摘要：【中文】本发明公开了一种基于编码可导航伸展图的近邻文档搜索方法。该方法首先对海量文档语义向量化得到海量文档向量；然后计算所有文档向量每一维的大小范围得到区间范围向量并归一化编码后进行压缩存储；接着基于压缩存储的海量文档向量建立编码可导航伸展图；最后对查询文档语义向量化后，在编码可导航伸展图上进行贪婪搜索后返回最接近的TopK篇文档。本发明将优秀的图基近似最近邻搜索方法——可导航伸展图应用在海量文档搜索上，加快了文档搜索速度，使用归一化编码的方法对海量文档向量进行压缩存储，在保证相当搜索速度的同时又大幅度降低了内存消耗。 【EN】The invention discloses a neighbor document searching method based on a coding navigable stretch diagram. Firstly, carrying out semantic vectorization on a mass document to obtain a mass document vector; then calculating the size range of each dimension of all document vectors to obtain interval range vectors, carrying out normalization coding, and then carrying out compression storage; then, establishing a coding navigable stretch diagram based on the compressed and stored mass document vectors; and finally, after the query document semantics are vectorized, returning the closest TopK document after greedy search is carried out on the coded navigable stretch graph. The invention applies the excellent graph-based approximate nearest neighbor searching method, namely the navigable stretch graph, to the searching of massive documents, accelerates the document searching speed, uses the normalized coding method to compress and store the massive document vectors, and greatly reduces the memory consumption while ensuring the equivalent searching speed.

摘要：【中文】本发明公开了一种基于融合UWB的视觉SLAM的室内定位与导航的方法。本发明包括通过传感器获取环境的图片，构建点云地图，根据相邻两帧图片中ORB特征点匹配获取相邻图片的位姿，同时利用UWB实现定位，记录传感器的位置信息，随后按照一定的路线移动传感器获取位姿，构建地图，并记录每次切换位置后的坐标，通过计算TOF算法获取的当前位置与之前位置是否重复辅助图片相似度检测进行回环检测，并且计算偏移量，将TOF算法的位置关系对于偏移量进行校正，调整机器人位姿，修正点云地图。本发明不仅在正常环境中具备良好的导航定位功能，还可在复杂的室内环境中进行精确定位，并且以较高的准确度为环境建立三维模型。 【EN】The invention discloses an indoor positioning and navigation method based on a visual SLAM fused with UWB. The method comprises the steps of obtaining pictures of the environment through a sensor, constructing a point cloud map, obtaining the pose of the adjacent pictures according to the matching of ORB characteristic points in the two adjacent frames of pictures, realizing positioning by using UWB, recording the position information of the sensor, then moving the sensor according to a certain route to obtain the pose, constructing the map, recording the coordinate after each position switching, carrying out loop detection by calculating whether the current position and the previous position obtained by a TOF algorithm are repeated to assist picture similarity detection, calculating the offset, correcting the position relation of the TOF algorithm to the offset, adjusting the pose of a robot, and correcting the point cloud map. The invention not only has good navigation positioning function in normal environment, but also can carry out accurate positioning in complex indoor environment, and establishes a three-dimensional model for the environment with higher accuracy.

摘要：【中文】本发明公开了一种基于领域子图的RDF知识图谱存储与管理方法，该方法主要包括：领域子图的存储结构设计，将知识图谱按照领域划分的领域子图采用邻接表的方式进行存储，邻接表的头结点之间通过的单链表连接。同时在头结点串连的单链表上构建一个跳表索引加快查询，采用分层的方式，将每一层的节点按照上升概率放入上一层中；提供存储架构的管理，包含查找和添加的算法实现。通过跳表索引在领域子图中查找给定的RDF中的实体。按照领域子图的划分方法，找到对应的领域子图的存储结构，添加相应的RDF三元组。本发明将知识图谱划分为多个相互独立的领域子图进行并行存储与统一管理，可以降低对单个存储设备要求过高的问题，提高了查询效率。 【EN】The invention discloses a domain subgraph-based RDF knowledge graph storage and management method, which mainly comprises the following steps: and the storage structure design of the domain sub-graph is that the knowledge graph is stored in an adjacency list mode according to the domain sub-graphs divided by the domain, and head nodes of the adjacency list are connected through a single linked list. Simultaneously, constructing a skip list index on a single chain list with serially connected head nodes to accelerate query, and putting nodes of each layer into the previous layer according to the rising probability in a layered mode; management of storage architectures, including algorithmic implementations of lookups and additions, is provided. The entities in a given RDF are looked up in the domain subgraph by a skip-table index. And finding the storage structure of the corresponding domain sub-graph according to the division method of the domain sub-graph, and adding the corresponding RDF triple. The invention divides the knowledge graph into a plurality of mutually independent field subgraphs for parallel storage and unified management, can reduce the problem of over-high requirement on single storage equipment and improves the query efficiency.

