153results about How to "Parameter stability" patented technology

The invention provides a camera calibration method and a camera calibration device and is applied in the technical filed of images and video. The method and the device mainly acquire a three-dimensional world coordinate of a characteristic point through a depth acquiring device, and realize the calibration of the camera to be calibrated by using a correspondence of the three-dimensional world coordinate of the characteristic point and an image coordinate in an image taken by the camera to be calibrated. Compared with the scheme that a plurality of cameras are calibrated through a homographic matrix between images in the prior art, the method and the device can acquire stable and accurate parameters of the camera because of not needing to estimate the homographic matrix between a master camera and a slave camera. The method and the device can accurately acquire the three-dimensional world coordinate of the characteristic point. The movement of a calibration object can be in an unfixed direction when the camera is calibrated, which improves the operability of the camera calibration. Additionally, the camera calibration method can adopt the same calibration method to a plurality of adjacent cameras so as to simplify the camera calibration process.

The invention belongs to aerospace product machining technology equipment and particularly discloses a positioning support device for stir friction welding of a storage box cylinder section circular seam. A central shaft disk is arranged above a rotating base seat, a support ring is arranged in the center of the central shaft disk, a top ring is arranged above the central shaft disk, a connecting disk is arranged above the central support ring, long support rods are arranged outside the connecting disk, a short support rod is connected with the rear end of each long support rod, and internal threaded holes are arranged in two ends of left end and right end of a double-stud structure of an adjusting sleeve and respectively connected with the long support rods and the short support rods; the rotating base seat is a perpendicular long positioning rod and a pressing rod, and a pressing plate is arranged above the pressing rod; and a perpendicular short positioning rod is installed between the short support rods and the rotating base seat. Due to the cyclic structure which is formed by the long support rods and the short support rods is adopted, products on a cylinder section can be positioned and supported, positioning error is effectively reduced, and tolerance requirements of welding can be met, and at the same time, parameters in the welding process are stable, internal stress and deformation are small, and positioning support device is further favorable for preventing weldments from being pierced through by a stirring needle.

The invention relates to a super-hydrophobic air filtering membrane as well as a preparation method and application thereof. The method comprises the following steps: a, mixing a suitable polymer material with an organic solvent capable of dissolving the polymer material to obtain a clarified polymer solution; b, adding a pore-foaming agent matched with the polymer solution into the polymer solution and stirring to obtain a clarified mixture solution A; adding a low-surface tension auxiliary agent into the mixture solution A and stirring to obtain a clarified mixture solution B; and c, standing, curing and de-foaming the mixture solution B obtained in the step b to obtain a membrane casting solution. The super-hydrophobic air filtering membrane prepared by adopting the method provided by the invention has the advantages that a water resistance performance is good, the ventilation rate is high, the process is simple and easy to operate, parameters are uniform and the like, which cannot be realized by adopting present common methods and processes. The membrane is applicable to the fields of medical treatment (such as air inlet parts in infusion apparatuses), machines (such as filter screens of engine air cylinders), air purification equipment (such as micro-pore filter screens in air purifiers), spraying, electrons, plastic and the like.

The invention belongs to a machining process device of an aerospace product, and in particular discloses a positioning support device used for stirring, rubbing and welding a circular seam of a flange disc of a top cover of a storage box. The machining process device comprises a positioning supporting rotary support, wherein a circular base plate is arranged above the positioning supporting rotary support; an outer pressing ring is arranged above the circular base plate; round holes coaxial with a central hole at the lower bottom surface of the positioning supporting rotary support are arranged in the circular base plate and a center of the outer pressing ring; a central shaft is arranged inside the hole; the lower end of the central shaft is fixed on the positioning supporting rotary support; an outer clamping ring is arranged on the circular base plate; the outer clamping ring is connected with the outer pressing ring through a fastening structure; and a lock wire nut is arranged at the top end of the central shaft. The outer clamping ring, the outer pressing ring and the unique fastening structure have a positioning clamping function to a whole welding product; the outer clamping ring and the central shaft are concentric so as to have a function of positioning a rotation center; a design of the fastening structure has a transition function to connection of a whole positioning support device in a mode that bearing outer pressure is converted into a clamping force, and thus the machining process device is applicable to requirements on high precision in welding and assembling.

