摘要：【中文】本发明提供一种RGB混色系统光通量以及色度坐标跟踪控制方法，该方法包括：首先，利用CIE1931色度空间中的杠杆原理，利用目标色度坐标值与混色点的色度坐标值，计算出不同颜色LED串的光通量比；然后，利用电力电子中的滞环控制和色度学中的颜色理论对色度坐标进行跟踪控制；利用PI方法通过控制所有通道占空比的总和，对整个系统的光通量输出进行控制。本控制方法可以使得光通量输出控制在100lm到600lm之间，误差在±2％以内；RGB对应混色点所围成的三角形内的任意色度坐标均可精确控制，在CIE1976色度图的整个色域中，输出坐标与参考坐标之间的距离均小于0.007。 【EN】The invention provides a light flux and chromaticity coordinate tracking control method of an RGB color mixing system, which comprises the following steps: firstly, calculating the luminous flux ratio of LED strings with different colors by utilizing a lever principle in a CIE1931 chromaticity space and utilizing a target chromaticity coordinate value and a chromaticity coordinate value of a mixed color point; then, tracking control is carried out on the chromaticity coordinate by utilizing hysteresis control in power electronics and a color theory in colorimetry; the light flux output of the whole system is controlled by controlling the sum of the duty ratios of all channels by the PI method. The control method can control the luminous flux output between 100lm and 600lm, and the error is within +/-2%; any chromaticity coordinate in a triangle formed by the RGB corresponding color mixing points can be accurately controlled, and the distance between the output coordinate and the reference coordinate is less than 0.007 in the whole color gamut of the CIE1976 chromaticity diagram.

摘要：【中文】本发明提供了一种基于智能合约的去中心电子投票方法、装置、系统及存储介质，该去中心电子投票方法包括初始化步骤、选民注册步骤、门限加密步骤、选票加密签名步骤、选票上传步骤、选票合法判断步骤、解密步骤和统计公布步骤。本发明的有益效果是：本发明能够保证投票公开透明，选民的匿名性得到了保护，系统健壮性强可抵制恶意攻击者攻击，小部分恶意的选民也不会破坏整个选举的进行；并且本发明将投票管理者的权利降到最小。 【EN】The invention provides a method, a device, a system and a storage medium for removing center electronic voting based on an intelligent contract. The invention has the beneficial effects that: the invention can ensure that the voting is public and transparent, the anonymity of the voters is protected, the system has strong robustness and can resist the attack of malicious attackers, and a small part of malicious voters can not damage the whole voting; and the present invention minimizes the right of the voting manager.

摘要：【中文】本发明提供了一种基于混合差分隐私的流数据频数统计方法、装置、系统及存储介质，该流数据频数统计方法包括：创建候选列表步骤：针对用户集合S，在保证差分隐私的前提下，近似地获得出现频数最多的记录；收集数据步骤：用户在本地实现差分隐私算法，将隐私化数据传送到服务器端；隐私预算分配步骤：将连续序列分为个时间戳，在其分配隐私预算，根据时间，分配的隐私预算递减。本发明的有益效果是：本发明采用差分隐私和本地差分隐私结合的方式，能够从数据收集和数据分析层面实现对数据的高效保护，且能提高流数据实时发布速率。 【EN】The invention provides a streaming data frequency counting method, a device, a system and a storage medium based on mixed differential privacy, wherein the streaming data frequency counting method comprises the following steps: creating a candidate list step: aiming at a user set S, on the premise of ensuring differential privacy, records with the most occurrence frequency are approximately obtained; and (3) data collection: the user locally realizes a differential privacy algorithm and transmits the privacy data to the server; a privacy budget allocation step: dividing the continuous sequence intoA timestamp at which the privacy budget is allocated, the allocated privacy budget decreasing according to time. The invention has the beneficial effects that: the invention adopts a mode of combining the differential privacy and the local differential privacy, can realize the high-efficiency protection of data from the data collection and data analysis level, and can improve the real-time release rate of the streaming data.

