425 results about "Barycentric coordinates" patented technology

The invention relates to a barbecue comprising a carrier element, a grilling area being substantial horizontal orientated and being located at the top of the carrier element and a cover, wherein the cover can be positioned in a first position in which the grilling area is covered and in a second position in which the grilling area is accessible. To improve the functionality of such a barbecue, the invention suggests that means are provided to allow the cover to move from the first position into the second position, wherein the cover is pivoted during the movement from the first position into the second position around a horizontal axis and wherein the barycenter of the cover is moved from a first level to a second, lower level.

A method and apparatus are provided for obtaining a sub-resolution spatial information of a sample labeled with at least one type fluorescent label. The sub-resolution spatial information has localization information about the positions of fluorescent molecules of the at least one type fluorescent label in at least one spatial direction. The method acquires localization image data by employing fluorescence localization microscopy. The acquired localization image data is processed to obtain the localization information about the positions of fluorescent molecules of the at least one type fluorescent label in at least one spatial direction. The step of processing includes determining in each of the detected images of the series the positions of the barycenters of the detected fluorescence emission distributions from the single fluorescent molecules of the one or more fluorescent labels in at least one spatial direction.

A method, system, and computer-readable storage medium are disclosed for rendering Bézier curves using a graphics processing unit (GPU). In one embodiment, a respective set of barycentric coordinates may be assigned to each of the three vertices of a triangle. The triangle may comprise a control triangle for a quadratic Bézier curve, and the quadratic Bézier curve may be a rational quadratic Bézier curve. Each set of barycentric coordinates may comprise three values such as (1,0,0), (0,1,0) or (0,0,1). In one embodiment, the quadratic Bézier curve may be rendered using the GPU. Rendering the quadratic Bézier curve may comprise evaluating a function of the barycentric coordinates using the GPU.

A reception antenna is formed of a column-profiled ferrite core and three antenna coils, each of which is formed by winding electric wire around the core. Each central axis of the three antenna coils is mutually disposed orthogonally at a barycenter of the core. Each of the three antenna coils is symmetrical with respect to the barycenter. A third antenna coil and each of a first antenna coil and a second antenna coil are overlapped with a space. The first antenna coil and the second antenna coil are overlapped with direct contact, where a starting end of the second antenna and a terminating end (outward end) of the first antenna is connected.

The invention relates to a wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral, comprising the following steps: 1) setting a barycenter distortion angle observation system comprising a vehicle speed sensor, a longitudinal acceleration sensor, a transverse acceleration sensor, a yaw velocity sensor and a controller, and respectively obtaining the primary signals of longitudinal acceleration, transverse acceleration and yaw velocity; 2) carrying out Kalman filtering processing on the longitudinal acceleration, transverse acceleration and yaw velocity respectively, so as to obtain the processed estimated values of the longitudinal acceleration, the transverse acceleration and the yaw velocity; 3) carrying out barycenter distortion angle observation respectively by adopting the mode based on Kalman filtering and signal integral; and4) carrying out weighted process on the results of the two methods in the step 3), thus obtaining the barycenter distortion angle observation value. The weighted process is carried out based on the Kalman filtering and acceleration integral. Not only has the method wide application range, but also accurate barycenter distortion angle observation result can be obtained under the condition of low cost.

The invention relates to a method for purifying error matching of visual image characteristic points based on ORB (Oriented FAST and Rotated BRIEF). The method comprises the following steps of readingtwo to-be-detected left and right images shot under different viewing angles, constructing scale image pyramids for the images and performing grid processing; detecting characteristic points in eachsmall grid of each layer of pyramid images, extracting the characteristic points and determining a characteristic point coordinate; removing the characteristic points close to edges of the images, andcalculating the direction of a barycenter of the remaining characteristic points; calculating descriptors of ORB characteristic points; performing rough matching on the characteristic points of the two images; screening rough matching pairs of the characteristic points; removing error matching pairs again; and performing an RANSAC (Random Sample Consensus) algorithm iteration on the remaining characteristic points, and outputting the purified matching images. According to the method for purifying error matching of the visual image characteristic points based on the ORB, the detected characteristic points are uniformly distributed, the characteristic point clustering effect caused by easy huddle of multiple characteristic points is avoided, and the matching speed is accelerated while improving the matching accuracy.