The invention discloses a recyclable and adjustable interventional stent for constricting blood vessels, wherein the stent main body is divided into three parts; the stent is waist drum shape; the upper and lower parts of the stent are respectively provided with an expanding part, which has supporting and locating effects; and a part with changeable opening diameter is arranged in the middle of the stent. The expanding part at the upper end of the stent has no tectorial membrane or has tectorial membrane; the middle opening diameter changeable part and the upper half part of the expanding part at the lower end of the stent are covered with pericardium in anti-calcification treatment; and metallic line rings are threaded at the lowermost edge of the stent. A transportation composite conduit is composed of two parts of an epitheca and an inner core. The inner core is a hollow tube. An outer side wall at the tube sharping part has a wire-hanging groove for hanging metallic lines at inferior margin of the stent. The stent is used for replacing normal pulmonary banding so as to improve curative effect and reduce related complication rate and death rate. Adhesion is not formed around the cardio great vessels and pulmonary stenosis is not formed, so the difficulty of the radical operation is not increased. The stent is suitable for other situations for reducing artery blood flow and pressure.

The invention discloses a system and method for measuring a diffusion flame frontal surface three-dimensional structure of a motion fire source. The system comprises a laser, a sheet mirror side lens, a diffusion combustor, a synchronous controller, a voltage-stabilizing and illuminating unit, a controller, an image acquisition card, an image acquisition device, an optical system regulation device, an image optical system and a speed control system, wherein the imaging optical system comprises a right primary reflection lens, a right secondary reflection lens, a light screen, a plane lens, a collimation lens, a left secondary reflection lens and a left primary reflection lens. The method can be used for regulating motion speed of the combustor through a speed control system and regulating diffusion flame so as to obtain the diffusion flame frontal surface of a motion fire source under various motion speeds and combustion strengths. Due to the adoption of the invention, images of the left side and the right side of the flame frontal surface are obtained on a CCD imaging element through the imaging optical system, non-contact measurement can be realized, and a three-dimensional structure of the high-precision flame frontal surface can be obtained through image reconstruction.

The invention relates to a method for preparing fluorine-containing epoxy resin by a phase transfer catalyst, which is characterized by comprising the following steps: 1) etherification: selecting raw materials according to the mol ratio of fluorine-containing monomer and epoxy chloropropane being 1:1-10 and the addition of phase transfer catalyst being 0.5-2% of the fluorine-containing monomer mol; adding fluorine-containing monomer, epoxy chloropropane, phase transfer catalyst and water into a reactor for reaction for 0.5-3h within the temperature range of 65-80 DEG C to obtain etherification reaction liquid; 2) ring-closing reaction: dripping alkaline solution accounting for 50-80% of the total amount of the alkaline solution for reaction for 1-5h within the temperature range of 65-80 DEG C; reduced pressure distilling un-reacted epoxy chloropropane, cooling the temperature below 65 DEG C, adding an organic solvent, then dripping the residual alkaline solution and refluxing for 1-3h; and 3) purifying to obtain the fluorine-containing epoxy resin. The fluorine-containing epoxy resin prepared in the invention has the epoxy value (eq / 100g) range of 0.09-0.57, and the method reduces the unit consumption of epoxy chloropropane and has the advantages of little solvent discharge, high yield, little energy consumption, stable parameter and the like.

The invention discloses a multilayer diamond brazing body and a manufacturing method thereof. The multilayer diamond brazing body comprises 2 to 105 layers of metallic matrixes and diamond grits which are mutually overlapped, and the diamond grits are brazed between every two adjacent layers of metallic matrixes and on the outer later surfaces of one side or two sides of an overlapped body of 2 to 105 layers of metallic matrixes. The multilayer diamond brazing body is formed by overlapping and brazing a plurality of single-layer brazing bodies once, can integrate the advantages of single-layer brazing and multilayer sintering, has the sharpness of a single-layer brazing tool and the metallurgical combination of diamond and matrix, and also has the abrasion resistance of a multilayer sintering tool.