摘要：【中文】本发明公开了带端子线缆与塑壳的组装及检测装置。现有线缆与塑壳组装机无法实现在线检测。本发明包括成品检测机构、废品出料机构和成品出料机构，实现带端子线缆自动上料，通过光电传感器定位找正带线缆端子方向，将整理好的带线缆端子翻折后进行端子与线缆的电流通断检测，剔除接触不良的带端子线缆，及早避免了因端子与线缆接触不良而生产出废品；检测接触良好的带端子线缆通过端子导向机构后与塑壳装配，提高了装配精度与成功率，装配好的灯头组件进行冲压处理并在出料前进行铜针与线缆的电流通断检测，将接触不良的灯头组件从废料口筛选出来，将接触良好的灯头组件从成品出料口弹出，节省了后续的人力成本，显著提高了效率。 【EN】The invention discloses an assembling and detecting device for a cable with a terminal and a plastic shell. The existing cable and plastic shell assembling machine cannot realize online detection. The automatic feeding device comprises a finished product detection mechanism, a waste product discharging mechanism and a finished product discharging mechanism, realizes automatic feeding of a cable with a terminal, positions and aligns the direction of the terminal of the cable with the photoelectric sensor, turns over the arranged terminal of the cable with the terminal of the cable, detects the current on-off between the terminal and the cable, eliminates the cable with the terminal with poor contact, and avoids the waste product caused by the poor contact between the terminal and the cable as soon as possible; the cable with the terminal, which is detected to be in good contact, is assembled with the plastic shell after passing through the terminal guide mechanism, so that the assembly precision and the success rate are improved, the assembled lamp holder assembly is punched and is subjected to current on-off detection of the copper needle and the cable before discharging, the lamp holder assembly with poor contact is screened out from a waste material port, the lamp holder assembly with good contact is popped out from a finished product discharge port, the subsequent labor cost is saved, and the efficiency is remarkably improved.

摘要：【中文】本发明涉及一种基于交指结构的小型化人工表面等离激元传输线。包括介质基板、金属槽线、两个匹配单元和两个微带馈线；所述的金属槽线与匹配单元位于介质基板同一侧，微带馈线位于介质基板另一侧；两个匹配单元一端与金属槽线连接，另一端两分别与两个微带馈线重叠。两个匹配单元与两个微带馈线对称设置在金属槽线两端；金属槽线包括多个开槽单元，在开槽单元中排布有多个金属条组成的交指结构。本发明具有高效传输特性，在保持传输线线宽尺寸不变的前提下，实现了更低频率的电磁波截止特性，实现了传输线的小型化设计，可快速实现具体不同程度的小型化人工表面等离激元传输线。具有低串扰、高效特性，提高了空间利用率，便于加工制作、成本低。 【EN】The invention relates to a miniaturized artificial surface plasmon transmission line based on an interdigital structure. The microstrip antenna comprises a dielectric substrate, a metal slot line, two matching units and two microstrip feeder lines; the metal slot line and the matching unit are positioned on the same side of the dielectric substrate, and the microstrip feeder line is positioned on the other side of the dielectric substrate; one end of each matching unit is connected with the metal slot line, and the other end of each matching unit is overlapped with the two microstrip feeder lines. The two matching units and the two microstrip feeder lines are symmetrically arranged at two ends of the metal slot line; the metal slot line comprises a plurality of slot units, and an interdigital structure consisting of a plurality of metal strips is arranged in each slot unit. The invention has high-efficiency transmission characteristic, realizes the electromagnetic wave cut-off characteristic of lower frequency on the premise of keeping the line width size of the transmission line unchanged, realizes the miniaturization design of the transmission line, and can quickly realize the miniaturization artificial surface plasmon transmission lines with different degrees. The method has the characteristics of low crosstalk and high efficiency, improves the space utilization rate, is convenient to process and manufacture, and has low cost.