The invention provides a positioning method and device, belonging to the field of wireless communication application. The method comprises the following steps: acquiring a wireless signal in an unknown position; acquiring the signal intensity of the wireless signal and an identification code ID of a preset beacon node to which the wireless signal belongs; processing the beacon node ID and the signal intensity to obtain the characteristics of the unknown position; acquiring a coordinate of a last position of the unknown position; removing the grids divided in a positioning region in advance according to the coordinates of the last position; sorting the grids in the positioning region by utilizing a support vector machine; acquiring barycentric coordinates of the designated grids which are sorted at the top; and obtaining the coordinates of the unknown position by calculation. The positioning method and device provided by the invention do not need to measure the distance, thus the distance measuring error can not be generated, the precision in positioning is high, the influence degree by the signal is low, and the correlation between the last position and the current position in the dynamic positioning process can be reflected, thus decreasing the positioning error.

The invention discloses a novel structure of a deicing robot based on a pneumatic type electric transmission line, comprising a forearm unit, a middle arm unit, a rear arm unit and a gravity center adjustment balance mechanism, wherein the forearm unit, the middle arm unit and the rear arm unit are sequentially connected with the gravity center adjustment balance mechanism positioned below the forearm unit, the middle arm unit and the rear arm unit; the forearm unit and the rear arm unit are symmetrically arranged; the forearm unit comprises a stacked type mechanical arm mechanism, a travelling driving mechanism, a deicing mechanism, a palm opening and closing mechanism and a brake braking mechanism; the middle arm unit comprises a vertical type telescopic arm mechanism, the travelling driving mechanism, the palm opening and closing mechanism and the brake braking mechanism; and the rear arm unit is the same as the forearm unit in structure and comprises a pneumatic control loop which enables the forearm unit, the middle arm unit and the rear arm unit to take telescopic actions, travelling actions, obstacle detouring actions and deicing actions and takes compressed air as a power source. The invention can complete the deicing operation, the on-line stable travelling and high-efficiency autonomous obstacle detouring under the conditions of intelligent control and has the advantages of compact structure, light weight, easy control, and the like.

The invention is about a deep-sea solar energy diving instrument. It includes: the diving instrument body, the glider vane or solar panel, the main thruster and the vertical stable empennage; the glider vane or the solar panel are installed on the diving instrument back; the main thruster is set in the middle vertical axis of the diving instrument; it also includes the permeable shell out of the main body, which has the flotage adjusting system, the barycenter adjusting system and the pressure capsule, the velometer, the depth gauge, the sonar responder near to the head, the altimeter near to the bow and the sonar transducer near to the tail part. The solar energy is the main driving mode and the big angle gliding technology driven by the flotage is the assistant driving mode. So it has the low energy cost, long endurance time and wide work field to improve it's investigate ability in deep sea.

The invention provides a color block identification method and device. The color block identification method and device are implemented through carrying out edge detection on an image required to be identified; extracting the outline of a color block in the image required to be identified so as to determine the shape of the color block; according to the extracted outline of the color block, calculating the barycentric coordinate of the color block so as to obtain the position of the color block; and determining the color of the color block through selecting the color of of a point in the color block. In such a way, the shape, position and color of the color block can be simultaneously identified, and therefore, the information of the color block can be extracted comprehensively.

The invention provides a zero-counterweight barycenter deploying method for a parallel tiling tank satellite. The method comprises the following steps: (1) preliminarily calculating a satellite barycenter position; (2) preliminarily calculating an adjustable scope of a barycenter; (3) after testing mass characteristics of the satellite, acquiring a measured value of the barycenter, analyzing and calculating the mass and position of a to-be-adjusted propellant according to the measured value, and causing the barycenter to approach to the original point; (4) performing propellant filling for the satellite according to a calculating result of the filling quantity of the propellant of each tank, controlling different filling quantities, and meanwhile, setting a work state after filling. The invention provides the new barycenter deploying method for a parallel tiling tank layout high-orbital satellite; under the condition of not increasing the total mass of the satellite, the original barycenter offset of the satellite is reduced, so that the barycenter variation of a satellite orbital transfer section is reduced, the disturbance torque is reduced, the safety of the satellite orbital transfer is ensured, the consumption of the propellant is reduced, and the service life of the satellite is prolonged.

