305 results about "Massive gravity" patented technology

An electrostatic chuck device including: a plurality of adsorption areas having an electrode generating electrostatic attractive force; and a control portion controlling the electrostatic attractive force against each of the plurality of the adsorption areas independently of other adsorption areas.

The invention discloses an automatic generation method used for a single line diagram of a distribution network and based on topological hierarchy. The method comprises the following steps: deleting related equipment in a topological structure of the distribution network, and simplifying the topological structure of the distribution network; acquiring key nodes of the topological structure of the distribution network, and generating a main framework of the topological structure of the distribution network; arranging the positions of the key nodes based on a gravitation-repulsion model, and obtaining a skeletal structure based on the gravitation-repulsion; describing the topological structure of the distribution network through an outgoing line-trunk line-T-shaped key node-branch line model of a power station; finishing the arrangement and the automatic mapping of the equipment in the power station on the basis of the topological structure of the equipment in the power station; and performing routing mapping without overlap or intersection on decibels of the trunk line and the branch line respectively. The automatic generation method achieves automatic generation of the single line diagram of the distribution network above a certain scale, and simultaneously, the generated single line diagram is clearer and more attractive through the routing algorithm without overlap or intersection.

The present invention relates to the field of battery and capacitor charging. In particular, the present invention provides pulsed current charging using changes, regardless of polarity, in the local energy environment to obtain power. The present invention relates, for example, to ambient energy charging thin film batteries, other batteries, or capacitors, via, for example, polyvinyladine fluoride homopolymer (PVDF), PVDF bi-axially poled, or other piezoelectric materials. Ambient energy may be defined as any change in energy within the local environment. Charging can be accomplished with, and is not limited to, positive or negative changes of the following energy types: thermal; visible light, including infrared and ultraviolet; mechanical motion or impact; triboelectric, including airflow or physical contact; movement in relation to a gravitational plane (increase or decrease in gravitational potential energy); and radio frequency (RF) electromagnetic energy, regardless of specific frequency.

The invention discloses a multi-robot formation method, belonging to the field of intelligent control. The method comprises the following steps of: controlling the whole formation motion trail by the leader motion trail, firstly, determining a kinematics model of the leader, and determining the direction of the motion of the leader according to a resultant force of a repulsive force and a gravitational force; creating a motion model of following the leader by the follower, following the leader by the follower according to certain distance and angle, and determining the motion trail of the follower according to a motion model created by the artificial potential field; introducing an AdHoc between the leader and the follower, creating information feedback, and ensuring that no loss occurs in the process of following the leader by the follower. With the method provided by the invention, a multi-robot system can successfully avoid obstacles in the process of finishing tasks to reach a target point, and also can keep initial order in the whole process, implement real-time order control on multiple robots and be more suitable for some occasions where multiple robots are needed for finishing tasks (such as transporting, rescuing and the like) synchronously.

The invention provides an underwater releaser, consisting of an electromotion part, a trigger mechanism, an energy storage mechanism, a speed reduction mechanism, a bidirectional overflow mechanism, a dynamic sealing transmission mechanism and a releasing arm, wherein the electromotion part is positioned inside a pressure-resistant cabin; a lower bottom plate of the pressure-resistant cabin is connected with an isolating cabin so as to jointly form a seawater isolating cabin segment in a circle; the seawater isolating cabin segment is provided with the bidirectional overflow mechanism; and the trigger mechanism, the energy storage mechanism and the speed reduction mechanism are all arranged inside the seawater isolating cabin segment. The underwater releaser adopts the design of combining two blocks of U-shaped magnetic steel, ensuring that the maximum trigger power is close to the scalar sum of the gravitational force and repulsive force between the U-shaped magnetic steel; by using a plane volute spring to store energy and using a gear set to reduce speed, the underwater releaser can provide great releasing power; a seawater isolating cabin is built through the bidirectional overflow design, which avoids seawater impact and the adverse effect of marine organisms; through a rotary unhooking mechanism, the releaser can have greater bearing capacity. The underwater releaser is not only better in watertight reliability, but also can work underwater for a long period of time without replacing components.

