156 results about "Displacement function" patented technology

The invention relates to an object deformation real-time simulation graphic processing technique, particularly a soft tissue deformation simulation method based on coupling of mesh-free Galerkin and mass spring, which comprises the following steps: in the pretreatment process, establishing a linear viscoelasticity biomechanical model for soft tissues; in the deformation computation process, dynamically partitioning a mesh-free region and a mass spring region according to the load carried by the soft tissues, establishing a transitional unit of the connection region between the mesh-free region and mass spring region, and constructing a transitional unit approximation displacement function, thereby implementing self-adapting coupling of a mesh-free Galerkin method and a mass spring method;and in the after-treatment process, outputting the state of the mass or node of each time step in the deformation process onto a screen, carrying out illumination rendering, and finally displaying the real-time deformation process of the soft tissue organ under stressed conditions on the screen, thereby implementing visualization effect of dynamic deformation. By utilizing the advantage of high efficiency in the mass spring method and the advantages of high precision and no need of mesh reconstruction in the mesh-free Galerkin method, the invention overcomes the defect that the Galerkin method is not suitable for solving a large-scale problem, thereby effectively lowering the complexity of computation in the soft tissue deformation simulation and enhancing the operation efficiency.

A method for enhancing the linearity of a differential capacitive sensor as a function of beam displacement. An ac-modulated feedback connection from a sensor output terminal to a movable beam electrode is provided through a fix-up capacitor. The output terminal signal is inverted in the feedback connection so that the fix-up capacitor reduces the capacitance from the fixed electrodes to the beam electrode. When the fix-up capacitor value is chosen approximately equal to the fixed capacitance of the differential capacitor, the feedback circuit compensates for the effect of this fixed capacitance. The linearity of the output as a function of the displacement of the beam is improved. Thus, the signal-to-noise ratio of devices such as accelerometers may be increased by allowing sensors to employ a large displacement range. The invention may be used in differential accelerometers and in other types of differential capacitive sensors.

The method comprises: the message packet is sent to a turbo code encoder with 1 / 3 code rate to generate a system bit-stream, a first even-odd check bit-stream and a second event-odd check bit-stream; wherein, the system bit-stream and the first even-odd check bit-stream uses the block interleavers which use 2M equaling lengths, based on bit-reversed order (BRO), and taken as column displacement function; bias delta of both block interleavers are zero; bias delta of the block interleaver of the second even-odd check bit-stream is not always zero. The invention also provides a cyclic buffer based turbo code HAQQ packet generation method.

The invention discloses a displacement / deflection measuring system, which comprises dip angle sensors, a data acquisition device, a data sending device and a data analysis device, wherein the dip angle sensors are arranged on a structure or a member to be measured to acquire dip angle values of measuring points at which the dip angle sensors are positioned, and the measuring point at which the first dip angle sensor is positioned is used as a datum point; the data acquisition device is used for acquiring the dip angle value, which is measured by each dip angle sensor, of each measuring point, and conditioning the acquired dip angle values; the data sending device is used for sending the conditioned dip angle values to the data analysis device; and the data analysis device is used for calculating a displacement function by matching positional information, relative to the datum point, of each measuring point according to the received dip angle values to acquire a displacement / deflection condition. The invention also discloses a displacement / deflection measuring method. In the displacement / deflection measuring system, the boundary condition of a girder structure within a measuring range is not limited, and the displacement / deflection of the structure or the member to be measured can be measured accurately.

Ophthalmic lenses and methods for their design and use involve displacement functions based on the sum of a continuous cosine function and a continuous sine function, optionally over a plurality of echelettes. Exemplary monofocal and multifocal diffractive ophthalmic lenses provide reduced light scatter and / or improved light energy distribution properties. Such properties can be provided by diffractive profiles, often having subtlety shaped echelettes with appropriately curving profiles. Light scatter may be generated by the sharp corners associated with vertical steps between adjacent conventional diffractive echelettes. Smooth diffractive profiles of the invention reduce light scatter. Light energy directed toward non-viewing diffractive orders may have a unwanted effects on vision quality. Diffractive profiles as described herein may limit the light energy in certain, selected orders, thereby improving viewing quality and mitigating unwanted effects such as dysphotopsia. Diffractive profiles may also vary the light energy distributed between individual echelettes, providing additional advantages in various viewing situations.

