the weld joint and a welding gun is positioned in the center of the weld joint. The method adopts closed-loop feed control, realizes precise self-tracing pose adjustment of the mobile welding robot at the entrance angle range of between 0 and 90 degree, is stable and reliable and has short adjusting distance and strong antijamming capacity on external environment.

The invention provides a delay inequality estimating method based on frequency variance weight and is used for estimating delay inequality of object radiation signals received by different reception array elements in a hydro-acoustic positioning system. The method comprises steps that time domain correlation spectrum and corresponding initial delay inequality of each frequency unit are calculated for multiple times; a frequency variance corresponding to each initial delay inequality is acquired through calculation, reciprocals of the frequency variances are calculated to form weight factors, the weight factors corresponding to each initial delay inequality are summed to acquire the final time domain correlation spectrum, and the final delay inequality is calculated from the final time domain correlation. According to the method, a guide signal is employed to carry out frequency domain cross correlation of each frequency unit, by utilizing characteristics of a non-true-value delay inequality corresponding to the frequency unit in a random mode and a true-value delay inequality corresponding to the frequency unit in a relatively consitent mode, frequency variance statistics of each delay inequality estimation result is carried out, the proportion of a line spectrum signal corresponding to the true-value delay inequality in delay inequality estimation is stressed, and the proportion of a noise unit corresponding to the non-true-value delay inequality in delay inequality estimation is weakened.

The invention discloses a laser point cloud ground target structural characteristic repairing method based on a CCD picture. The method comprises the steps of firstly generating a projection distance image which is similar with a CCD picture photographing angle according to existing point cloud data, recording a conversion relationship between the point cloud and the projection distance image; then performing image matching on the projection distance image and the CCD picture which is re-photographed at a later period, and obtaining spatial relative relation between the two images; after image matching, selecting a reference point from a same plane in which a to-be-repaired position of the projection distance image exists, finding out the to-be-repaired position from the re-photographed CCD picture, and back-calculating the distance of the to-be-repaired position according to the spatial relative relation of the images; furthermore back-calculating the actual point cloud coordinate of the to-be-repaired position according to the conversion relationship between the point cloud and the projection distance image; and finally realizing characteristic repairing of point characteristic, line characteristic and surface characteristic on the point cloud according to the reduced characteristic point through technology such as line encryption and surface encryption.

The invention discloses a method for preparing a Ni-P-CNT (Carbon nanotube) nano composite coating. The method comprises the following steps of: performing acid oxidation treatment on a carbon nano-tube (CNT) before coating, utilizing an ultrasonic dispersion technology and adding a proper amount of surfactant into a chemical plating solution, so that the CNT is uniformly dispersed in the chemical plating solution. A proper chemical plating solution formula is selected, a proper amount of surfactant is added, the coating solution is not decomposed and precipitated in the chemical plating process through an intermittent magnetic stirring method, the chemical and physical characteristics are stable and reliable, the nano composite coating which is high in hardness, wear resistance and corrosion resistance is prepared compared with the traditional Ni-P coating, and the problem that the CNT is dispersed is solved.

The invention relates to the technical field of building materials, in particular to construction waste recycled concrete and a preparing method thereof. The construction waste recycled concrete is prepared from, by weight, 225-350 parts of P O42.5 cement, 85-95 parts of II-class coal ash, 0-85 parts of S95 mineral powder, 658-1047 parts of natural fine aggregate, 741-988 parts of recycled coarse aggregate, 9-10.5 parts of an additive and 160-192 parts of water, wherein the fineness modulus of the natural fine aggregate is 2.6, and the granularity of the recycled coarse aggregate is 5-31.5 mm. On the basis of an equal mortar volume method (namely EMV method), by establishing a residual mortar volume replacement formula and analyzing and comparing physical performance of the raw materials, through a large number of creative experimental data, the most practical recycled concrete mix proportion is obtained, the quality performance of the recycled concrete is improved, and meanwhile the actual engineering application requirement is met.

By aiming at the defects of the existing outer net state estimation considering research method, the invention provides a state estimation method considering an outer net extension Ward equivalent. The method comprises the concrete steps of reading in electric net parameters and SCADA (supervisory control and data acquisition) measuring data; building an extension Ward equivalent model by combining outer net typical section network information; forming new measuring information by considering the outer net extension Ward model; singly performing weighted least square state estimation with equality constraint on an inner net.

The invention provides a dynamic structure reliability evaluation method based on an uncertain random variable. The method comprises the following steps: 1, determining a design variable of a dynamicstructure; using a quadratic polynomial response surface function for approximating real response, and a test is arranged through uniform test design; 2, determining an undetermined coefficient by adopting a least square method, and if the coefficient is judged to be unreasonable, carrying out uniform test design again; 3, determining the type and distribution function of a variable, constructinga limit state function according to the response surface function and a limit threshold, and writing a corresponding uncertain random variable; 4, obtaining a process function by solving an uncertainty measure or solving an equation; 5, based on the process function, solving the opportunity measure to obtain the reliability of the dynamic structure; 6, calculating the mean value of the uncertain random variables; 7, calculating the variance of the uncertain random variable; and 8, solving a reliability index of the dynamic structure according to the mean value and the variance. The reliabilityanalysis method disclosed by the invention is scientific and good in manufacturability, and has a wide application value.