摘要：【中文】本发明涉及一种宽光谱吸收的薄膜太阳能电池及光伏发电装置；该薄膜太阳能电池包括前电极层、光吸收层、背电极层以及基底层，其中，前电极层远离光吸收层的表面分散分布有非金属材质的微纳米球，该微纳米球的半径为15nm‑150nm；背电极层的内部分散分布有金属材质的微纳米半球，该微纳米半球的半径为25nm‑250nm，且该微纳米半球与光吸收层之间的间距为10nm‑100nm。该光伏发电装置包括太阳能电池组件、控制器、蓄电池组和直流‑交流逆变器，太阳能电池组件包括多个电连接的薄膜太阳能电池。本发明采用复合陷光结构，同时实现短波段和长波段的吸收增强，可使薄膜太阳能电池及光伏发电装置的光电转换效率显著提高。 【EN】The invention relates to a thin film solar cell with wide spectrum absorption and a photovoltaic power generation device; the thin-film solar cell comprises a front electrode layer, a light absorption layer, a back electrode layer and a substrate layer, wherein micro-nanospheres made of non-metallic materials are dispersedly distributed on the surface of the front electrode layer away from the light absorption layer, and the radius of the micro-nanospheres is 15nm-150 nm; micro-nano hemispheres made of metal materials are dispersedly distributed in the back electrode layer, the radius of each micro-nano hemisphere is 25nm-250nm, and the distance between each micro-nano hemisphere and the light absorption layer is 10nm-100 nm. The photovoltaic power generation device comprises a solar cell module, a controller, a storage battery pack and a direct current-alternating current inverter, wherein the solar cell module comprises a plurality of thin film solar cells which are electrically connected. The invention adopts a composite light trapping structure, simultaneously realizes the absorption enhancement of short wave band and long wave band, and can obviously improve the photoelectric conversion efficiency of the thin-film solar cell and the photovoltaic power generation device.

摘要：【中文】本发明提供一种基于多无人机协作的ICP点云地图融合方法、系统、装置及存储介质，该ICP点云地图融合方法包括：提取步骤：从两个数据集中按照同样的关键点选取的标准，提取关键点，两个数据集是指两幅有重叠区域的点云地图，分别记为点云P和点云Q，其中点云P为目标点云，点云Q为参考点云；计算步骤：对选择所有的关键点分别计算其特征描述子；处理步骤：结合特征描述子在两个数据集中的坐标位置，以两者之间的特征和位置的相似度为基础，来估算它们的对应关系，估计对应点对；配准步骤：利用对应关系来估算刚体变换，完整配准。本发明的有益效果是：本发明的方法能够在有较高精度的同时提高ICP算法收敛速度，取得了非常好的技术效果。 【EN】The invention provides an ICP point cloud map fusion method, system, device and storage medium based on multi-unmanned aerial vehicle cooperation, wherein the ICP point cloud map fusion method comprises the following steps: the extraction step comprises: extracting key points from two data sets according to the same key point selection standard, wherein the two data sets are two point cloud maps with overlapped areas and are respectively marked as a point cloud P and a point cloud Q, the point cloud P is a target point cloud, and the point cloud Q is a reference point cloud; a calculation step: respectively calculating feature descriptors of all selected key points; the processing steps are as follows: estimating the corresponding relation of the coordinate positions of the feature descriptors in the two data sets by combining the coordinate positions of the feature descriptors and the coordinate positions of the feature descriptors; a registration step: and estimating rigid body transformation by using the corresponding relation, and completely registering. The invention has the beneficial effects that: the method of the invention can improve the convergence rate of the ICP algorithm with higher precision, and obtains very good technical effect.

