172 results about "Inequation" patented technology

The invention provides a redundant manipulator motion planning method which comprises the following steps that: (1) an upper computer analyzes the inverse kinematics of a manipulator on a velocity layer through quadratic optimization, the designed minimum performance index can be velocity norm, repetitive motion or kinetic energy and is bound by a velocity jacobian equation, an inequation and a joint angular velocity limit, and the angular velocity limit changes with a joint angle; (2) the quadratic optimization of step (1) is optimized into a quadratic programming problem; (3) the quadratic programming problem in step (2) is calculated by a linear variational inequation primal-dual neural network solver or a numerical method; and (4) the calculation result in step (3) is transmitted to a lower computer controller to drive the manipulator to move. The redundant manipulator motion planning method is based on the primal-dual neural network of the linear variational inequation, has global exponential convergence, does not involve matrix inversion and other complicated operations, greatly improves the calculation efficiency, and simultaneously has strong real-time performance, and can adapt to the changes to the joint angular velocity limit.

The invention discloses a method for setting a crossing self-adapting changeable driveway by a computer program, aiming to solve the problem that a single left turning driveway is supersaturated and two left turning driveways are insufficient. The method comprises the following steps: firstly installing a No. 1 triggering detector, a No. 2 triggering detector, a main signal light and a pre-signallight; and utilizing other existing hardware equipment. The method also comprises the following steps: (1) judging the attribute of the changeable driveway, i.e. judging the attribute of the changeable driveway by whether an inequation that N is larger than or equal to N<*> is established or not, wherein N is the continuous periodicity of the time occupancy ratio of the No. 1 triggering detector and the No. 2 triggering detector, which is larger than a critical value, and N<*> is the critical value triggering changeable driveway control; (2) controlling the signal timing scheme optimization ofthe changeable driveway, i.e. (1) controlling the changeable driveway when signal period time is unchangeable, and (2) controlling the changeable driveway when the signal period time is changeable; and (3) setting a pre-signal of the changeable driveway, i.e. (1) changing the attribute of the changeable driveway from straight running to left turning, and (2) changing the changeable driveway fromthe left turning to the straight running.

A method for optimizing inverse kinematic humanoid-arm configuration of a 7-freedom-degree humanoid mechanical arm under a multi-constraint condition belongs to the field of mechanical arm control. By the method, the problems the usable arm configuration of the humanoid mechanical arm cannot be completely described, the tail end reachable positions are reduced, motion is susceptible to jumping change and the humanoid arm configuration meeting the multi-constraint condition cannot be obtained in the existing position-based inverse kinematic method are solved. The method comprises the steps: calculating all the useable arm configuration sets avoiding joint limiting and collusion under the given track; performing operating ellipsoid optimization on all the useable arm configuration sets to obtain humanoid arm configuration; introducing transition between a mechanical arm self-motion processing unusable optimizing arm angle and an arm angle area; and transforming a problem of searching optimized joints from a seven-dimensional joint space constrained by six equations and a plurality of inequations into a one-dimensional optimizing problem. The method is used for optimizing the humanoid arm configuration of the 7-freedom-degree humanoid mechanical arm.

The invention provides a quantum key distribution method and system based on orbital angular momentum encoding. An orbital angular momentum entangled state is used as an information encoding carrier at a quantum key encoding transmitting terminal; orbital angular momentum is dynamically modulated through a spatial light modulator, and stable quantum codes are output; received quantum information can be stably and quickly measured at a receiving terminal through the spatial light modulator and a coincidence counting measurer, and by comparing encoding bases and measuring bases on a public channel, quantum bit code information is accurately decoded. The quantum key modulating and demodulating process is highly functionally integrated, information can be conveniently transmitted and received in real time, the system is efficient and stable, tapping behaviors of tappers can be judged in real time by violation verification of a Bell-CHSH inequation, and high-security quantum key distribution is guaranteed.