The invention discloses an attached mechanism of a small star lander, which relates to the attached mechanism of a lander, and aims to solve the problems that the lander safely lands on the surface of a small star and the land is easy to float away due to the small gravitation of the surface of the small star. One or two anchor positioning systems are arranged on the star-shaped bracket rod pieces of a triangular space truss type bracket; a universal joint mechanism is arranged on a landing mechanism; an executive tail end of the universal joint mechanism is connected with the buffer rod of ahydraulic buffer of a buffer mechanism; the sliding barrel of the buffer mechanism is inserted into an apparatus platform; the anchor positioning system is electrically connected with the pin socket of an electrical interface through a motor control wire; the signal detecting sleeve of the boosting mechanism of the anchor positioning system is electrically connected with the pin socket of the electrical interface by a feedback signal wire; the pin socket of the electrical interface is electrically connected with an electrical system and a control system by the plug wires of signal wires; and the motors of the motor driving mechanism of the universal joint mechanism and corresponding sensors are electrically connected with the electrical system and the control system by the plug wires of the signal wires. The attached mechanism of the small star lander is applied to lander detecting activities.

The invention relates to a robot path planning algorithm based on an optimized ant colony algorithm. The algorithm comprises the following steps: S1, initializing an inspiring factor to construct thecomprehensive inspiring information for the movement of the robot according to a target gravitation generated by an artificial potential field and an ant colony algorithm; S2, updating pheromone in the art colony algorithm by adopting a wolves distribution rule; and S3, optimizing a planned path by utilizing a path optimization algorithm. By adopting the robot path planning algorithm, an optimum path can be rapidly and efficiently planned.

The present invention provides a multi-unmanned aerial vehicle cooperation sequential coupling task distribution method of a mixing gravitation search algorithm, and relates to the unmanned aerial vehicle cooperation task distribution field. The method comprises: a multi-unmanned aerial vehicle cooperation task distribution model is constructed in the time coupling constraint, a fitness function and a task constraint are obtained, in the gravitation search algorithm based on genetic operators, the individual discretization coding and the population are initialized, the individual is decoded, and the fitness function is employed to calculate the fitness and perform individual update. Because the genetic operators are added in the gravitation search algorithm, the multi-unmanned aerial vehicle cooperation sequential coupling task distribution method of the mixing gravitation search algorithm has good general applicability, the number of times of long-term simulation tests and data statistics constructs a more improved database to allow the model to be more improved; and compared to the discrete particle swarm algorithm, the mixing gravitation search algorithm can be rapidly converged, the searching optimization result is optimal, the iteration process is brief, and the convergence speed is fast.

The invention relates to the field of information visualization, in particular to a visualization layout method capable of reflecting a complicated network association structure. According to the method, association gravitation is added to each node on the basis of a force-directed layout algorithm, so that the nodes of the same association are gathered together to the central position of the association; by virtue of the introduction of a k-means algorithm into the association gravitation, layout is achieved, and meanwhile, the nodes can be clustered. In order to prevent and reduce overlap, the magnitude of the association gravitation is controlled by virtue of the introduction of association gravitation coefficients. The method is capable of showing the complicated network association structure and has the characteristics of simplicity, easiness in implementation, high convergence speed and the like.

The invention provides an inertial system spacecraft attitude control / angular momentum management method including four steps. The invention aims to solve the problems of control moment gyro angular momentum accumulation caused by gravitation gradient moment and other interference moments in an inertial system, the gravitation gradient moment is adopted to balance the gestures, and a space station angular momentum management controller based on pole assignment is designed. A space station linear model is established under the inertial system, the infeasibility of the inertial system angular momentum management in the pitch axis direction is analyzed, the pitch axis is decoupled from a rolling / yaw axis, and the CMG angular momentum in the pitch axis direction is not restrained, constant disturbance, disturbance being one-time of the track frequency, and disturbance being twice of the track frequency are brought into a state equation to suppress the influence to the pitch axis gestures, and a linear quadratic algorithm based on pole assignment is adopted to solve a feedback gain matrix. The algorithm prevents the selection of cost matrix Q, and based on the requirement of the system performance, the closed-loop poles can be configured to a specified area at the left side of a complex plane imaginary axis, and at the end, the feasibility of the algorithm is verified by the simulation results.