The invention discloses a signal identification method based on extraction of signal power spectrum fitting characteristic, and belongs to the field of the wireless communication. The signal identification method comprises the following steps: firstly dividing power spectrum data into a training set and a testing set, intercepting data sample fragments with equal length from the power spectrums corresponding to service class signals of different types in the training set; performing polynomial fitting on one data sample fragment A by using the least square linear regression algorithm to construct a cost function J, and minimizing the cost function J to acquire a parameter of the fitting polynomial; respectively selecting different polynomial orders, repeating w times of polynomial fittingand extracting the highest order item parameter, and acquiring all elements in a characteristic vector of the data sample fragment A; repeating the above steps to obtain a characteristic vector set Fof the service class signal, thereby constructing a training set matrix; and finally constructing a multi-layer neural network classifier model, searching an optimal solution by adopting a self-adaptive moment estimation algorithm, and identifying and classifying power spectrum signals in the testing set. Through the signal identification method disclosed by the invention, the characteristic extraction is simple and efficient, the signal identification rate is high, and the computing complexity is reduced.

The invention provides a universal wire-controlled chassis for an unmanned vehicle, which adopts wire-controlled driving, braking and steering, and integrates mechanical and electronic control packaging of the chassis, has a plug-and-play function, and has the characteristics of generalization and platform. The universal wire-controlled includes a frame, a drive system mounted on the frame, a steering system and an electrical circuit system, a body enclosed on the frame, and wheels connected to the body through a suspension system. The servo motor provides driving torque and braking torque tothe wheels as driving wheels, and the parking brake is realized by the brake lock inside the servo motor. The steering system provides steering torque to the wheels as steering wheels by an electric motor. The circuit system includes a power supply and a vehicle controller. The power supply supplies power to the vehicle controller and the motors in the drive system and steering system; The whole vehicle controller is used for receiving the driving instruction, the braking instruction and the steering instruction of the upper computer.

The invention discloses a self-adaptive coal quality adjustment system and method in the RB process. A first switching device receives logical signals output by an RB generation module and correction coefficients output by a heat value correction module, and outputs the logical signals and the correction coefficients to a first multiplier; the first multiplier multiplies values output by the first switching device by output of a practical coal amount module to obtain a corrected coal amount; a divider divides output of a set load module by the corrected coal amount to obtain a dynamic value, and transmits the dynamic value to a second switching device; the second switching device receives the logical signals output by the RB generation module and values output by the divider, and transmits the logical signals and the values to a second multiplier; the second multiplier multiplies output of the second switching device by output of a target load module when RB occurs and transmits the product to a third switching device; and the third switching device receives logical signals output by the RB generation module and output of a coal amount instruction module, and transmits the logical signals and the output to a fuel controller. Thus, self-adaptive coal quality adjustment can be realized.

The invention belongs to the technical field of the optical fiber, and particularly relates to a monolithic integration type multi-core optical fiber branching device used for separating each single core optical fiber from the multi-core optical fiber and the preparing method of monolithic integration type multi-core optical fiber branching device. The monolithic integration type multi-core optical fiber branching device is formed by connecting a monolithic which is of the micro structure and prepared based on the multi-core optical fiber, a grin-lens or a grin-lens set and a single mode fiber corresponding to the number of cores with a micro collimator with fiber end. By means of the multi-core optical fiber branching device, the separation of each single core optical fiber from the multi-core optical fiber is achieved. The double grin-lens coupling system does not need to a rotary prism, so that the structure is more compact, the operating difficulty is greatly lowered and the manufacturing is simpler.

The invention provides a storage structure and a forming method thereof, wherein the storage structure comprises a substrate, a plurality of channel structures formed on the substrate, and a plurality of grid structures matched with the channel structures mutually, wherein each channel structure comprises multiple single crystal semiconductor layers and multiple oxide layers, which are alternatively stacked on the direction vertical to the substrate, at least one oxide layer is a single crystal oxide layer, and each grid structure comprises a grid dielectric layer adjacent to the channel structures and a grid layer adjacent to the grid dielectric layer. The storage structure has the advantages of simple preparation process, low cost, high reading-writing speed and high storage density.