Provided are a camera tracking method and device, which use a binocular video image to perform camera tracking, thereby improving the tracking accuracy. The camera tracking method provided in the embodiments of the present invention comprises: acquiring an image set of a current frame; respectively extracting feature points of each image in the image set of the current frame; according to a principle that depths of scene in adjacent regions on an image are similar, acquiring a matched feature point set of the image set of the current frame; according to an attribute parameter and a pre-set model of a binocular camera, respectively estimating three-dimensional positions of scene points corresponding to each pair of matched feature points in a local coordinate system of the current frame and a local coordinate system of the next frame; and according to the three-dimensional positions of the scene points corresponding to the matched feature points in the local coordinate system of the current frame and the local coordinate system of the next frame, estimating a motion parameter of the binocular camera in the next frame using the invariance of a barycentric coordinate with respect to rigid transformation, and optimizing the motion parameter of the binocular camera in the next frame.

An amplification-type solid-state imaging device adds a plurality of signals from pixels of the same color, R, G, or B, in order to output the signals. A gravity center in each group of added pixels is arranged without being partial in a pixel region.

Light intensities at light intensity calculation points on the photomask are found approximately based on distances from barycenters of opening patterns, and areas and transmission factors of the opening patterns. Thereafter, the result is added to a distribution of light intensity which is obtained by the conventional simulation without consideration given to the influence of the local flare. According to such a method, it is possible to easily carry out the simulation of the light intensity with high accuracy.

The invention discloses a large-scale marine pipeline initial point recognition and location method and system based on CCD. The method and system comprise the following steps that: (1) the position of a welding line is preliminary located, wherein a CCD industrial digital camera collects the images of the welding line, a main control computer calculates the real-time change of line pixel deviation between the center of a welding gun and the center of the welding line, and a welding robot is located above the welding line preliminary; (2) pixel coordinates of an initial point are extracted, wherein one welding spot of positioned welding is recognized, a dislodgement machine drives a pipeline to move rotatably, images are collected in real-time, picture processing is conducted to a rectangular area-of-interest containing the welding gun, if the welding spot is detected, the dislodgement machine stops rotating, and the pixel coordinates of the barycenter of the welding spot are extracted; (3) the initial point is located, wherein the welding robot moves horizontally by a short distance in the Y direction of a basal coordinate system, the images of the welding line are collected, the pixel coordinates of the barycenter of the welding spot are extracted again, the three-dimensional coordinates of the initial point are calculated by the utilization of stereoscopic vision, and the welding robot is located to the initial point.

Since pixel signals are not only added in the row direction but also averaged in the column direction, it is possible to sufficiently increase the frame rate even when the number of pixels increases. Additionally, since the spatial centers of gravity of the added or averaged signals are arranged at equal intervals in a Bayer array, it is possible to reduce false color (moiré) generation and suppress the decrease in the spatial resolution.

The invention discloses a method and a system of moving target tracking based on a video. The method of moving target tracking comprises the following steps of: detecting a moving target, and fragmenting the moving target in a video image; establishing a color probability distribution map for the moving target; calculating a barycenter of a search window, and adjusting the size of the search window according to window zeroth moment; predicating the position of the search window in the next frame of image through a Kalman filter; and carrying out barycenter matching in an estimation range to track the target. According to the method and the system for moving target tracking based on the video, the problem of moving target tracking at complicated background can be well solved, and the method and the system are good in real-time performance and robustness.