The invention discloses an optimized displaying method for dimordinate on a network map, which belongs to the field of geographic information system. The positions of dimordinate on the network map are incorrect and irregular in scaling map, so that the dimordinates are irregularly distributed on the map and overlapped frequently. An optimized displaying method for dimordinate on a network map isprovided by the invention, which can automatically judge whether the dimordinates are overlapped or not and can adjust the displaying result of the dimordinates by a displacement function. Consequently, the displaying problem that the dimordinates are overlapped on the network map is solved.

The invention relates to a full-function variable distribution control mechanism of an internal combustion engine, comprising a motor and a worm and worm wheel transmission mechanism. A cam which expands on the inclined surface of a cam head is formed by that a cone part is combined on a cylinder with the parallel axes; a variable rocker axial travelling mechanism is as follows: a screw rod is fixedly arranged on a worm wheel; a pushing arm is screwed on the screwed rod; both a variable rocker and a combined driven rocker arm can be rotatablely arranged on a rocker shaft; and the variable rocker arm is positioned between two arms of the driven rocker arm and an upper groove and a convex semicircle of the pushing arm are contacted with each other; and a roller wheel of the variable rocker arm and the cam head of the cam form a transmission pair. The control mechanism has continuous variable valve timing and valve stroke, which leads the valve to have half-open function, cylinder control variable displacement function and maneuverability of superposition of the variable valve, can replace a throttle valve and applies the high-end change distribution technology and the cylinder control variable displacement to an economic engine, thus having the advantages of increasing the power, saving oil consumption and reducing the exhaust.

The invention discloses a thin-wall part working modal parameter determining method and system. The method comprises the following steps: establishing an imaging mathematical model based on a monocular vision off-plane vibration measuring device, and an industrial camera pinhole imaging model, determining a target actual displacement function, continuously tracking target angle points by utilizingan optical flow matching tracking algorithm with the pseudo-angle point removal, and obtaining a displacement response signal for each target angle point to vibrate along with each frame of image, calculating the average correlation function of each displacement response signal, and replacing the displacement response signal with the mean correlation function to serve as the Cov-SSI algorithm input item to carry out the working modal parameter identification, so that the working modal test of the thin-walled part is realized. According to the method, auxiliary structure light is not needed, any labels or marks are not needed to be pasted, and multi-view non-contact vibration mode measurement can be achieved, the problem that the calculation efficiency and the measurement precision of themachine vision vibration mode measurement method are low is effectively solved, and the problem that a low signal-to-noise ratio working mode parameter is difficult to identify is well solved.

The invention discloses a ship motion response prediction method considering a damping effect under an underwater explosion effect. The ship motion response prediction method comprises the steps: simplifying a ship into a uniform-section free hull beam; establishing a forced motion control equation of the hull beam considering the structural damping, and determining motion displacement functions of the inner beam in different pressure stages when the structural damping is considered according to the forced motion control equation; according to preset dimensionless damping ratio parameters andpressure distribution functions in the length direction of the hull beam at different pressure stages, determining a main coordinate function of hull beam motion deformation; calculating a motion displacement function of the hull beam in a corresponding pressure stage, and solving deformation parameters of the hull beam in different pressure stages according to the motion displacement function; determining a motion amplitude and a relative rotation angle of the hull beam in different motion deformation processes. According to the method, the ship plastic motion process is analyzed by considering the damping effect, engineering prediction of ship structure motion deformation under the underwater explosion effect can be accurately, easily and conveniently achieved, and prediction errors arereduced.