The invention discloses low-noise feature oriented silicon steel which comprises a silicon steel base plate and an insulating coating, wherein the silicon steel base plate is coated with the insulating costing. In addition, the tension range of the insulating coating ranges from 6 MPa to 8 MPa. The content of Cu in the silicon steel base plate satisfies the inequation that 0.1%<=Cu<=0.5%, the content of S in the silicon steel base plate satisfies the inequation that 0.01%<=S<=0.05%, and the atomic ratio of Cu / S satisfies the inequation that 5<=Cu / S<=10. The invention further discloses a manufacturing method for the low-noise feature oriented silicon steel. The method sequentially includes the steps of firstly, smelting and casting to form a plate blank, secondly, heating, thirdly, normalization, fourthly, cold rolling, fifthly, decarbonization annealing, sixthly, finished product annealing, and seventhly, thermal drawing annealing, wherein the surface of the silicon steel base plate is coated with the insulating costing, and the coating quantity is adjusted so that the tension range of the insulating coating can range from 6 MPa to 8 MPa. The low-noise feature oriented silicon steel is small in magnetostriction, vibration generated by an iron core made of the silicon steel is small, and therefore the overall noise level of a transformer is reduced.

The present invention relates to IR-sensitive compositions containing an initator system comprising:(a) at least one compound capable of absorbing IR radiation selected from triarylamine dyes, thiazolium dyes, indolium dyes, oxazolium dyes, cyanine dyes, polyaniline dyes, polypyrrole dyes, polythiophene dyes and phthalocyanine pigments(b) at least one compound capable of producing radicals selected from polyhaloalkyl-substituted compounds(c) at least one polycarboxylic acid represented by the following formula I wherein Y is selected from the group consisting of O, S and NR7, each of R4, R5 and R6 is independently selected from the group consisting of hydrogen, C1-C4 alkyl, aryl which is optionally substituted, —COOH and NR8CH2COOH, R7 is selected from the group consisting of hydrogen, C1-C6 alkyl, —CH2CH2OH, and C1-C5 alkyl substituted with -COOH, R8 is selected from the group consisting of —CH2COOH, —CH2OH and —(CH2)2N(CH2COOH)2 and r is 0, 1, 2 or 3 with the proviso that at least one of R4, R5, R6, R7 and R8 comprises a —COOH group or salts thereof, and(d) at least one leuco dye, wherein the following inequation is met:oxa<redb+1.6eV with oxa=oxidation potential of component (a) in eV redb=reduction potential of component (b) in eVThese compositions are inter alia extraordinarily suitable for the manufacture of printing plates.

The invention relates to a roller bending force comprehensive setting method for a five-stand four-roller cold tandem rolling mill, and belongs to the technical field of strip cold rolling. The method can improve plate shape quality of finished products and prolong the service life of a roller bending cylinder. The method is characterized by comprising the following operation steps: (a) acquiring parameters of equipment of the mill; (b) acquiring key technological parameters; (c) setting a roller bending force initial setting value X0={Swi0 i=1, 2, 3, 4 and 5}, an iteration precision epsilon, an allowable maximum roller bending force allowance difference eta 1, and the minimum roller bending allowance eta 2; (d) calculating roller bending allowance of (No.1 to No.5) stands Swi; (e) judging whether inequations that max(absolute [Swi-Swj ] i=1, 2, 3, 4 and 5; j=1, 2, 3, 4 and 5) is less than or equal to eta 1 and min(Swi i=1, 2, 3, 4 and 5) is more than or equal to eta 2 come into existence at the same time, if so, entering (f), otherwise, entering (c), and setting the initial value until the inequations are met; (f) calculating a front pull transverse distribution value of the No.5 stand sigma 15j; (g) calculating a plate shape control objective function F(x)=(max(sigma15j)-min(sigma15j) / T15; and (h) judging whether Powell conditions come into existence, otherwise, changing the setting value and repeating the steps from (c) to (g) until the Powell conditions come into existence, and obtaining the optimal roller bending comprehensive setting value.

The invention discloses an aircraft tracking control direct method with input saturation to solve the technical problem that input saturation tracking control is difficult to realize if an aircraft has uncertain parameters and external disturbance exists. The method includes the steps: firstly, establishing an aircraft model with a time-varying uncertain parameter and external disturbance, and converting a non-linear system into a linear parameter varying error system through linearization along a time-varying path; then, obtaining a convex polyhedron description form of the error system through a tensor product model transform method, and directly describing a saturation effect of a control quantity also through a convex polyhedron structure if the state of the system is restricted within some local scope; and finally, on the basis of the robustness H-infinite theory, obtaining an input saturation controller by solving linear matrix inequations with limited number, the controller accurately tracking instructions and effectively inhibiting disturbance within the system state local range. In particular, if state constraint matrixes are made to be equal to control matrixes, saturation of the controller can be prevented.