The invention discloses a multi-objective optimization method based on an improved gravitation search algorithm. According to the algorithm, a memory strategy is introduced into a universal gravitation search algorithm, so that particle swarm information and information of previous generations and next generations of particles are shared, the global search capability and the local search capability of the particles are balanced, and the premature convergence problem is solved. On this basis, a diversity enhancement mechanism is introduced into the algorithm, namely, particle speed and position are controlled each iteration, so that the diversity loss is relieved, the particle diversity is improved, and diversity and distributivity of non-dominated solution sets are enhanced. Therefore, by means of the multi-objective optimization method based on the improved gravitation search algorithm, the phenomenon that multi-objective optimization is caught in a local extremum can be effectively avoided, and convergence, diversity and distributivity of non-dominated solutions are remarkably improved when the gravitation search algorithm is applied to the field of multi-objective optimization.

The invention discloses a method for designing a bias orbit of a spacecraft in a halo orbit in a sun-earth three-body gravitational field. The invention proposes a semi-analytic-solution-based orbit design method for a task demand of thrusting the spacecraft in the halo orbit to a heliocentric grave orbit by adopting a small thrust force in the sun-earth three-body gravitational field. According to the method, the calculation amount can be greatly reduced while the orbit precision is ensured. In addition, the invention proposes a method for realizing orbit maneuvering by adopting a minute continuous thrust system which mixes a variable reflectivity solar sail with electric propulsion. The method for realizing the orbit maneuvering by a mixed thrust force is capable of greatly reducing fuel consumption. The purpose of orbit maneuvering with minimum fuel consumption is achieved through optimization design of a posture angle of the solar sail. Compared with a conventional pulse bias orbit design method, the method proposed by the invention has the advantages that the calculation time can be shortened to a great extent on the premise of ensuring the solving precision.

Disclosed is a spatial gravity model based fuzzy c-means remote sensing image automatic classification method which is suitable for automatic segmentation and classification of remote sensing images, medical images and other image. The spatial gravity model based fuzzy c-means remote sensing image automatic classification method comprises the steps of determining the number of pixels of a remote sensing digital image and performing clustering on the image through a standard FCM (Fuzzy C-Means) model to obtain an initial fuzzy membership matrix and clustering center; solving the spatial gravity and spatial constraint penalty factors between every pixel and other pixels in neighborhood windows of the pixel in turn to obtain a fuzzy factor as the formula finally; adding the fuzzy factor as the formula to the standard FCM model to obtain a new clustering objective function; solving the fuzzy matrix as the formula and the clustering center as the formula in a circulating mode until the clustering center does not continue to be changed any longer or the operation reaches the maximum number of iterations; performing class marking on every pixel point of the remote sensing image through the maximum membership matrix criterion according to the finally solved fuzzy membership matrix as the formula to determine the class of every pixel to form a remote sensing image classification thematic map so as to implement the automatic classification of remote sensing digital images. The spatial gravity model based fuzzy c-means remote sensing image automatic classification method is simple, high in automation degree, small affected by image noise and high in image segmentation classification accuracy.

The invention relates to a load power consumption mode identification method. The load power consumption mode identification method includes the steps: acquiring the electrical load at a sampling time interval T, and obtaining L daily load curves corresponding to L days of time; performing spatial clustering based on density on the obtained daily load curves, and obtaining a classical load power consumption mode; extracting characteristics describing the power consumption behavior of a user in different time scale; and utilizing a gravitation search algorithm to cluster the obtained power consumption characteristics of the user; repeating clustering, utilizing a cluster evaluation index to evaluate the clustering result, and selecting the optimal clustering result, that is, the identification result of the load power consumption mode. The gravitation search algorithm used by the load power consumption mode identification method has high searching capability and high convergence speed, and is not easy to fall into local optimal solution, and is better than a traditional clustering algorithm on the identification effect, so that identification of the load power consumption mode can be effectively realized and powerful guidance for design of the demand side response scheme, analysis of load characteristics and high-accuracy prediction can be provided.