The invention provides a normal-pressure hypoxic cabin for interval hypoxic training and a method for regulating oxygen concentration in the hypoxic cabin. A normal-pressure hypoxic cabin is provided, and the normal-pressure hypoxic cabin is communicated with a nitrogen source through a flow control component and a flow measurement component and is connected with an exhaust device; an oxygen concentration measuring device connected with a central control unit is provided, the flow measurement component is connected with the input end of the central control unit, and the central control unit is electrically connected with the flow control component; and a gas source cabin with a gas displacement function is provided, masks are arranged in the normal-pressure hypoxic cabin, the masks are respectively communicated with the gas source cabin through a non-return valve and an on-off valve of a gas suction pipe as well as a non-return valve and an on-off valve of an expiration pipe, and the gas source cabin is provided with a gas source input pipe and a gas flow output pipe. The normal-pressure hypoxic cabin provided by the invention has the advantages of simple structure, low manufacturing cost and high safety. The method provided by the invention can be used for regulating the pressure difference between the inside and outside of the hypoxic cabin by controlling the relative amountbetween the input nitrogen amount and exhaust amount, thereby realizing the function of regulating the oxygen concentration in the normal-pressure hypoxic cabin. The method is simple and easy to operate.

The invention relates to a method for calculating existing shield tunnel displacements caused by new under-crossing tunnels. The method comprises the following steps of: 1, calculating existing tunneladditional stresses caused by a new under-crossing tunnel: a vertical additional stress <sigma>z-q generated by cutter head additional thrust q, a vertical additional stress <sigma>z-f generated by shield shell friction force f, vertical additional stresses <sigma>z-p1 and <sigma>z-p2 generated by slip casting additional pressure p and an additional stress generated by soil mass loss; and 2, calculating longitudinal deformation of the tunnel on the basis of a principle of minimum potential energy: total potential energy of a shield tunnel, a displacement function of an assumed tunnel lining ring and a variation control equation. The method has the beneficial effects that joint effect among tunnel rings is considered, structural characteristics and physical characteristics of tunnels are sufficiently considered, and longitudinal displacements, caused by new under-crossing tunnels, of existing shield tunnels can be rapidly calculated by utilizing Matlab, so that safety of existing tunnel structures under the action of the new under-crossing tunnels can be judged and relatively accord with practical stress and deformation of the shield tunnels.

The invention provides a design and calculation method for an initial support of a tunnel initial support bearing all design loads. The design and calculation method is characterized in that the initial support of the tunnel initial support bearing the all design loads is designed and calculated by adopting two methods, namely "two hinged arches + 2x2 chain poles + elastic resistance", and "two hinged arches + 10x2 chain poles"; the calculation of the method makes the "structure" completely correspond to the "loads", and makes the corresponding relationship between "measures" and "problems" established on site clearer, and the purpose is more explicit; the method adopts a force method to calculate, thus complete structural internal forces and a displacement function relationship can be obtained, and the change rule of the structural internal forces and displacement can be reflected explicitly; and besides, a familiar general theory is adopted, which can facilitate technical personnel on site to design and calculate the tunnel initial support, and provide a theoretical basis for the development of a construction plan.

The invention relates to a method for setting a longitudinal stiffening rib of a high web of an elastic rotation constrained boundary steel-concrete composite beam. The method comprises the following steps: firstly building a displacement function equation with the elastic rotation constrained boundary and the boundary condition, deriving buckling stress calculation expression of the stiffening rib under two states of the rigid stiffening and flexible stiffening based on an energy method, and obtaining a calculation formula of the elastic rotation constrained boundary longitudinal stiffening rib critical rigidity; and then, considering external work and a minimum potential energy principle, presenting a critical buckling stress calculation formula of a non-uniform pressing plate under the elastic rotation constrained boundary; and finally, according to a buckling safety degree equal principle, obtaining the optical position of setting the longitudinal stiffening rib under the elastic rotation constrained boundary. The method is capable of, according to the actual stress situation, accurately setting the longitudinal stiffening rib of the high web of the steel-concrete composite beam, solving the problems of the current steel-concrete composite bridge bream stiffening rib that the design is conservative and the amount of the steel products is large, and remarkably improving the rationality and economy of the stiffening rib setting of the high web.