摘要：【中文】本发明公开了一种高性能rGO/CNF力电传感器及其制备方法，本发明包括一组弯曲管道、弹性基体、以及具有流动性的rGO/CNF液态敏感材料；所述弯曲管道横截面为圆形，直径1mm，位于弹性基体内部，采用连续弯曲导线为模板进行构筑；具有流动性的rGO/CNF液态敏感材料设置在弯曲管道内，弯曲管道两端通过电极封堵；其中具有流动性的rGO/CNF液态敏感材料包括CNF三维骨架、rGO微纳粒子和异丙醇；本发明rGO/CNF液态敏感材料具有优异的导电能力和延展能力。同时在弹性基体中引入弯曲管道，这种连续弯曲的管道具有两大优势，既可以增强传感器的延展能力，又基于串联效应大大提升了传感器的灵敏度。 【EN】The invention discloses a high-performance rGO/CNF force electric sensor and a preparation method thereof, wherein the high-performance rGO/CNF force electric sensor comprises a group of bent pipelines, an elastic matrix and a liquid-state rGO/CNF sensitive material with fluidity; the cross section of the bent pipeline is circular, the diameter of the bent pipeline is 1mm, the bent pipeline is positioned in the elastic matrix, and a continuous bent wire is adopted as a template to construct the bent pipeline; the liquid-state sensitive material of rGO/CNF with fluidity is arranged in the bent pipeline, and two ends of the bent pipeline are plugged by electrodes; the liquid-state sensitive material with fluidity rGO/CNF comprises a CNF three-dimensional framework, rGO micro-nano particles and isopropanol; the rGO/CNF liquid sensitive material has excellent conductive capability and extensibility. Meanwhile, the bent pipeline is introduced into the elastic matrix, and the continuously bent pipeline has two advantages, so that the extending capability of the sensor can be enhanced, and the sensitivity of the sensor is greatly improved based on a series effect.

摘要：【中文】本发明涉及一种基于2,5‑二羟基对苯二甲酸配体的铜钴双金属‑有机骨架材料及其制备方法和应用，将六水合硝酸钴、六水合硝酸铜和2,5‑二羟基对苯二甲酸溶于有机溶剂中得到前驱体溶液；将前驱体溶液在110～170℃下进行溶剂热反应；反应结束后经后处理得到铜钴双金属‑有机骨架材料。该铜钴双金属‑有机骨架材料中高度分散的钴和铜活性中心离子可增强钴离子和铜与过一硫酸氢盐的有效接触使其产生具有强氧化性的硫酸根自由基，从而将废水中的难降解有机污染物去除。本发明基于2,5‑二羟基对苯二甲酸配体的铜钴双金属‑有机骨架材料适用于各种有机废水处理，效率高、持久性好、操作方便、环境友好，为处理有毒有害难生物降解的有机废水提供了广阔的前景。 【EN】The invention relates to a copper-cobalt bimetallic-organic framework material based on a 2, 5-dihydroxyterephthalic acid ligand, a preparation method and application thereof, wherein cobalt nitrate hexahydrate, copper nitrate hexahydrate and 2, 5-dihydroxyterephthalic acid are dissolved in an organic solvent to obtain a precursor solution; carrying out solvothermal reaction on the precursor solution at the temperature of 110-170 ℃; and after the reaction is finished, carrying out post-treatment to obtain the copper-cobalt bimetallic-organic framework material. The highly dispersed cobalt and copper active center ions in the copper-cobalt bimetallic-organic framework material can enhance the effective contact of the cobalt ions and the copper with peroxymonosulfate to generate sulfate radicals with strong oxidizing property, thereby removing the refractory organic pollutants in the wastewater. The copper-cobalt bimetallic-organic framework material based on the 2, 5-dihydroxy terephthalic acid ligand is suitable for treating various organic wastewater, has high efficiency, good durability, convenient operation and environmental protection, and provides wide prospect for treating toxic, harmful and nonbiodegradable organic wastewater.