The invention provides a manufacturing method for a fiberboard with an electromagnetic shielding function. The manufacturing method comprises the following technical steps: timber chipping, screening, steaming, fiber separating, adhesive preparing and applying, dry separating, mat forming, pre-pressing, hot pressing, reversing cooling, sanding, detecting, storing and packaging. The manufacturing method for the fiberboard with the electromagnetic shielding function is characterized in that an environmental-friendly series of timber adhesives are applied in the adhesive preparing and applying step; a composite conducting filler is applied in the drying separating step, and is subjected to application measurement by a device at a position with 1.0-1.2 m distance between the front part of a drying pipeline discharging fan and a fan, so that the conducting filler is sucked and uniformly distributed into a fiber bin under the action of an attractive force negative pressure of the fan. By aims at the bottleneck problems in the prior art, an industrial manufacturing method for the fiberboard with the electromagnetic shielding function is provided, and the influence of electromagnetic radiation on the human lives and environments is reduced.

The invention relates to an automatic power distribution network single line diagram drawing method based on an improved gravitation repulsion model and belongs to the technical field of electric power system dispatching automation. According to the method, firstly, all devices and connection relations which belong to one feeder line are read from a power grid public information model; all the read devices are abstracted into nodes, the connection relations between the devices are abstracted into lines, and a foundation network structure chart is completed; then, the device nodes are replaced with 8-node rectangular frames, and layout adjustment is performed on the structure chart by using the improved gravitation repulsion model; a final layout is generated through orthogonalization, intersection removal and connecting line contraction; finally, information including node positions, device types, device names and electrical attributes of the devices in the final layout are output to a single line diagram file, device diagrams replace the 8-node rectangular frames, and drawing of a power distribution network single line diagram is completed. The single line diagram drawn with the method has attractive and compact layout and lines do not intersect and overlap.

The invention provides a method for monitoring the state of a gearbox of a wind power generation set. The method includes the following steps of: collecting historical data of a wind power generation set SCADA system, screening out the active power, wind speed, cabin temperature, principle shaft rotation speed and gearbox oil temperature of the set under the healthy operation condition, and establishing a standard expert database; optimizing the penalty coefficient and the nuclear parameter of a least squares support vector regression machine by using a gravitational search algorithm, and establishing a gearbox oil temperature mapping model under the healthy operation condition by taking the active power, wind speed, cabin temperature, principle shaft rotation speed in the expert database as inputs and the gearbox oil temperature as an output and based on the optimized vector machine model; monitoring the gearbox of the wind power generation set in real time by using the mapping model, inputting the actually measured values of the active power, wind speed, cabin temperature and principle shaft rotation speed to obtain the predicted value of the gearbox oil temperature, defining the quotient of the predicted value of the oil temperature and the actually measured value as a judging index, and judging that a failure occurs in the gearbox of the wind power generation set and giving an alarm, if the statistical property of the judging index is abnormal. The method can be widely applied to early warning of the gearbox of the wind power generation set.

The invention discloses a method for navigation positioning by using a gravitation vector and gradient tensor. The method comprises the following steps: firstly, establishing a background field three-dimensional information databank of a target area according to beforehand observation, wherein basic elements comprise position coordinates of different points, gravitation vector invariants and gravitation gradient tensor invariants, subsequently observing and calculating according to the gravitation and the gravitation gradient in real time so as to obtain three invariants, judging whether navigation positioning can be performed directly or not by judging whether a resolving matrix is of full rank, if navigation positioning can be performed directly, performing iterative computation to obtain the position of a point to be positioned according to a least squares algorithm, if navigation positioning cannot be performed directly, performing matching search with the combination of an inertial navigation positioning technique, and performing iterative search for multiple times so as to obtain the position of the point to be positioned. The method has the outstanding characteristics that the gravitation vector invariants and gravitation gradient tensor invariants are adopted, and not only is contribution of all components of gravitation field information considered, but also the components are not related to the posture, so that compared with a conventional algorithm, the method can greatly reduce the influence of posture errors.

The invention provides a trajectory boosting segment state deviation parsing and calculating method under the action of disturbance gravitation. In particular, a ballistic missile serves as a research object, and the problem of rapidly working out the ballistic missile boosting segment state deviation is solved. The method includes the specific steps that firstly, a standard trajectory is designed and generated according to a launch mission; secondly, the state deviation of each point of the boosting segment is worked out through a state deviation parsing method induced by the perturbation thought; then, the apparent acceleration deviation of the corresponding point is calculated based on the state deviation of each point of the boosting trajectory, the deviation is regarded as a high-order item of disturbance gravitation, and meanwhile compensation is conducted; finally, the state deviation result is amended through a Newton iteration method. By means of the method, fast calculation of the state deviation of the boosting segment of any flight trajectory can be achieved, the calculation accuracy can meet the requirement for trajectory calculation, the calculation method is far superior to that of an existing method, and a foundation is laid for achieving fast mobile lunching of the trajectory.