The invention, which belongs to the technical field of networked multi-agent systems, provides a packet consistent method for heterogeneous networked multi-agent systems with time-varying delays. A discrete time dynamic model of a heterogeneous networked multi-agent system with the time-varying delay is established; a state observer is constructed and state prediction is performed; a packet consistency control protocol is designed; on the basis of the designed packet consistency control protocol, compact expression forms of a packet state error equation and an estimation error equation are obtained; a state feedback matrix is obtained based on a linear matrix inequation; and then the obtained state feedback matrix is substituted into the designed packet consistency protocol to realize packet consistency of the heterogeneous networked multi-agent system with time-varying delay. Therefore, a problem that the system convergence speed is affected by using the outdated information to realize the system consistency in the existing heterogeneous networked multi-agent systems with the time-varying delay is solved. The method is suitable for the packet consistency design of the high-order heterogeneous system.

The invention discloses a barrier escaping motion planning method based on an impact degree. The method comprises the steps of 1) designing barrier escaping motion performance indices based on the impact degree so that the designed motion performance indices are subject to a Jacobian matrix equation based on the impact degree, a barrier escaping inequation based on the impact degree, joint angle limitation, joint speed limitation, joint acceleration limitation and joint impact degree limitation, and generating a quadratic form optimization redundancy analysis scheme, 2) transforming the quadratic form optimization redundancy analysis scheme generated in the step 1) into a secondary planning problem, 3) solving the secondary planning problem in the step 2) by use of a secondary planning solver, and 4) transferring the solution result of the step 3) to a lower computer controller to drive a mechanical arm to move. According to the barrier escaping motion planning method, the barrier escaping motion performance indices based on the impact degree are designed, the mechanical arm is controlled to escape a barrier at an impact degree layer, and meanwhile, the mechanical arm is capable of completing a given tail end task.

The invention provides a method for setting the LTE network in a high-speed rail environment. The LTE network comprises N base stations and antennae, wherein N is larger than 1, the base stations are distributed on the two sides of a railway in a stagger and zigzag mode, the incidence angle theta of each base station is not smaller than 10 degrees, the vertical distance D between each base station and the edge of the railway meets the inequation that S / 2*tan theta<D<S / 2, S represents station spacing, and theta is the minimum incidence angle. By the adoption of the method, through targeted network plan of the high-speed rail scene, the high-quality LTE network can be provided for an operator, adverse effects caused by various factors during high-speed running of a train are reduced, signal quality is guaranteed, and user experience is improved.

A compensation film includes a first retardation layer comprising a polymer having negative birefringence, and a second retardation layer comprising a polymer having negative birefringence, where the first retardation layer has an in-plane retardation (Re1) in a range of about 180 nanometers to about 300 nanometers for incident light having a wavelength of about 550 nanometers, the second retardation layer has an in-plane retardation (Re2) in a range of about 60 nanometers to about 170 nanometers for the incident light having the wavelength of about 550 nanometers, and the entire in-plane retardation (Re0) of the first retardation layer and the second retardation layer for incident light having wavelengths of about 450 nanometers and about 550 nanometers satisfies the following inequation: Re0(450 nm)<Re0(550 nm).

The embodiments of the invention provide a multi-user code superposition-based code matrix determining method and device. With the method and device adopted, the problem of little possibility of multi-user detection performance improvement which is caused by a situation that code modes corresponding to multiple users have an equal diversity degree can be solved. The method includes the following steps that: a network device determines the number M of user devices which actually multiplex N transmission resources, wherein N and M satisfy the inequation that N+1<=M<=2<N>-1; the network device determines a second code matrix which is formed by code superposition and indicates that M user devices perform multiplexing on the N transmission resources according to a configured first code matrix which is formed by code superposition which indicates 2<N>-1 user devices perform multiplexing on the N transmission resources, wherein each column in the first code matrix is corresponding to a different code mode, and at least two columns in the first code matrix have unequal diversity degrees, and at least two columns in the second code matrix have unequal diversity degrees.