The invention discloses a laser space synthesis transmission system based on an optical micro-scanning mechanism, comprising a transmission subsystem, a telescope subsystem, an imaging subsystem, anda spectroscope. In the system is used, spatial laser beams are output from a fiber laser and are input to a collimating assembly, wherein the negative lens group of the collimating assembly is mountedon an optical scanning mechanism, and the laser beams can be collimated by adjusting the optical scanning mechanism. The collimated laser beams are input into a transmission focusing component, and then are reflected to a fast steering mirror via the spectroscope, then enters a main mirror, a secondary mirror and a focusing component, and finally converge at the same position. The optical micro-scanning mechanism is a flexible hinge mechanism, has a micro-displacement function achieved by the driving of piezoelectric ceramic, has two-dimensional translation function, is driven by a piezoelectric ceramic stack, and has high motion resolution and a large stroke, and can achieve micron or sub-micron-order resolution and strokes of tens or hundreds of micrometers.

The invention belongs to the technical field of a bridge attachment, in particular to a bridge expansion joint with multidirectional displacement function, wherein a fixed comb jointing unit and a movable expansion comb jointing unit are unit modules, horizontal mutual-insert ratcheting connection pairs are formed at the clearance end of two adjacent beam bodies, a fixed comb body is arranged in a T-shaped way, a movable comb body is arranged in a reversed-T-shaped way, not only can the horizontal displacement requirement for a longitudinal bridge direction be satisfied, but also through a related flexible connection, the rotation of the movable expansion comb jointing unit relative to a rotating bearer of a mounting seat, the transverse bridge direction sliding in a sliding groove, and the rotation relative to a connecting shaft are satisfied, therefore the outstanding features of the requirements for the longitudinal direction, transverse direction, twisting, vertical turning and seismic displacement of the bridge, the concrete pouring is not required, the requirement for the rabbet depth is reduced, the installation is rapid and convenient, the installation engineering jobs are fully optimized, and the construction efficiency and the safety are improved.

The invention belongs to the technical field of radar antennas, and particularly provides an electrostatically formed film reflecting surface antenna analysis method. The method comprises the following steps: firstly, establishing a film reflecting surface finite element model, expressing electrostatic force into an element node displacement function to be exerted into a model, and then conducting model solution by applying an exponential type increment loading manner to obtain film reflecting surface deformation. Compared with the prior art, the film reflecting surface deformation obtained by adopting the method is accurate in result and relatively high in computational efficiency.

The invention relates to a distance adjustment pallet fork with guard boards. The distance adjustment pallet fork comprises a forklift frame mounted on a gantry frame, a left pallet fork body, a right pallet fork body, a left pallet fork oil cylinder and a right pallet fork oil cylinder, wherein the left pallet fork body is mounted on the forklift frame in a horizontal displacement manner, the right pallet fork body is mounted on the forklift frame in a horizontal displacement manner, the left pallet fork oil cylinder controls horizontal displacement of the left pallet fork body, the right pallet fork oil cylinder controls horizontal displacement of the right pallet fork body. The upper portion of the forklift frame is further provided with the left guard board with a horizontal displacement function, the right guard board with a horizontal displacement function, a left guard board oil cylinder for controlling horizontal displacement of the left guard board and a right guard board oil cylinder for controlling horizontal displacement of the right guard board. According to the distance adjustment pallet fork, the left guide board and the right guard board are additionally arranged, so that the problem that large and unstable articles with the high center of gravity are easy shake or even tilt during the carrying process is solved, and accordingly the practicality and the stability of the distance adjustment pallet fork are enhanced.