The invention discloses a wind speed section prediction method and system based on an artificial neural network, and the method and system are used for the short-time wind speed prediction of a wind field. The method comprises the steps: decomposing an initial complex time sequence into a plurality of time sequences in a simple structure through VMD (variational mode decomposition); carrying out the feature selection through GSO (Gram-Schmidt orthogonal); taking a processed wind speed sequence as the input of the ANN (artificial neural network), wherein the output of the ANN is the upper and lower bounds of wind speed at a future moment; finally training the weight and bias of the ANN through an MOGSA (Multi objective gravitational search algorithm), taking two contradictory indexes (coverage rate and section width) as an optimization target, and obtaining an optimal scheme set. The wind speed section predicted through the method has a higher coverage rate for the actual wind speed section, and is small in section width. The above combined model enables the prediction accuracy to be improved to a very high level.

A band spring including fiber composite material and extending in an undulating way, wherein a spring band can be provided to meander in the form of one single wave train composed of reversal regions and intermediate portions around a longitudinal center line L which can substantially correspond to the direction of force introduction K, and wherein, there can be provided an increased resistance moment of the spring band in the reversal regions of the wave train.

The invention discloses a planet landing motion simulation system and method based on an air-floating platform, wherein the system comprises of a three degree-of-freedom air flotation supporting subsystem, a single degree-of-freedom air flotation supporting subsystem, a motion assisting subsystem, an air flotation system main platform, a thrust executing subsystem, a pose measurement subsystem and a controller. According to the invention, the three degree-of-freedom air flotation supporting subsystem, the single degree-of-freedom air flotation supporting subsystem, the air flotation system main platform and the thrust executing subsystem are used for simulating the motion of a spacecraft in space, a force applying device with a given original state is used for driving the spacecraft to reach an original operation state, a gravitation simulating applied force device is used for simulating gravitation between the spacecraft and a planet. By using the planet landing motion simulation system and method, a complex deep-space environment can be simulated, full physical simulation of the planet landing motion is realized, the cost-effectiveness of an aircraft is improved, the risk is reduced, the development cycle is shortened, and the planet landing motion simulation system and method have significant meanings on deep space exploration, planet landing research and the like.

An autonomous astronomical navigation method of a spark detector based on an improved MMUPF filtering method relates to an autonomous navigation method of a spark detector. The method comprises the following steps: accurately modeling a deep space detector positioned on a transfer orbit; then measuring with starlight angular distances as quantities; and finally, carrying out optimal estimation ofnavigation parameters by adopting the improved MMUPF filtering method, thereby solving the problem that the planet gravitation size and an orbit dynamics model are changed continuously when the distances are different, and obviously improving the navigation precision. The autonomous astronomical navigation method can be used for determining the navigation parameters of the spark detector or a planet detector positioned on the transfer orbit.

The invention relates to an active control method for an adhesion motion on a small celestial body surface, and belongs to the field of aerospace and aviation. An object of the invention is to solve the problem that a traditional small celestial body surface detector cannot achieve a fixed-point movement. In the method, an initial state of a detector is that the detector is attached to the small celestial body surface, and the detector moves to a target point in a bouncing manner. A plurality of intermediate path points are disposed between an initial point and the target point, and a guidance algorithm is designed, so the detector finally arrives at the target point along the intermediate path points. An actual flight trajectory of the detector deviates from a nominal trajectory due to an influence of an irregular weak attractive force, so, in a free flight process, a trajectory correction speed pulse [delta]v is applied, and then the detector can finally arrives at the target point along the intermediate path points. A reverse speed pulse is finally applied so that the detector stays at the target point and then a science investigation task is completed. Fixed-point detection of the detector on the small celestial body surface can be achieved, the complexity of configuration design is reduced, an execution mechanism does not need to be specially designed, and drive can be completed only by utilizing a pulse engine.