The invention provides a novel aluminium electrolytic cell structure. A cut-off device that can adjust the height of the liquid level of an aluminium layer generated in the electrolytic cell and control the flux of aluminium liquid and an aluminium liquid storage tank that can carry out electrode heating to an aluminium holding tank are arranged on the electrolytic cell, so that the aluminium liquid of the upper surface of a cathode block can successfully flow into the aluminium holding tank through the flow-guiding holes on the storage tank, thus solving the adjustment problem of the height of the liquid level of the aluminium layer generated in the electrolytic cell on the surface of the cathode block; therefore, the influence on the electrolyte height and electrolysis polar distance by magnetic vortice flow and magnetic field generated by the aluminium liquid layer can be eliminated by reducing the height of the aluminium liquid layer in the electrolytic cell so as to realize the purposes of reducing polar distance voltage drop, loss of aluminium generated for secondary oxidation and the electricity consumption of electrolysis technology of the aluminium.

The invention discloses an intelligent detoxifying cabinet which comprises a cabinet body with a certain operating space and a central control system, wherein, the front of the cabinet body is provided with a window body which can be ascended and descended; the central control system is connected with a sensor component arranged on the cabinet body or in the cabinet body, which is used for automatically monitoring and controlling the ascending and descending movements of the window body and environmental parameters in the operating space. The detoxifying cabinet adopts the central control system on a base of the existing detoxifying cabinet, thus realizing the intellectual control of the detoxifying cabinet. Particularly, the detoxifying cabinet can automatically control the environmental parameters in the cabinet body (such as temperature, face velocity, etc.), thereby guaranteeing the parameters in the cabinet body stable and safe; the window body automatically opens and closes by adopting an infra-red induction mode; when the operators leave the operating area of the detoxifying cabinet, the window body closes automatically so as to provide an energy-saving effect; besides, compared with the traditional detoxifying cabinet, the detoxifying cabinet of the invention has better safety performance and saves energy consumption.

The invention belongs to the field of preparation of metal materials, and particularly relates to a preparation method of a nanometer bimodal isomeric aluminum-magnesium alloy. The preparation methodcomprises the following steps of: firstly carrying out homogenization treatment on a metal block obtained after smelting and casting by using a high-pressure torsion severe plastic deformation method,then carrying out thermal deformation treatment so as to eliminate casting defects, carrying out solution hardening to eliminate the second phase separated out, and preparing a nanocrystalline material with the average grain size of about 80nm by using a coarse-grained aluminum-magnesium alloy sheet, finally using a pulse laser for the fixed point positioning formation of ultrafine crystal / nanocrystalline on the material, and thus, the aluminum-magnesium alloy material with strong plasticity meeting specific requirements can be prepared according to the requirements of a workpiece. A laser temperature-controlled time-controlled point heating technology can be used for controlling the fixed point positioning and quantitative formation of ultrafine crystal / coarse crystals on the basis of anoriginal nanocrystalline substrate. The workpiece can be customized according to the performance requirements of the product, so that the plasticity and strength can be most effectively combined.

The invention discloses a control system and method for an AGV trolley. The system comprises a server scheduling program module, a vehicle-mounted controller program module and an action execution program module. The method comprises the following steps: carrying out AGVS scheduling on the AGV trolley by virtue of the server scheduling program, and generating an AGVS instruction; carrying out operation control on the AGV trolley by virtue of the vehicle-mounted controller program module according to the AGVS instruction of the server scheduling program; and controlling the AGV trolley to execute corresponding actions by the action execution program module according to an operation control instruction. The control system has the beneficial effects that multiple AGV trolleys can be simultaneously coordinated and scheduled, so that the scheduling efficiency is high; and by utilizing a magnetic navigation track-seeking method, parameters required to be adjusted and debugged are few, the implementation is easy, and the parameters are relatively stable and can be displayed through a graphical interface in matlab and are relatively visual, so that big corners with different angles can beconveniently debugged. The system can be widely applied to the control field of logistics transportation equipment.