The invention provides a multifunctional automatic stacking conveyer and relates to the subsidiary shaped plate profiling equipment of the fields such as the plastic, building materials, metallurgy and so on. The conveyor includes a pedestal and a moving platform, a left lifting arm and a right lifting arm are arranged between the pedestal and the moving platform, a displacement functional box with a manual displacement handle is arranged on the pedestal, the manual displacement handle is connected with an actuation displacement cylinder which is connected with the pedestal by a cylinder mounting rack, the displacement function box is connected with a reductor by a motor joint flange and is connected with a left lifting screw rod by a left lifting driving pulley, the left lifting screw rod is connected with the left lifting arm by a push block; the displacement functional box is connected with a right lifting screw rod by a right lifting driving pulley and the right lifting screw rod is connected with a right lifting arm by a push block. The multifunctional automatic stacking conveyer has simple structure, low cost and can incline to the left or right to automatically hold the stowing cargo with the help of a cargo dolly; meanwhile, the conveyer can automatically make lateral movement for longitudinal transportation of the cargo.

The invention provides a method for marine natural gas hydrate exploitation through a water flow erosion method combined with heat injection, and belongs to the technical field of marine natural gas hydrate exploitation. Firstly, two development wells are drilled in a natural gas hydrate exploitation area to the interior of a natural gas hydrate reservoir, and a water injection pump is used for injecting marine water into the first development well for heating the reservoir, so that part of a natural gas hydrate is decomposed to generate CH4, a gap channel is opened, and the permeability around the development wells is increased; the pressure difference between the two development wells is controlled by controlling the natural gas collecting speed of a natural gas collection well; stable flow of the marine water in the reservoir is controlled through the pressure difference, and continuous step-by-step composition of the hydrate is promoted under the displacement function in the waterflowing process. The method is easy to implement, high in efficiency and low in cost, and can be used for large-scale industrial exploitation of the natural gas hydrate.

The invention discloses a deformation monitoring method of an elastic supporting plate based on strain monitoring. By adoption of the method, the deformation monitoring theory of beams is extended tothe deformation monitoring of two-dimensional plates, and the monitoring theory of bending deformation of the plate is deduced. The method comprises the following steps: obtaining strain data of theplate by using a strain sensor, approximately assuming a strain function of the plate under an edge elastic supporting boundary condition, substituting strain measurement results of different positions into the strain function to obtain parameters of the strain function, and obtaining a displacement function through a strain-displacement transformation relationship to figure out a bending deformation value of the plate; and calculating the bending deformation of the plate at each moment by calculating the strain at each moment, so that the dynamic monitoring of the bending deformation of the plate can be realized. By adoption of the deformation monitoring method disclosed by the invention, the bending deformation of the plate can be monitored at lower cost by simple equipment on the premise of ensuring the precision, thereby having important theoretical significance and engineering application value for the structure health monitoring, structure safety evaluation, etc.

The invention discloses a zero-pollution underwater oil storage system with an oil and water displacement function. The oil storage system comprises an oil storage cabin, a transition cabin and a seawater inlet / drain cabin which are sequentially arranged on the same horizontal plane; the oil storage cabin is communicated with the transition cabin via a communicating pipeline I, an opening end of the communicating pipeline I is arranged on the lower portion of the oil storage cabin, and another opening end of the communicating pipeline I is arranged on the upper portion of the transition cabin; the transition cabin is communicated with the seawater inlet / drain cabin via a communicating pipeline II, an opening end of the communicating pipeline II is arranged on the lower portion of the transition cabin, and another opening end of the communicating pipeline II is arranged on the upper portion of the seawater inlet / drain cabin; the seawater inlet / drain cabin is communicated with the external via a communicating pipeline III, an opening end of the communicating pipeline III is arranged on the lower portion of the seawater inlet / drain cabin, and another opening end of the communicating pipeline III is arranged on the upper portion of the seawater inlet / drain cabin. The zero-pollution underwater oil storage system has the advantages that underwater oil storage and unloading functions can be realized by an oil and water displacement method, three protection barriers for reducing oily sewage discharge can be formed by means of arrangement of the cabins with different functions, arrangement of the special pipelines, real-time monitoring by the aid of oil sensors and interactive control implemented by the aid of valves, oil and water pumps and the like, and standard discharge of replacement seawater can be implemented.