摘要：【中文】一种属性生成对抗网络及基于该网络的搭配服饰生成方法，属于生成式模型以及服饰搭配领域。针对根据已有服饰图像生成相搭配的服饰图像的问题，先构建搭配服饰数据集，包含一套搭配服饰的图像信息、文本信息以及相应的属性信息；再设计属性生成对抗网络，包含一个生成器、一个搭配判别器和一个属性判别器；然后对其进行对抗训练，学习得到生成器网络参数；最后对于新的服饰图像输入到训练好的生成器中，从而生成相搭配的服饰图像。本发明通过训练设计的属性生成对抗网络，生成和输入图像相搭配的服饰图像，为用户的穿衣搭配提供参考依据；在高级语义属性上符合人们通常的搭配规则，对衣服推荐、衣服检索、时尚设计等应用有巨大的潜力。 【EN】An attribute generation countermeasure network and a matched clothing generation method based on the network belong to the field of generation models and clothing matching. Aiming at the problem of generating matched clothing images according to the existing clothing images, a matched clothing data set is firstly constructed, and comprises a set of image information, text information and corresponding attribute information of matched clothing; designing an attribute generation countermeasure network, wherein the attribute generation countermeasure network comprises a generator, a collocation discriminator and an attribute discriminator; then, carrying out confrontation training on the generator network, and learning to obtain generator network parameters; and finally, inputting the new clothing image into a trained generator so as to generate a matched clothing image. According to the invention, the confrontation network is generated through the attributes of the training design, and the clothing image matched with the input image is generated, so that a reference basis is provided for the clothing matching of the user; the method accords with the common collocation rule of people on the aspect of high-level semantic attributes, and has great potential for application of clothes recommendation, clothes retrieval, fashion design and the like.

摘要：【中文】本发明公开了一种用于绳驱蛇形机器人的实验装置，包括：驱动组件及张紧组件，蛇形机器人包括运动关节、第一绳索及第二绳索，第一绳索的两端分别与运动关节、驱动组件固定连接，第二绳索的两端分别与运动关节、张紧组件固定连接，张紧组件用于使第一绳索及第二绳索张紧，驱动组件能够通过第一绳索驱动运动关节转动，在运动关节转动过程中，第一绳索移动的距离为绳索误差长度。本发明通过驱动组件实现绳索的左右移动，以模拟存在绳长误差时的绳索状态，以便于后续对不同绳长误差对机器人末端位置的影响进行研究。当绳索向左移动时，即相当于实际绳长小于设计绳长的情况；当绳索向右移动时，即相当于实际绳长大于设计绳长的情况。 【EN】The invention discloses an experimental device for a rope-driven snake-shaped robot, which comprises: drive assembly and tensioning assembly, snake-shaped robot includes the motion joint, first rope and second rope, the both ends of first rope respectively with motion joint, drive assembly fixed connection, the both ends of second rope respectively with motion joint, tensioning assembly fixed connection, tensioning assembly is used for making first rope and second rope tensioning, drive assembly can rotate through first rope drive motion joint, at motion joint rotation in-process, the distance that first rope removed is rope error length. The rope moving device realizes the left-right movement of the rope through the driving assembly so as to simulate the rope state when rope length errors exist, and the influence of different rope length errors on the tail end position of the robot can be conveniently researched subsequently. When the rope moves leftwards, namely the actual rope length is smaller than the designed rope length; when the rope moves to the right, this corresponds to the case where the actual rope length is greater than the design rope length.

摘要：【中文】本发明公开了一种绳驱柔性爪及机器人，绳驱柔性爪包括固定部、手指部及驱动部，手指部不少于两个，手指部包括柔性骨架及若干关节单元，关节单元沿柔性骨架间隔排列，关节单元的截面沿背离固定部的方向逐渐减小，每一手指部均连接有驱动部，驱动部包括驱动绳及驱动元件，每一驱动部的驱动绳的一端依次穿过与驱动部连接的手指部内的关节单元，驱动绳的另一端与驱动元件连接并在驱动元件的驱动下移动，以带动手指部弯曲；机器人包括上述绳驱柔性爪。本发明中对关节单元进行了变截面处理，手指部具有足够的活动空间，避免运动受限，手指部能够进行蜷缩处理，减小了柔性爪所占空间，手指部尾端动作较为灵活，提高了柔性爪在物料抓取时的可靠性。 【EN】The invention discloses a rope-driven flexible claw and a robot, wherein the rope-driven flexible claw comprises a fixed part, at least two finger parts and a driving part, each finger part comprises a flexible framework and a plurality of joint units, the joint units are arranged at intervals along the flexible framework, the cross sections of the joint units are gradually reduced along the direction departing from the fixed part, each finger part is connected with the driving part, the driving part comprises a driving rope and a driving element, one end of the driving rope of each driving part sequentially penetrates through the joint units in the finger part connected with the driving part, and the other end of the driving rope is connected with the driving element and moves under the driving of the driving element so as to drive the finger parts to bend; the robot comprises the rope-driven flexible claw. According to the invention, the joint unit is subjected to variable cross-section treatment, the finger part has enough moving space, the motion limitation is avoided, the finger part can be subjected to curling treatment, the space occupied by the flexible claw is reduced, the tail end of the finger part acts flexibly, and the reliability of the flexible claw in material grabbing is improved.