The invention discloses scanning type textile digital printing equipment. The scanning type textile digital printing equipment comprises a cloth feeding mechanism, a printing conveying belt mechanism,a gantry sliding frame, a printing scanning vehicle, a belt glue distributing and removing device, a belt cleaning device, a printing control cabinet and an ink supply system; the printing conveyingbelt mechanism is arranged at the top of the rack, the gantry sliding frame stretches across the printing conveying belt mechanism, the printing scanning vehicle is arranged on the gantry sliding frame in a sliding mode, the belt glue distributing and removing device stretches across the front portion of the printing conveying belt mechanism, and the cloth feeding mechanism is arranged behind theprinting conveying belt mechanism, and the belt cleaning device is arranged below the printing conveying belt mechanism. The printing equipment has the advantages that the cloth feeding mechanism adapts to large and small rolls of cloth; automatic online real-time deviation correction and edge alignment of the cloth are achieved; the printing quality is high; the glue distributing function and theglue removing function are integrated; the belt cleaning device adopts the combination of a composite cleaning mode and composite drying, so that the cleaning effect is improved; water consumption islow, and energy conservation and environmental protection are achieved; and the ink supply system is fast to start and high in production efficiency.

The invention discloses a surface wettability sensor. The sensor comprises a signal source (1), a surface wettability sensing unit (2) and a detection output unit (3), wherein the signal source (1) generates an electric signal and provides the electric signal for the surface wettability sensing unit (2); the surface wettability sensing unit (2) detects surface wettability information and converts the information to a corresponding electric current signal; the detection output unit (3) converts the electric current signal of the surface wettability sensing unit (2) to a voltage signal to output; and the surface wettability sensing unit (2) comprises an insulator (6) and two metal wires (4, 5) which is wound on the insulator (6) in parallel, and the two metal wires separately form one detection electrode. The beneficial effects of the invention are as follows: sensor parameters are stable, the repeatability of the measuring result is good; the sensor is smaller and is more suitable to be used in narrow space; and electrode polarization and material consumption in liquid film can be avoided, thus the measuring result is more real.

The invention relates to a dynamic dyeing control method of textiles. The dynamic dyeing control method of the textiles breaks through a concept in a traditional dyeing concept that the effect is better when a pump speed is more rapid; the pump speed of a circulating main pump is pertinently controlled at each process phase or different time periods of each process phase in a dyeing process; the response speed of a dyeing system is adjusted, and the influence degree as great as the influence degree of a chemical preparation is not generated, so that the aim of accurately adjusting is realized. Parameter setting in different phases in a control process of the dyeing process is detailed, and a principle of stable quality, energy saving and consumption reduction is abided; aiming at different order conditions, parameters are formulated pertinently, so that the quality stabilization is facilitated; meanwhile, energy sources are easy to save and the aims of saving energy and reducing consumption are realized.

The invention discloses an automatic control system and a control method for a coating diameter of an optical fiber, and relates to the automatic control system and the control method for the coating diameter in an optical fiber production process. The automatic control system comprises an optical fiber coating device, a coating device temperature sensor, a coating pressure sensor, a coating pipeline temperature sensor, a coating pressing device, a water bath device of the coating device, a coating curing device, a diameter measurement instrument for the coating diameter, a traction device, a winding device, a programmable logical controller and an upper host. The coating diameter of the optical fiber is measured by the diameter measurement instrument; the acquired coating diameter data of the optical fiber is transmitted to a drawing production control system through the diameter measurement instrument; the acquired coating diameter is analyzed and is compared with a set coating diameter by the drawing production control system; a coating pressure, a coating temperature and a coating pipeline temperature are adjusted automatically through a PID (proportion integration differentiation) algorithm, so that the coating diameter of the optical fiber is stabilized in a standard range.