The invention relates to an anti-freezing control method and system for failure of a four-way valve of a heat pump water heater. The method includes the following steps that firstly, whether the current water temperature T of the lower middle portion of a water tank is lower than the minimum temperature Tmin of the water tank in use or not is judged, if yes, the second step is executed; and if not, the first step is executed in a cycle manner; secondly, whether the descent speed Td of the current water temperature T is larger than or equal to the preset speed delta T or not is judged; or whether the current water temperature T satisfies the inequation of T<Tmin-a and is kept for the first time t1 or not is judged, wherein the a is the temperature difference limit value; if any judgment result is yes, the third step is executed, and if not, the first step is executed; and thirdly, a heat pump system is stopped and an electricity auxiliary heating system is started. By judging whether the descent speed Td of the current water temperature T is larger than or equal to the preset speed delta T or judging whether the current water temperature T satisfies the inequation of T<Tmin=a and is kept for the first time t1 or not, whether the four-way valve of the heat pump water heater fails or not can be judged precisely, and the error judgment situation is avoided.

The invention provides an elastoplastic constitutive model of steel fiber reinforced concrete considering fiber slippage. The elastoplastic constitutive model of the steel fiber reinforced concrete is characterized in that the model is as shown in the following formula. According to the elastoplastic constitutive model of the steel fiber reinforced concrete considering fiber slippage disclosed by the invention, composite material mixing theories are used, and steel fiber and matrix concrete constitutive equations are respectively obtained based on a thermodynamic dissipation inequation. Matrix concrete is the elastoplastic constitutive model, and steel fibers are one-dimensional elastic constitutive models considering fiber interface slippage. The plasticity of the matrix concrete adopts Hsieh-Ting-Chen four-parameter yield criteria and Drucker-Prager classic plastic flow rules, and plastic hardening / softening criteria adopt a modified Guo Zhenhai model. The parameters of the steel fiber one-dimensional elastic constitutive model considering an interface are determined through a steel fiber pullout test. The parameters of the concrete elastoplastic constitutive model can be calibrated by uniaxial and true three-axial compression tests. The model considers a steel fiber slip mechanism in the meso-scale, and combines elastic constitutive structures of the ordinary concrete and the steel fibers to construct the elastoplastic constitutive model of the steel fiber reinforced concrete, thereby being simple and feasible, and having important promoting significance to basic theoretical research of the fiber reinforced concrete.

The invention discloses an optimal input-saturation-resistant control method based on sliding-mode control for a quadrotor aircraft. A sliding-mode control method is provided by combining the optimal control since actuator saturation exists in the quadrotor aircraft. On the premise of ensuring that a referred performance index function J achieves an optimum value, system sliding-mode surface parameters and switching time are obtained through calculation, a corresponding sliding-mode surface and sliding-mode control law are designed through comparing the switching time, thereby the optimal controller is formed. The optimal input-saturation-resistant control method simplifies the design steps of the controller by solving an inequation, allows the referred control law to be the optimal control under the condition of actuator input saturation according to the performance index function J, effectively increases control precision and response speed of the quadrotor aircraft, and can provide controller design basis for the quadrotor aircraft with actuator input saturation. The optimal input-saturation-resistant control method is used for input-saturation-resistant control of the quadrotor aircraft with parameter uncertainties and external disturbance.

The present application relates to the field of batteries, and in particular, to a current collector and a pole piece thereof, and an electrochemical device. The current collector comprises an insulating layer and a conductive layer, wherein the conductive layer is positioned on at least one surface of the insulating layer, the thickness of the conductive layer is D2, and D2 satisfies the following inequation: 30nm<=D2<=3 [mu]m; the current collector is internally provided with a plurality of holes penetrating the insulating layer and the conductive layer. The current collector can improve the short-circuit resistance of the battery in the case of short circuit under the abnormal condition, so that the short-circuit current is greatly reduced, the short-circuit heat production is greatly reduced, and the safety performance of the battery is improved; the plurality of holes arranged in the current collector can facilitate pass of the electrolyte, can reduce the polarization of the pole plate and the battery and can improve the electrochemical performance of the battery; and moreover, the holes arranged in the current collector can further reduce the weight of the current collector and can improve the weight energy density of the battery.