摘要：【中文】本发明涉及一种基于2,5‑二羟基对苯二甲酸配体的铁钴双金属‑有机骨架材料及其制备方法和应用，将六水合硝酸钴、四水合氯化亚铁和2,5‑二羟基对苯二甲酸溶于有机溶剂中得到前驱体溶液；将前驱体溶液在110～170℃下进行溶剂热反应；反应结束后经后处理得到铁钴双金属‑有机骨架材料。该铁钴双金属‑有机骨架材料中高度分散的钴和铁活性中心离子可增强钴离子和铁与过一硫酸氢盐的有效接触使其产生具有强氧化性的硫酸根自由基，从而将废水中的难降解有机污染物去除。本发明基于2,5‑二羟基对苯二甲酸配体的铁钴双金属‑有机骨架材料适用于各种有机废水处理，效率高、持久性好、操作方便、环境友好，为处理有毒有害难生物降解的有机废水提供了广阔的前景。 【EN】The invention relates to an iron-cobalt bimetallic-organic framework material based on a 2, 5-dihydroxy terephthalic acid ligand, a preparation method and application thereof, wherein cobalt nitrate hexahydrate, ferrous chloride tetrahydrate and 2, 5-dihydroxy terephthalic acid are dissolved in an organic solvent to obtain a precursor solution; carrying out solvothermal reaction on the precursor solution at the temperature of 110-170 ℃; and after the reaction is finished, carrying out post-treatment to obtain the Fe-Co bimetallic-organic framework material. The highly dispersed active center ions of cobalt and iron in the iron-cobalt bimetallic-organic framework material can enhance the effective contact of the cobalt ions and iron with peroxymonosulfate to generate sulfate radicals with strong oxidizing property, thereby removing the refractory organic pollutants in the wastewater. The iron-cobalt bimetal-organic framework material based on the 2, 5-dihydroxy terephthalic acid ligand is suitable for treating various organic wastewater, has high efficiency, good durability, convenient operation and environmental protection, and provides wide prospect for treating toxic, harmful and nonbiodegradable organic wastewater.

摘要：【中文】本发明公开了一种网络化工业控制系统的安全估计方法。现有方法只能定时定点的对系统状态进行监测，难以准确地反映系统的实时运行状态。本发明首先建立网络化工业控制系统状态估计的模型，然后建立安全估计的误差系统模型，最后求解估计器增益矩阵。本发明方法采用基于事件触发策略的复杂网络估计方法，考虑网络攻击对于系统的影响，通过扩展卡尔曼滤波方法设计递归状态估计器，利用求解两个黎卡提差分方程来确定状态估计器的增益矩阵。基于事件触发策略，减轻了大量信息传输造成的网络负担和能量消耗，构造的估计器可以在遭受网络攻击的情况下，实现对系统状态及时准确的估计，为网络化工业控制系统的安全估计、监测及控制提供及时有效的方法。 【EN】The invention discloses a safety estimation method of a networked industrial control system. The existing method can only monitor the system state at fixed time and fixed point, and is difficult to accurately reflect the real-time running state of the system. The method comprises the steps of firstly establishing a model of state estimation of the networked industrial control system, then establishing an error system model of safety estimation, and finally solving an estimator gain matrix. The method adopts a complex network estimation method based on an event trigger strategy, considers the influence of network attack on a system, designs a recursive state estimator by an extended Kalman filtering method, and determines a gain matrix of the state estimator by solving two Riccath differential equations. Based on the event trigger strategy, the network burden and energy consumption caused by a large amount of information transmission are reduced, the constructed estimator can realize timely and accurate estimation of the system state under the condition of suffering network attack, and a timely and effective method is provided for safety estimation, monitoring and control of a networked industrial control system.

摘要：【中文】本发明公开了一种基于原子范数的互质阵欠定测向方法，本发明先接收端天线按照互质阵列进行架构；根据阵列接收信号进行建模；计算虚拟阵列输出信号；初始化内插输出信号；设计基于原子范数的优化方法恢复内插输出信号；重建内插后虚拟均匀线性阵列信号协方差矩阵；根据重建协方差矩阵进行波达方向估计。本发明通过内插将互质阵的不连续虚拟线阵插值到虚拟均匀性阵，充分了利用了互质阵的自由度和阵元信息；在向量化协方差矩阵得到虚拟阵列输出信号时，对同一位置的信号进行了平均，从而比直接选取同一位置的第一个信号更能充分利用信号的信息；可以避免传统稀疏表示方法的基不匹配问题，并且在优化问题时，引入了去噪操作，提高了测向的准确性。 【EN】The invention discloses a mutual-prime array underdetermined direction-finding method based on atomic norm, firstly, a receiving end antenna is constructed according to a mutual-prime array; modeling according to the array receiving signals; calculating a virtual array output signal; initializing an interpolated output signal; an optimization method based on atomic norm is designed to recover the interpolation output signal; reconstructing a virtual uniform linear array signal covariance matrix after interpolation; and estimating the direction of arrival according to the reconstructed covariance matrix. The invention interpolates the discontinuous virtual linear array of the co-prime array to the virtual uniform array by interpolation, thereby fully utilizing the degree of freedom and the array element information of the co-prime array; when the vectorization covariance matrix obtains the output signal of the virtual array, the signals at the same position are averaged, so that the information of the signals can be more fully utilized than the information of the signals directly selected from the first signal at the same position; the problem of base mismatching of the traditional sparse representation method can be avoided, and in the process of optimizing the problem, denoising operation is introduced, so that the direction finding accuracy is improved.