摘要：【中文】本发明公开了一种绳驱机器人及设备，包括：框架；末端动平台；第一平台驱动模块，第一平台驱动模块包括第一驱动装置和第一绳索，第一绳索的第一端卷绕在第一驱动装置的输出端上，第一绳索的第二端固定在末端动平台上，第一驱动装置的输出端能够收卷或释放第一绳索，从而使得末端动平台能够相对框架运动；动锚点座模块，锚点座模块包括动锚点座和第二驱动装置，第二驱动装置能够驱使动锚点座相对框架运动，第一绳索从第一驱动装置出发后，经动锚点座后，固定在末端动平台上，第一绳索与动锚点座抵持，并能够相对动锚点座滑动。本发明能够改善绳驱机器人驱动力调节能力和避障能力。 【EN】The invention discloses a rope-driven robot and equipment, comprising: a frame; a tail end moving platform; the first platform driving module comprises a first driving device and a first rope, wherein a first end of the first rope is wound on an output end of the first driving device, a second end of the first rope is fixed on the tail end movable platform, and the output end of the first driving device can wind or release the first rope, so that the tail end movable platform can move relative to the frame; move anchor point seat module, anchor point seat module is including moving anchor point seat and second drive arrangement, and second drive arrangement can drive and make the relative frame motion of anchor point seat, and first rope is followed first drive arrangement and is started the back, through moving anchor point seat, fixes at the end and move the platform, and first rope supports with moving anchor point seat and holds to can move anchor point seat relatively and slide. The invention can improve the driving force regulation capability and the obstacle avoidance capability of the rope-driven robot.

摘要：【中文】本发明公开了连续型机器人的柔度计算方法，包括：将连续机器人的绳索设置为若干段，每段设有若干支撑圆片及弹性管组成；获取支撑圆片受到的力、支撑圆片之间的距离，根据力和方向矢量之间的关系得到力矩关系式；根据力平衡公式、力矩平衡公式以及弯曲曲率计算公式，将力矩关系式通过优化算法得到弯曲曲率；根据弯曲曲率通过计算公式得到所述支撑圆片的相对转角；根据支撑圆片的相对转角通过齐次变换算法得到齐次变换矩阵，根据齐次变换矩阵得到支撑圆片的坐标；通过齐次变换矩阵对力求偏微分得到柔度矩阵。通过比较不同构型的柔度值，可以得到空间内一条柔度符合要求的路径。该方法计算效率很高，将会广泛应用在连续性机器人的柔度建模中。 【EN】The invention discloses a flexibility calculation method of a continuous robot, which comprises the following steps: arranging a rope of the continuous robot into a plurality of sections, wherein each section is provided with a plurality of supporting wafers and elastic tubes; acquiring the force borne by the supporting wafers and the distance between the supporting wafers, and obtaining a moment relational expression according to the relation between the force and the direction vector; obtaining the bending curvature by the moment relational expression through an optimization algorithm according to a force balance formula, a moment balance formula and a bending curvature calculation formula; obtaining the relative rotation angle of the supporting wafer through a calculation formula according to the bending curvature; obtaining a homogeneous transformation matrix through a homogeneous transformation algorithm according to the relative rotation angle of the supporting wafer, and obtaining the coordinates of the supporting wafer according to the homogeneous transformation matrix; and obtaining a flexibility matrix by performing partial differentiation on the force through a homogeneous transformation matrix. By comparing the flexibility values of different configurations, a path with the flexibility meeting the requirement in the space can be obtained. The method has high calculation efficiency and can be widely applied to the flexibility modeling of the continuous robot.