The present invention relates to a method for monitoring combustion stability of an internal combustion engine equipped with a crankshaft, an intake manifold and at least one cylinder, including the following steps: determining the absolute deviation e of indicated mean effective pressure pind or indicated torque Tind with respect to their actual set point, i.e., with respect to actual indicated mean effective pressure set point pind,setpt or actual indicated torque set point Tind,setpt, namely Δpind or ΔTind, or alternatively determining the relative change Δe in said deviation between two consecutive combustion cycles k, k+1 of said at least one cylinder, i.e., determining (Δpind,k+1−pind,k) or (ΔTind,k+1−ΔTind,k) or determining the relative change Δe in angular acceleration ω′ of the crankshaft between two consecutive combustion cycles k, k+1, i.e., (Δω′k+1−Δω′k), and comparing said determinated deviation e or said change Δe with a predetermined engine operating point dependent threshold ethreshold or Δethreshold in order to decide if the combustion is stable or not by means of the following inequalities: |e|>ethreshold or |Δe|>Δethreshold means combustion is not stable, |e|≦ethreshold or |Δe|≦Δethreshold means combustion is stable. The method is preferably applied to homogeneous charge combustion ignition engines (HCCI).

The invention relates to a method for obtaining a microearthquake wave velocity based on a space geometry relationship. The method comprises the following steps: constructing an inequation of microearthquake equivalent wave velocity V according to the space geometry relationship of an earthquake focus point and a base station, constructing a regularly changing time difference fitness function shaped like a quadratic function with an upward opening, proposing a monotonous unidirectional searching algorithm, and resolving an optimum wave velocity. The method perfectly solves the problem that a velocity model in microearthquake positioning is inaccurate or non-unique, and does not need any prior engineering experience; the microearthquake wave velocity can be quickly and precisely solved according to the observation data of sensors for microearthquake arrival time, so that the positional accuracy of a microearthquake positioning algorithm in a later period is guaranteed, the rate of convergence and the stability of the algorithm are improved, and the method has an extremely high practical engineering application value.

The invention relates to a temperature control method for detachable air-conditioning equipment, which comprises the following steps of: establishing an air-conditioning system model and a heat absorption model of each evaporator to obtain a system state equation, decomposing the equation by combining the optimum algorithm with Schur to obtain a linear matrix inequation, and operating to obtain the optimal gain of a controller; inputting each indoor temperature and a set value thereof, and each evaporator temperature and superheat degree thereof to the controller, so that the controller performs computation according to the optimum gain, the air conditioning system model and the heat absorption model of each evaporator to obtain the rotate speed of a compressor, the rotate speed of an outdoor fan, the opening of each expansion valve and the rotate speed of each indoor fan so as to control the rotate speed of the compressor, the rotate speed of the outdoor fan, the opening of each expansion valve and the rotate speed of each indoor fan of the detachable air-conditioning equipment; and connecting the output end of the controller to each evaporator to feed back the temperature and the superheat degree of each evaporator and the indoor temperature to the controller, so that the controller controls the indoor temperature in real time.

The invention discloses a grounding electrode wire fault monitoring method based on high frequency current injection. The method comprises the steps of: injecting high frequency current signals to a head end of a grounding electrode wire, wherein the frequency of the high frequency current signals meets an inequation shown in the specification, lT is the length of the grounding electrode wire, fin is the frequency of the high frequency current signals, L1 is the inductance of per unit length of the grounding electrode wire, and C1 is the capacitance of per unit length of the grounding electrode wire; measuring co-frequency voltage signals of the head end of the grounding electrode wire while injecting the high frequency current signals; according to the fact that the module value of grounding electrode wire measuring impedance is equal to the ratio of the amplitude of the co-frequency voltage signals to the amplitude of the high frequency current signals, obtaining the module value of grounding electrode wire measuring impedance; and if the module value of grounding electrode wire measuring impedance is smaller than a setting value, determining that the grounding electrode wire has a fault. According to the invention, the frequency selection range of the injected high frequency current signals is given, and in the range, the law that the grounding electrode wire measuring impedance is monotonously increased with the increasing of the fault distance is ensured.