The invention discloses a tracking method and system of time-varying formation of unmanned aerial vehicles. The tracking method includes steps: obtaining a communication topology relation of formationof the unmanned aerial vehicles; obtaining speed data and position data of a followed unmanned aerial vehicle of a current moment; obtaining speed data and position data of a following unmanned aerial vehicle of the current moment; obtaining a communication distance threshold and a safety distance threshold of formation of the unmanned aerial vehicle; determining an attraction and a repulsion between the following unmanned aerial vehicle and the followed unmanned aerial vehicle according to the position data of the followed unmanned aerial vehicle and the position data of the following unmanned aerial vehicle at the current moment, the communication distance threshold and the safety distance threshold; determining acceleration data of the following unmanned aerial vehicle at a next moment; and adjusting the motion state of the following unmanned aerial vehicle following the followed unmanned aerial vehicle at the next moment according to the acceleration data of the following unmannedaerial vehicle at the next moment. By employing the tracking method and system, the formation tracking effects of anti-collision and connectivity maintenance can be realized.

The invention discloses an obstacle avoidance method for a mowing robot based on an improved artificial potential field method, which comprises the following steps: S1, the positions of a starting point and a target point of a mowing robot are set, a gravitation potential field gain coefficient and a repulsion potential field gain coefficient are set, and a surrounding environment model of a mowing robot is built; S2, a gravitation potential field function is improved; S3, a repulsion potential field function is improved; S5, the magnitudes and directions of the gravitation and each repulsionborne by the mowing robot are calculated, the components of the gravitation and the repulsions in the horizontal and vertical directions are calculated, and the magnitude and direction of the total potential field force borne by the mowing robot are calculated; and S6, the mowing robot moves to the target point under the action of the total potential field force of the improved artificial potential field method, and the coordinates of the mowing robot are updated to obtain a planned path of the mowing robot. According to the invention, the mowing robot can operate safely, stably and efficiently, and the practicability of the improved obstacle avoidance method is improved.

The invention relates to a method for controlling the DC self-bias voltage of a wafer, a device, a method for complementing the electrostatic force between a DC electrode and the wafer and a device. The invention comprises the following steps: the value of the DC self-bias voltage is indirectly obtained by detecting a parameter which can characterize the value of the DC self-bias voltage and then the value of the DC self-bias voltage is respectively used for the control of an RF power supply and the public reference junction of a DC power supply after links of control or conversion so as to reach the goal of stably controlling the DC self-bias voltage on the wafer and complementing the imbalance of the electrostatic force between the wafer and the DC electrode caused by the DC self-bias voltage, so the realization of the invention on one hand can stably control the DC self-bias voltage on the wafer to obtain the process parameters such as the good etching rate, the deposition rate, etc., on the other hand can automatically complement the imbalance of the electrostatic force between two DC electrodes and the wafer caused by the self-bias voltage of the wafer to ensure that an electrostatic chuck can be better attached to the wafe so as to reduce the leak rate of the helium and improve the process result.

The invention relates to the technical field of space exploration, and concretely discloses a celestial body surface sampling apparatus. The apparatus comprises a motor, a sampling mechanism and a collection box; the sampling mechanism of the celestial body surface sampling apparatus employs a driving gear and a driven gear which are engaged to drive a driving shaft and a driven shaft which have the same structure for carrying out counterrotating, in order to realize mutual cancel of rotational inertia, and reduce reaction force for a detector. A driving ratchet guarantees the driving shaft tocarry out unidirectional rotation only, the driving ratchet and a mounting base on the collection box act together in order to realize installation and separation of the motor and the driving shaft,and the sampling mechanism can be flexibly taken and stored. Drill bits and inclined blower blades are arranged at the front ends of the rotating shafts in order to realize sampling of loose and softsoil and hard rocks. The celestial body surface sampling apparatus can be used for sampling different landforms on surfaces of nongravitational celestial bodies, and has light weight, small reaction forces for detectors, flexible usage; and the product can satisfy detection demands on nongravitational celestial bodies and minor planets.

The present invention proposes a cyclic gravitation power generation system, which comprises a vertical water tank, a propulsive device, a guiding device, a carrying device and a power generation device, wherein potential energy is converted into kinetic energy to drive a generator to generate electric power when float balls are moved downward from a high position to a low position by gravity, and the vertical water tank can make the float balls to be moved back to the high position to perform a cyclic operation, whereby is achieved a low-cost cyclic power generation system.