The invention discloses a transient voltage suppressor and a manufacturing method thereof. The transient voltage suppressor comprises a first doping type of semiconductor substrate, a first doping type of first epitaxial layer, a first doping type of second epitaxial layer, a plurality of first doping regions and a plurality of second doping regions, wherein the second epitaxial layer is arrangedon a first surface of the semiconductor substrate and covers the first epitaxial layer, the plurality of first doping regions are formed in the semiconductor substrate, each second doping region is formed in the second epitaxial layer or penetrates through the second epitaxial layer and is connected with the corresponding first doping region, the plurality of first doping regions, the plurality ofsecond doping regions, the semiconductor substrate and the second epitaxial layer are used for forming a bidirectional suppression circuit, and the bidirectional suppression circuit comprises a firstrectification diode, a second rectification diode, a first transient suppression diode and a second transient suppression diode. The transient voltage suppressor provided by the invention has a bidirectional voltage suppression function, is low in capacitance and small in volume and is simple to fabricate, and electrodes are respectively led out of a front surface and a back surface.

The invention discloses a variable frequency and high speed sampling handheld photovoltaic cell tester and a method for achieving the same. The tester is designed by using a field programmable gate array (FPGA) chip EP2C8T144C6 combined with an analog-to-digital converter (ADC) chip AD9245-40, current voltage sampling points (P1 and P2) access to an input end of a cascade circuit to a programmable amplifier chip, an output end of the cascade circuit is accessed to an analog input port of the AD9245-40, and a 14-bit output of the AD9245-40 is accessed to an input / output (I / O) input port of the EP2C8T144C6. According to the variable frequency and high speed sampling handheld photovoltaic cell tester and the method for achieving the same, the highest sampling rate can achieve 32 MHz, a variable frequency sampling method is used, the problem of unreasonable data distribution is solved, the data redundancy is reduced, an obtained a voltage-current (I-V) curve is smooth, and relevant parameters are accurate and stable.

The invention discloses a pulse drive transformer assembly for a self-excited switching power supply converter. The pulse drive transformer assembly (3) provides a drive signal for a power electronic switch assembly (Sk) in the self-excited switching power supply converter. By adopting a magnetic amplifier technology or a quadrature transformer technology, the power electronic switch assembly (Sk) driven by the pulse drive transformer assembly can normally work under an extremely-high amplitude direct current pulse power supply, so that the self-excited switching power supply converter finishes the filtering of a power supply alternating current input side of a commercial power grid without an electrolytic capacitor and generally meets the requirement without a power factor compensation (PFC). With the magnetic coupling current negative feedback action, the performance of the power electronic switch assembly (Sk) driven by the pulse drive transformer assembly is remarkably improved and the reliability of the complete machine can be improved. The invention has the advantages of low cost and high reliability and especially has remarkable benefits to energy-saving lamps and electronic ballasts.

The invention discloses an embedded rail dynamic vibration absorber which comprises elastic units, mass units and damping units which are arranged on the two sides of the rail web of a steel rail, thetops of the elastic units are open, side faces of the elastic units make contact with the rail web and side wings at the bottom of the steel rail, and the elastic units are filled with the multiple mass units distributed discretely. The multiple mass units are solidified after being filled with liquid rubber, the upper surfaces of the solidified mass units are flush with the two side walls of theelastic units, point contact exists between the adjacent mass units, and the damping units are attached to the upper surfaces, solidified through the liquid rubber, of the elastic units and the sidefaces, not making contact with the steel rail, of the elastic units. According to the dynamic vibration absorber, the discrete mass units are solidified in the elastic units through the liquid rubber,the point contact between the steel balls is guaranteed, and meanwhile the frequency ratio and the mass ratio are guaranteed. The embedded rail dynamic vibration absorber is simple in structure, goodin vibration and noise reduction effect, stable in performance and wider in application frequency domain range, meanwhile, the steel rail corrugation is reduced, and the service life of the steel rail is prolonged.