The invention relates to a base matrix, a encoder / decoder of Low Density Parity Check (LDPC) codes and a generation method thereof. The encoder / decoder is determined uniquely by the parity check matrix of the LDPC codes. With different code sizes, said parity check matrix can be obtained by expanding different base matrixes, and also can be obtained by expanding a unique base matrix after correction. Elements of said base matrix must meet an inequation in which the girth value is up to the standard, e.g. when girth≧6, for any element i, j, k, l in the matrix which forms the short loop having a length of 4 in anticlockwise, there are always mod(i−j+k−l, z) unequal to 0. By this invention, the girth of the constructed base matrix is made as large as possible, the amount of the shortest loops is as few as possible when it is the same girth, thus the curve of bit error ratio (BER) is dropped quickly, the error floor of the LDPC codes is eliminated effectively, and the optimal performance of the LDPC codes is obtained.

A method for preparing an anisotropy nano-crystalline neodymium-iron-boron magnet comprises the steps that (1) complete hydrogen disproportionate or partial hydrogen disproportionate Nd-Fe-B magnetic powder is prepared; (2) a pressed blank is prepared, the complete hydrogen disproportionate Nd-Fe-B magnetic powder or the partial hydrogen disproportionate Nd-Fe-B magnetic powder prepared in the step (1) is placed in a mold, under the inert gas shielding, pressing is conducted on the magnetic powder at the indoor temperature, and when the pressure intensity received by the magnetic powder is increased to 100MPa-600MPa from 0MPa, pressing is stopped; (3) hot-pressing deformation and dehydrogenation recombination are conducted, so that the temperature of the pressed blank is increased to 680 DEG C-850 DEG C under the vacuum condition, under the conditions that the temperature is 680 DEG C-850 DEG C and the hydrogen partial pressure PH2 satisfies the inequation that 0Pa<PH2<= 1kPa, constant pressure is exerted on the Nd-Fe-B pressed blank so that hot-pressing deformation and dehydrogenation recombination can be conducted, the pressure intensity value is limited in the range that the pressure intensity borne by the Nd-Fe-B hydrogen disproportionate pressed blank in the process of hot-pressing deformation and dehydrogenation ranges from 30MPa to 1.5MPa, and the temperature preservation and pressure preservation time lasts for 5min-120min. The method for preparing the anisotropy nano-crystalline neodymium-iron-boron magnet can improve the performance of the anisotropy nano-crystalline neodymium-iron-boron magnet and reduce energy consumption.

The invention discloses a control method and device for the outlet air temperature of an air conditioner indoor unit. The method comprises the first step of receiving a current heat exchanger temperature T2 (n) detected by a temperature sensor arranged in an indoor heat exchanger, and judging whether the absolute value of the difference value between T2 (n) and a heat exchanger temperature T2 (n-1) detected last time is smaller than a preset difference value extreme value D or not, the second step of judging whether T2 (n) is within a preset temperature interval corresponding to an air volume stable region when the inequation |T2 (n)-T2 (n-1)|<D is satisfied, the third step of adjusting the outlet air volume of an air conditioner correspondingly according to the temperature interval corresponding to an air volume adjustment region where T2 (n) is located when T2 (n) is not within the temperature interval corresponding to the air volume stable region. By means of the method, a high outlet air temperature is reached quickly and kept constant, fluctuation of the indoor temperature and the outlet air temperature is reduced, the defect that the outlet air temperature of the air conditioner is low due to a low outdoor temperature is overcome, and the comfort level of users using the air conditioner is improved.

The invention discloses a three-dimensional image coding method based on a three-dimensional self-organized mapping. The three-dimensional image coding method comprises the following steps: processing left and right images by a 3D SOM algorithm to obtain an optimal quantified code book; taking the left image as an input vector to carry out quantified coding; obtaining a quantification error by the left image and the quantified code vector; carrying out DCT conversion, quantification and Huffman coding; and reconstructing the right image by the reconstructed left image, a parallax error estimation error and a parallax error vector through a decoding end so as to realize effective coding of the three-dimensional images. According to the three-dimensional image coding method, a distance inequation is quoted to be used as judgment evidence and a frequency sensitive factor is also quoted; the three-dimensional self-organized mapping algorithm is improved so that the distortion measurement calculation complexity is reduced and the code book performance is improved; and the improved three-dimensional self-organized mapping algorithm is applied to three-dimensional image coding so that the coding frequency of the left image is effectively improved and the square effect of the reconstructed right image is reduced.