The invention discloses an information source cell backup method which comprises the following steps: (1) backing up a system; (2) setting a switching judgment power threshold and a switching time length threshold when the output power of a radio frequency remote unit is lower than the switching judgment power threshold; and (3) selecting the link switching way, and performing radio frequency switching between a main information source radio frequency remote system and a backup information source radio frequency remote system according to the selected link switching way, wherein the link switching way comprises the automatic mode, the manual mode and the forced manual mode. The invention further discloses an information source cell backup system which comprises the main information source radio frequency remote system, the backup information source radio frequency remote system and a radio frequency switching unit. The automatic switching between the main radio frequency remote system and the backup radio frequency remote system is realized; and compared with the prior art, the method and the system have the advantages of flexible control way and convenience in use.

The invention discloses a radar networking vertical line crossing integration positioning method and an error calculating method thereof. The radar networking vertical line crossing integration positioning method comprises two parts: a vertical line crossing integration positioning method and an error calculating method of the vertical line crossing integration positioning method. The radar networking vertical line crossing integration positioning method and the error calculating method thereof are applied to a radar networking system to realize data fusion and intelligent decision-making assisting, so that the target positioning and tracking accuracy of the networking system can be improved, the error calibration accuracy of the networking system can be enhanced, and spatial distribution of detection accuracy of the networking system can be evaluated.

The invention belongs to the field of ship engineering, control science and control engineering, and relates to a rudder stabilizing method based on the analytic model prediction control design. The rudder stabilizing method comprises the step of acquiring various coefficients of a control target, the step of collecting rolling angle signals, the step of acquiring rolling angular speed signals, and the step of setting parameter initial values of a controller. According to the rudder stabilizing method, the boundness of uncertain items is fully utilized, analytic model prediction control is used, and the problem that the parameters of a rudder stabilizing control system are uncertain is effectively solved. Compared with other methods, the rudder stabilizing method has the advantages that stabilizing efficiency is improved. According to the rudder stabilizing method, the structure is simple. The rudder stabilizing method is easy to achieve and can meet the requirements of the actual engineering application very well.

The invention discloses an online neural network inverse controller in a biological fermentation process. The controller comprises a neural network inverse offline decoupling controller construction module and a neural network inverse online learning module. The control method of the controller comprises the following steps of: connecting an offline trained neural network inverse system and a fermentation system in series to realize the linear decoupling of the system; and realizing the online update by the online learning of the neural network inverse online learning module. A neural network inverse system decoupling method and an inverse system online identification method are combined to realize the decoupling control of a multivariable fermentation system. A neural network inverse system technology is adopted to realize the decoupling of the biological fermentation system without relying on the model and parameters of the process. The inverse controller leaning module is designed based on neural network inverse decoupling, so that the controller can be adapted to the time-varying characteristics of parameters of the biological fermentation system, and thus the real-time control of variables in the fermentation process can be realized, and the controller meets the needs of practical engineering application.

The invention discloses a high-strength pervious concrete material and a preparation method thereof. The high-strength pervious concrete material is composed of the following components in parts by weight: 1400-1500 parts of coarse aggregate, 400-500 parts of cement, 3.2-4 parts of a dispersing agent, 3.2-4 parts of toughening fibers and 110-120 parts of water. The coarse aggregate is limestone and has a particle size of 5-10mm; the cement is G-level high-sulfate-resistance oil well cement; the dispersing agent is sulfonated sodium tannin; and the toughening fibers are plasma treatment cellulosic fibers. The preparation method comprises the following steps: adding cement and water into a stirrer, stirring to be in a slurry state, sequentially adding the coarse aggregate, the dispersing agent and the toughening fibers, stirring to be uniformly mixed, pouring the mixture in a strength test mold, vibrating and compacting, and curing in a water bath curing box. According to the high-strength pervious concrete material disclosed by the invention, the compressive strength and corrosion resistance of the current pervious concrete are improved, good water permeability and durability of thepervious concrete are ensured, the production cycle is short, and the high-strength pervious concrete material has wide market prospects.

The invention aims at providing an observer-based stability analysis method for a time-delay haptic interface system. The method comprises: step one, establishing a mathematical model of each part ofa single-degree-of-freedom haptic interface system; step two, combining a haptic device with a retaining device, a sampling switch, and a time-delay characteristic and carrying out discretizing processing to obtain a discretized state space model of the haptic device with input delay; step three, designing a discrete state observer to estimate the state of the discrete haptic interface device andcalculating a feedback force according to a virtual environment model by using the estimated state as an input signal of a virtual environment; and step four, establishing a Lyapunov-Kolasovsky L-K function by using a time-delay segmentation idea, providing a time-delay-dependent asymptotic stability condition of the haptic interface system based on linear matrix inequality (LMI), acquiring a gainmatrix Ld of the observer and a parameter matrix Kd of a virtual wall as well as an allowable maximum time lag taum based on the stability condition.

The invention relates to a method for preparing lithium ferrite anticorrosive coatings by flame spraying. Lithium ferrite conductive anticorrosive coating materials, prepared by adopting a manipulator through optimizing the technological parameters of oxygen-acetylene flame spraying, have excellent corrosion resistance and conductivity. The preparation method, provided by the invention, has the advantages of simple process, high deposition rate, strong repeatability and low facility request, can directly implement the spraying construction on site so as to meet the construction and repair requirements of actual grounding network engineering, and can be applied to metallic matrix surfaces with different shapes or different sizes; in particular, the preparation method has more advantages when preparing large-area anticorrosive conductive coatings for practical application; and meanwhile, the maintenance is simple in the workpiece service process, so that the preparation method is suitable for industrial popularization and application.