The invention discloses a pump truck and a control method and a device thereof. The pump truck control method comprises the steps that: the opening of the four support legs of the pump truck is obtained; the tail end points of the four support legs of the pump truck are determined according to the opening, and the tail end points of the four support legs are connected to determine the safe operation surface boundaries of the pump truck; the complete truck stable center of the pump truck is calculated according to the unloading gravity of the pump truck, a downloading barycentric coordinate and the complete truck gravity of the pump truck; the safety factor of the pump truck is calculated according to the unloading gravity of the pump truck, the arm frame gravity of the pump truck and the complete truck gravity of the pump truck, the arm frame barycentric coordinate of the pump truck and the downloading barycentric coordinate of the pump truck; and the pump truck is controlled according to the safety factor. The invention can ensure the safety of the pump truck when the support legs of the pump truck cannot be fully unfolded.

A long-range flotage and the thruster driven under- water robot is used in the sea under-water engineering technical field. The invention contains the main body of the robot, a pair of main limbs, a pair of thrusters and upright empennages. The outer of the robot is the penetrating-water rind which is used in commuting. The main limb and the upright empennage is provided with the limb type of the low liquid resistance. The main limbs set on the back of the penetrating-water rind and symmetrically distribute on the left and right sides of the penetrating-water rind. The upright empennage sets on the tail of the penetrating-water rind and in the upright symmetrical side. The thruster sets in the outer of the main limbs. The invention is provided with two driving fashions which are the drive of the thruster and the drive of the flotage. In the drive of the flotage, it depends on the adjusting of the flotage and the barycenter to produce the thrust and control the motorial direction and provides the high endurance capability.

The invention discloses a radial decoupling taper magnetic bearing with three degree of freedom, comprising an upper taper stator, a lower taper stator , an upper taper rotor, a lower taper rotor, radial stators, a radial rotor iron core, a field coil, a permanent magnet, a stator magnetic conductive ring and a rotor magnetic conductive ring, wherein, the taper stators and the taper rotors are the structure of integral ring, the suction generated between the taper stator and the taper rotor passes through the rotor barycenter to control the translation in the direction z of the rotor; the tworadial stators comprise stator teeth and stator magnet yokes, the two radial stators are arranged orthogonally when being installed, and a radial stator magnetic isolated ring is arranged between thetwo stators to let the magnetic circuit between the two radial channels be mutually decoupling; the suction generated between the radial stator and the radial rotor iron core is used to control the translation in the direction x and y of the rotor. According to the invention, the suction generated between the taper stator and the taper rotor passes through the rotor barycenter, when the rotor rotates, the length of the arm of force of negative stiffness is reduced, so that negative torsion moment is reduced; simultaneously, the two radial channels are decoupling, so that the radial bearing capacity is increased.

The invention provides a concrete pump truck monitoring method, a concrete pump truck monitoring system and a concrete pump truck. The concrete pump truck monitoring method includes the following steps: according to the supporting positions of outriggers, the overall barycenter safety area of the concrete pump truck is calculated; according to the real-time position of a boom, the overall barycenter position of the concrete pump truck is calculated; whether the overall barycenter position is located in the overall barycenter safety area is judged; and according to a judgement result, the action of the concrete pump truck is controlled. The purpose of the invention is to provide the concrete pump truck monitoring method monitoring the concrete pump truck in real time to prevent the concrete pump truck from turning over, the concrete pump truck monitoring system and a concrete pump truck.

The invention provides a cross bracing main structure for a spacecraft. The cross bracing main structure comprises a butt ring, a bottom plate, a partition plate, an upper frame, an inclined side plate, two gas cylinder fixing side plates, a top plate, three first side plates and a second side plate. A connector is provided by the butt ring, and a high-capacity storage tank which accounts for most of weight of the spacecraft is permitted to be arranged on the butt ring, so that the barycenter height of the spacecraft is lowered to the maximal extent; launching load born on a main load-carrying structure is greatly reduced; the landing stability of a lander is greatly improved in application of the lander structure; the structural weight of the spacecraft is greatly reduced. The spacecraft structure is formed by taking the partition plate, into which a rectangular beam is embedded, in a honeycomb plate structure as a main load-carrying element, so that the spacecraft has the characteristic of truss type centralized loading, and simultaneously has the characteristics of installation convenience and relatively large equipment line installation area as a honeycomb plate composition structure.