The invention discloses a high-temperature-resistant immersion probe for a laser-induced breakdown spectroscopy system. The high-temperature-resistant immersion probe comprises a high-temperature-resistant pipe (6), a high-temperature-resistant pipe sleeve (7), a high-temperature-resistant pipe heat insulation pad (8), an external heat insulation layer (9), a middle protection pipe (11), a sealing sheet, a lens barrel, a rear end box body (20), a temperature sensor (14), an air pressure sensor (16), an air inlet (23), an air outlet (12) and a lead screw drive system (21). The high-temperature-resistant immersion probe has a function of automatically and precisely controlling the temperature of a multilayer temperature control cavity in a high temperature environment and can guarantee stable parameters of an optical element in the probe. By the adoption of a coarse-fine combination two-stage servo control system consisting of a laser distance measurer, a laser-induced breakdown spectroscopy signal and a precision lead screw, quick and accurate positioning required by measurement is realized, the working time of the laser-induced breakdown spectroscopy system is shortened, and burdens on a laser device and a signal processing unit are relieved.

The invention belongs to the technical field of the production and preparation of cyclohexylamine and particularly relates to a production method for preparing cyclohexylamine from phenylamine. Through controlling parameters, such as time, temperature, pressure and the like, of all steps, the yield of cyclohexylamine products is high and is over 98%, the quality is stable, the yield is high, the production capacity is large, the side reactions are few, a small amount of byproduct dicyclohexylamine produced during reaction can be recovered and purified, and the added value of the products is increased; and through engineering calculation and advanced DCS (Distributed Control System) control, the parameters are stable and are little in fluctuation, and qualified materials in a negative pressure tower are directly transferred to a rectification tower from the negative pressure tower through pressure difference between the negative pressure tower and the rectification tower, so that the working procedure is efficient and energy-saving, the continuous rectification procedure is completed, the continuity of the whole process is strong, the degree of automation is high, the staff ratio is low, the unit consumption is low, and the yield is high.

A control system for garage door includes a motor, a controller controlling operation of the motor, and a keyboard for inputting an instruction into the controller. The keyboard includes a plurality of keys, a plurality of resistors, a divider resistor for sharing voltage, and a voltage signal output circuit. The resistors correspond to the keys. Each key is connected with one of the resistors in series to form a key mapping signal shunt. The key mapping signal shunts are connected in parallel to form a group of key mapping signal shunts. The divider resistor is connected with the group of key mapping signal shunts in series to form a series circuit. A driving voltage is applied on the series circuit. The voltage signal output circuit is for transmitting a voltage on the group of key mapping signal shunts to the controller.

The invention discloses an inertial-navigation quick and initial alignment method under robust optimal significance, comprising the following steps of: introducing an auxiliary matrix and an auxiliary feedback control vector into an initial alignment system; solving a robust optimal control problem according to a maxmin index, determining a state feedback control matrix; and in an initial alignment process, recursively calculating a state vector in an error equation of an inertial-navigation system in real time by using an improved H infinite filter, forming a closed loop after feedback, and obtaining three misalignment angles after converging the system. The inertial-navigation quick and initial alignment method has good system structure and good stable parameter robustness, improves dynamic responding quality and increases the initial alignment rapidity of the initial alignment system.

The invention relates to a device and a method for removing copper in crude lead pyro-refining in nonferrous metallurgy field, and in particular relates to a device and a method for continuously removing copper from liquid crude lead. The device comprises a pot body and a smoke hood which is covered on the pot body, wherein a stirrer, the stirring paddle of which extends to the liquid lead in the pot body, is fixedly arranged on the smoke hood; the pot body is divided into a stirring reaction region and a cooling liguation region by a baffle plate; the liquid lead and copper dross overflow to the upper part of the cooling liguation region from the stirring reaction region through the upper side of the baffle plate; a charging hole is arranged at the end part of the smoke hood on the stirring reaction region; a drossing hole and a lead discharging hole are arranged at the end part of the cooling liguation region; a smoke outlet is arranged at the end part of the smoke hood above the cooling liguation region; dross stirrers for stirring the copper dross floating on the liquid lead are fixedly arranged on the two side surfaces of the cooling liguation region; cooling water tubes for cooling the liquid lead are welded on the two sides of the pot; a siphon lead discharging tube is arranged on the pot side at the lead discharging hole; and the lower hole of the siphon lead discharging tube extends to the bottom of the pot body. According to the device and the method provided by the invention, energy is saved, environment-friendly effect is good, recovery rate of lead is high, automation degree is high, and labor intensity is low.