The invention discloses a bobbin winder with a winding displacement function. The bobbin winder with the winding displacement function comprises a bobbin winder device body and a winding displacement assembly. The bobbin winder device body comprises wire blocking discs, a winding shaft and a handle. A support lug is arranged on the side surface of each wire blocking discs. A matching hole is formed in each support lug. The winding displacement assembly comprises a moving rod, a bent shaft, a connecting block, a fixed block and a driving assembly. One end of the moving rod is located in one matching hole, the other end of the moving rod penetrates out of the other matching hole to be connected with the fixed block, and the fixed block is provided with a strip-type hole; one end of the bent shaft penetrates through the strip-type hole to be connected with the driving assembly, the other end of the bent shaft is rotationally connected with the fixed block, and the fixed block is located on the wire blocking discs; the driving assembly drives the bent shaft to rotate; and a through hole is formed in the moving rod. The moving rod reciprocates along the axis of the moving rod and guides a wire collection direction of electric cables, so that the electric cables are evenly wound on the winding shaft, the condition that electric cable wire winding is uneven is avoided, and the bobbin winder with the winding displacement function is beneficial to carrying a bobbin winder device.

A method for calculating beam unit with certain thickness includes utilizing generalized node finite-element to calculate structure displacement and stress result, treating each node as a point with arbitrarily many freedom to obtain displacement function expression of said finite element, deriving out unit stress according to said displacement function then converting stress calculation result of entity unit to be bending moment and axle force as well as shear force in engineering as per rod and beam unit theory.

The invention discloses an alcohol / kerosene system of a vacuum plume effect experiment system. The alcohol / kerosene system comprises a high-pressure nitrogen path, a commanding / replacing air path, a low-pressure nitrogen path, an alcohol path and a kerosene path. During a higher-pressure and larger-flow experiment, a working medium is boosted by directly utilizing an air regulation type pressure reducer, so that the pressure and flow responding speed of the working medium is higher; during a lower-pressure and small-flow experiment, the working medium is boosted by utilizing a pressure storage buffering tank matched with the air regulation type pressure reducer, so that the pressure and flow supplied by the working medium are more accurate, and small and mini flow experiments are especially suitable; therefore the pressure regulation range of the system is wide, and the suitability is strong. According to the alcohol / kerosene system of the vacuum plume effect experiment system, the high-pressure nitrogen path provides the air source for the air regulation type pressure reducer, and also provides a displacement function for the system; before the system feeds the working medium, the air in the pipeline is replaced by nitrogen, so that the safety accident caused by the reaction of the working medium and the air in the pipeline is avoided, the system is simplified, and the safety is improved.

The invention discloses a three-axis micro-line segment direct speed transition method based on trigonometric function acceleration and deceleration control. The method comprises the steps of obtaining the length of each micro-line segment and the rotation angle between any two adjacent micro-line segments through machining code point position coordinates; establishing a trigonometric function acceleration and deceleration model for two adjacent micro line segments of which the rotation angle is than 0 degree to obtain interpolation speed functions and interpolation displacement functions of the acceleration segments, the constant speed segments and the deceleration segments of the corresponding micro line segments; carrying out speed planning to determine interpolation time of each segment; setting the maximum transition error of two adjacent micro-line segments, solving the maximum transition line segment length, and setting the transition line segment lengths of the two micro-line segments to be equal and less than or equal to the minimum value of the first micro-line segment deceleration segment length and the second micro-line segment acceleration segment length; determining atransition starting moment according to the transition line segment length; calculating transition time through an interpolation displacement function; and synthesizing the motions of the transitionline segments of two adjacent micro-line segments to obtain a transition path. According to the method, the complexity of an algorithm is reduced, and meanwhile, the corner machining efficiency is improved.