The invention provides a method for performing zero moment point (ZMP) calibration autonomously by a robot. The robot has at least two legs and feet, wherein the at least two legs can drive the robot to walk; the feet are connected with the legs through ankle joints respectively; and the feet are provided with force sensors. The method comprises the following steps of: calculating the projection of a barycenter of the robot on the ground according to each part and the position thereof of the robot, wherein the robot is supported by a single foot to maintain a certain stable fixed posture and the part above the ankle joint of the supporting foot of the robot is seen as a mass point; adjusting the ankle joint of the supporting foot of the robot so as to make the projection of the barycenter spread over the surface of the supporting foot; and obtaining a table by sampling, wherein in the table, a true ZMP corresponds to the ZMP measured by the force sensors. The robot can perform the ZMP calibration according to the projection of the barycenter of the robot and the movement of the ankle joints, so the method has the advantages of no need of human intervention, high efficiency, a large number of sampling points, high precision and low requirement on a mounting environment.

Any primitive cells or blocks can be represented physically by a Barycenter compact model (or Barycenter model), and any black box model can also be physically represented by a Barycenter compact model physically. A hierarchical boundary condition between blocks is formulated by the Barycenter compact model. Hierarchical boundary condition problems between blocks can be limited within two levels only if using the Barycenter compact model.

The invention is applicable to the technical field of visual positioning, and provides a metal component automatic positioning method and a terminal device. The automatic positioning method comprisesthe steps that an image of a metal component is acquired, and is binarized to acquire a binarized image; edge extraction is carried out on the binarized image to acquire an edge image; polygon fittingis carried out on the edge image, and the barycentric coordinate of the polygon is acquired according to the fitted polygon; and the center coordinate of the barycenter of all polygons and the slopeof a line fitted by the barycentric coordinates of all polygons are calculated according to the barycentric coordinate. According to the invention, some workpieces with high processing precision and fine workmanship are prevented from the risk of being scratched by a positioning device, and accurate and non-destructive positioning of processed workpieces is realized.

The invention provides an energy-efficient routing algorithm (MEERP) for a wireless sensor network, and belongs to the technical field of the wireless sensor network application. This algorithm introduces a mobile sink node and a mobile relay node, considers a size of the network and a quantity of the nodes, and divides the network into several square areas; and then according to a weight sum of node residual energy and a cluster barycentric coordinate distance, a cluster head is selected. The nodes in a grid is communicated with a cluster head node through a multi-hop manner; a controllable mobile strategy is used for the mobile sink node, and when the mobile sink node moves to near the cluster head node, the cluster head node directly sends collected data to the mobile sink node; and a regular mobile manner is used for the mobile relay node in the network, and when the mobile relay node moves to a same position as a sensor node, the mobile relay node takes a forwarding task of all packets of the sensor node, but the sensor node only sends data which are sensed by the sensor node. This algorithm is mainly used in the wireless sensor network route control field.

The invention discloses a method for installing a blast furnace single-tube downcomer, characterized by using single machine and double shackles to lift each lifting unit. The method comprises the following steps: 1, conducting lifting preparation: 1) dividing lifting units; 2) determining the barycenter of each lifting unit; 3) determining the lifting point and shackle position of each lifting unit and completing the welding of the shackles; 4) determining the position lines of a riser tube and an upper shaking head, and determining the position lines of a gravity deduster shell and a lower T-joint; and 5) building a joint temporary operation platform the inner side and the outer side of the joint of each lifting unit; and 2, conducting lifting operation. According to the invention, by using single machine to lift, the amount of large-scale machines is reduced, the limitation of narrow and small construction place can be overcome, the construction cost and energy consumption can be reduced, the construction safety is raised, the target of realizing safety, high quality, high efficiency, energy saving, and low carbon is realized, and the situation of high energy consumption, high cost and high pollution existing in traditional double-machine lifting is thoroughly changed.