The invention discloses a robust wave beam molding method based on a distributed bidirectional relay system. The system consists of two user nodes and a plurality of bidirectional relay nodes distributed at different positions, wherein all nodes are respectively provided with a single antenna. Two users complete information exchange within two time intervals through a relay, which is shown in an attached map. Considering that a relay node is a non-ideal signal channel, the invention proposes a robust wave beam molding optimization scheme which takes the maximization of the expectation weight and mean square error of a received signal as the objective, takes the mean transmission total power of all relay nodes as the constraint. Because an objective function in an optimization problem has no precise analysis mode, the method solves the lower limit of the objective function through the approximation in a large signal to noise ratio section and a Jensen inequation, and obtains the approximate expression of the lower limit through a one-order Taylor series expansion, and enables a non-convex optimization problem to be gradually changed into a convex problem which is easy to solve. Finally, the method obtains the closed-form solution of a robust wave beam vector through matrix substitution and decomposition.

The invention relates to an efficient video coding zero-coefficient early detection method. The method includes the steps that firstly, a quantization parameter Qp, a two-dimensional DCT transformation matrix C, a residual matrix Re and the size N of a TU block are set; secondly, a zero block detection threshold value is worked out according to the Qp, the C, the Re and the N; thirdly, a detection parameter SAD corresponding to the TU block with the size of N is worked out; fourthly, for the TU block with the size of N, whether the SAD meets the inequation SAD<Th0 or not is judged, if yes, it is determined that the TU block is an all-zero block and the third step is executed again, and otherwise the fifth step is executed; fifthly, whether the SAD can meet the inequation SAD<Thj, j=1,2,...,N-1 or not is judged, if yes, a final quantization block from Z(0,0) to Z(j-1,j-1) with the size of j*j is subjected to DCT, quantization, inverse quantization and inverse DCT operation and the third step is executed again, and otherwise the total TU block is subjected to DCT, quantization, inverse quantization and inverse DCT operation and the third step is executed again. Compared with the prior art, the efficient video coding zero-coefficient early detection method has the advantages of being capable of improving video coding speed and reducing coding calculation complexity, high in detection efficiency and the like.

The invention discloses an automobile high-frequency noise prediction method based on a correlation interval uncertainty theory. The method comprises the following steps: selecting geometric and material parameters with poor consistency in engineering as interval uncertain parameters on the basis of establishing a whole vehicle statistical energy model and carrying out acoustic package definitionand model benchmarking, and describing a relation between the uncertain parameters through a linear constraint inequation; calculating the local sensitivity of the noise in the vehicle to each uncertain parameter, reordering the uncertain parameters according to the magnitude of the sensitivity, and substituting the sensitivity into an inequality equation to obtain an ordered uncertain parameter vector and an uncertain parameter correction perturbation interval; and carrying out first-order Taylor series expansion on the noise in the vehicle and bringing the noise into an uncertain parameter center value and a correction perturbation interval to obtain a distribution boundary of the high-frequency noise in the vehicle. The correlation interval uncertainty theory is put forward for the first time, the relation between uncertain parameters is described through the linear inequation, and the method has important value in science and engineering.

The invention relates to a redundant manipulator acceleration layer multi-objective programming method which comprises the steps of respectively designing an optimal performance index and inequation data of an acceleration layer; combining a programming task of a terminal of a manipulator and physical limits of joints of the manipulator, and building an acceleration layer multi-objective programming scheme, wherein the scheme is restrained by an acceleration layer jacobian matrix equation, a manipulator kinetic equation, an obstacle avoidance inequation, a joint angle limit, a joint speed limit, a joint acceleration limit and a joint torque limit; transforming the multi-objective programming scheme into a standard quadratic form optimization problem, and adopting a numerical algorithm forsolving the problem; using a lower computer controller for driving the various joints of the manipulator to fulfil a given terminal programming task according to a solving result of the algorithm. According to the acceleration layer multi-objective programming scheme designed by the invention, under the circumstances that the joints of the manipulator are restricted and obstacles exist, the giventerminal programing task can be fulfilled, and the aim of repetitively moving is achieved.