The invention discloses a compound loading test system for a power transmission infrastructure. The compound loading test system for the power transmission infrastructure comprises a rigid frame, and is characterized by also comprising a vertical guide device; the vertical guide device and the rigid frame are fixedly connected with a vertical mobile platform; a horizontal guide device is placed on the vertical mobile platform and is fixedly connected with the vertical mobile platform; a horizontal mobile frame is fixedly connected with the horizontal guide device in a sleeving manner; a vertical loading device is placed at the lower end of the horizontal mobile frame and is fixedly connected with the lower end of the horizontal mobile frame; a horizontal loading device is hinged to the vertical loading device; a test piece clamp is placed below the vertical loading device and is hinged to the vertical loading device. When the compound loading test system for the power transmission infrastructure works: (1) the horizontal loading device applies horizontal force or horizontal displacement to a test component; (2) the vertical loading device provides the same vertical load to act on the test component directly; (3) the vertical loading device applies different vertical displacement to realize moment loading; (4) the pre-applied three-component load is split to obtain a loading displacement function, so as to realize a compound action of a horizontal load (H), a vertical load (V) and a moment load (M).

The invention discloses a displacement deformation prediction method for a shield tunnel with anti-floating anchor rods under foundation pit excavation, and belongs to the technical field of underground engineering. The prediction method specifically comprises the following steps of: predicting; establishing a position relationship between the shield tunnel with the anti-floating anchor rods and aground foundation pit; calculating the additional load of the shield tunnel with the anti-floating anchor rod caused by excavation of the foundation pit; considering a segment ring cooperative deformation model of rotation and slab staggering, calculating the total potential energy Epm of shield tunnel deformation under the action of the anti-floating anchor rod, and solving a longitudinal displacement function w (l), the slab staggering amount delta m2 between adjacent shield segments and the shearing force Qm between adjacent shield segments through Fourier expansion and a variation controlequation. The prediction method has the characteristics that the number of acting segments of the anti-floating anchor rod is considered; the deformation condition of the shield tunnel is close to the real condition; and the accuracy is high.

The invention provides an improved control method for the movement speed of a six-axis mechanical arm. The method comprises the steps that an S-shaped acceleration and deceleration curve of track operation is obtained according to the principle of an S-shaped acceleration and deceleration algorithm, an acceleration function, a speed function and a displacement function of each stage are obtained, the speed and the displacement of a transition point of each stage are obtained through the maximum value of amax and the minimum value of vmax, stage judgment is performed according to the interval in the displacement s0-s7 of the transition point where the current displacement value s is located to obtain current speed values of different stages, and by obtaining the current speed values of the mechanical arm in real time, the control precision of the mechanical arm is improved. The method has the beneficial effects that the accuracy and stability of the novel S-shaped acceleration and deceleration algorithm and the speed planning algorithm are improved, smooth transition of speed and acceleration can be achieved, the shaking phenomenon caused by impact is reduced, and the control precision of the six-axis mechanical arm is improved.

The invention discloses a Piccolo encryption algorithm hardware achieving method. The Piccolo encryption algorithm hardware can be achieved once by utilizing identical round operation in a repeated calling mode. The original r-1 round repeated calling is directly converted into r wheel repeated calling. Meanwhile, an RP-1 round displacement function is added on the r round circulation operation, and operation is conducted once to enable an output cipher to be correct. By means of the method, an original algorithm is not required to achieve again in the last rth round, the former repeated round function module can be directly multiplexed, and users only need to add the relatively simple RP-1 in the end. By means of the method, modules in the Piccolo encryption algorithm to be highly multiplexed, hardware achieving area is effectively saved, and meanwhile the encryption speed is increased.