摘要：【中文】本发明公开了一种虚拟长机模式下的固定翼编队飞行控制系统及控制方法：仿真模块模将仿真出的虚拟长机传送至Mission Planner地面站模块；该虚拟长机按照预先设置好的期望轨迹在地面站模块飞行；地面站模块将虚拟长机的位置信息通过地面端数传模块实时传送至机载接收端数传模块，机载接收端数传模块将收到的信息传送至飞行控制器；传感器模块实时采集固定翼无人机的姿态、速度、位置信息，并将采集的信息传送至飞行控制器和机载接收端数传模块；飞行控制器根据收到的信息控制该固定翼无人机按照预设好的编队飞行的方式飞行；机载接收端数传模块将收到的信息通过地面端数传模块传送至地面站模块显示。本发明有效降低了编队飞行的故障风险，提高了整体的鲁棒性。 【EN】The invention discloses a fixed wing formation flight control system and a control method under a virtual long machine mode, wherein the control method comprises the following steps: the simulation module transmits the simulated virtual long machine to the Session Planner ground station module; the virtual long machine flies in the ground station module according to a preset expected track; the ground station module transmits the position information of the virtual long machine to the airborne receiving end data transmission module in real time through the ground end data transmission module, and the airborne receiving end data transmission module transmits the received information to the flight controller; the sensor module collects the attitude, speed and position information of the fixed-wing unmanned aerial vehicle in real time and transmits the collected information to the flight controller and the airborne receiving end data transmission module; the flight controller controls the fixed-wing unmanned aerial vehicles to fly according to a preset formation flying mode according to the received information; the airborne receiving end data transmission module transmits the received information to the ground station module for display through the ground end data transmission module. The invention effectively reduces the fault risk of formation flight and improves the overall robustness.

摘要：【中文】本发明提供一种基于改进的转弯半径的固定翼编队控制方法，该方法在跟踪原始期望点附近引入了超前跟踪点和滞后跟踪点的概念，并将跟踪距离分为远距、中距和近距三种情况；在长机保持直线飞行时，僚机横侧向指令主要由航迹误差生成，期望点根据远距、中距、近距不同情况分别计算；在长机转弯时，根据编队的飞行形式，僚机横侧向指令会加入长机的转弯半径和指定误差实时反馈，保证转弯过程中僚机也能迅速的跟踪到期望点，进而让编队快速收敛到期望的队形。本发明提高了固定翼编队飞行的鲁棒性，使得在长僚机模式下的编队跟踪，相比于L1非线性制导律和传统PID控制律有更好的性能。 【EN】The invention provides a fixed wing formation control method based on an improved turning radius, which introduces concepts of an advanced tracking point and a delayed tracking point near an original expected tracking point and divides a tracking distance into three conditions of a long distance, a medium distance and a short distance; when the long plane keeps straight-line flight, the horizontal direction command of the wing plane is mainly generated by track error, and the expected point is respectively calculated according to different situations of far distance, intermediate distance and near distance; when the leader turns, the wing plane lateral direction command adds the turning radius and the designated error of the leader to the real-time feedback according to the flight form of the formation, thereby ensuring that the wing plane can also quickly track to the desired point in the turning process, and further ensuring that the formation can quickly converge to the desired formation. The invention improves the robustness of the fixed wing formation flight, so that the formation tracking in the bureaucratic mode has better performance compared with the L1 nonlinear guidance law and the traditional PID control law.

摘要：【中文】本发明提供一种复合发酵生物饲料及其制备方法，其中所述复合发酵生物饲料包括豆粕粉21‑43份、玉米粉27‑49份、麸皮5‑10份、纤维素酶液3‑7份、液体菌液3‑7份、水25‑35份。所述方法包括发酵基料组分及发酵工艺等步骤。本发明复合发酵生物饲料不仅游离活性成分含量高，而且还具有增强动物抗病力，防止猪疾病的发生，促进促进猪生长生长等功效，从而达到猪群健康、全养殖过程无抗生素添加的目标，适于产业化生产。 【EN】The invention provides a composite fermented biological feed and a preparation method thereof, wherein the composite fermented biological feed comprises 21-43 parts of soybean meal, 27-49 parts of corn flour, 5-10 parts of bran, 3-7 parts of cellulase liquid, 3-7 parts of liquid bacterial liquid and 25-35 parts of water. The method comprises the steps of fermenting the base material components, fermenting the fermentation process and the like. The compound fermented biological feed has high content of free active ingredients, and also has the effects of enhancing the disease resistance of animals, preventing pig diseases, promoting the growth and the growth of pigs and the like, thereby achieving the aims of healthy swinery and no antibiotic addition in the whole breeding process and being suitable for industrialized production.

摘要：【中文】本发明公开一种线路板散热油墨的预处理方法和装置，该方法包括步骤S1.将热固化型石墨烯油墨和消泡剂按比例倒入搅拌桶中；S2.在转速≥1000转/分钟的条件下对所述搅拌桶中的油墨进行剪切式搅拌，搅拌时间≥10分钟；S3.将搅拌后的油墨冷却至室温。该装置包括支架、设置在所述支架上的搅拌电机以及设置在所述支架下方的搅拌桶，所述搅拌电机连接有剪切式搅拌头，所述搅拌电机的转速≥1000转/分钟。本发明的预处理方法和装置在搅拌热固化型石墨烯油墨时添加消泡剂，有利于消除油墨中的气泡，对热固化型石墨烯油墨进行高速搅拌，可以使石墨烯在油墨中分布均匀，且本发明可以在非真空环境下进行搅拌，无需价格昂贵的真空搅拌设备，有利于降低生产成本。 【EN】The invention discloses a pretreatment method and a pretreatment device for circuit board heat dissipation ink, wherein the method comprises the following steps of S1, pouring heat-curing graphene ink and a defoaming agent into a stirring barrel in proportion; s2, carrying out shear type stirring on the printing ink in the stirring barrel under the condition that the rotating speed is more than or equal to 1000 revolutions per minute, wherein the stirring time is more than or equal to 10 minutes; and S3, cooling the stirred ink to room temperature. The device comprises a support, a stirring motor arranged on the support and a stirring barrel arranged below the support, wherein the stirring motor is connected with a shear type stirring head, and the rotating speed of the stirring motor is more than or equal to 1000 revolutions per minute. According to the pretreatment method and the device, the defoaming agent is added when the thermosetting graphene ink is stirred, so that bubbles in the ink can be eliminated, the thermosetting graphene ink is stirred at a high speed, the graphene can be uniformly distributed in the ink, and the method and the device can be used for stirring in a non-vacuum environment, do not need expensive vacuum stirring equipment, and are beneficial to reducing the production cost.

摘要：【中文】本发明公开一种线路板制作方法和线路板，该方法包括以下步骤：S1.提供经过假压后的线路板半成品，其中所述线路板半成品包括粘接的PET膜、半固化片和子板；S2.在所述线路板半成品上进行CO2镭射钻盲孔；S3.采用UV激光去除所述盲孔底部的残胶，并切割部分铜层。本发明的线路板制作方法利用UV激光的冷加工方式，对未完全固化的半固化片进行盲孔孔底的残胶去除，可以避免湿法除胶引起的爆板问题和干法除胶引起的烧板和除胶不净问题，有利于提高产品的质量以及合格率。 【EN】The invention discloses a circuit board manufacturing method and a circuit board, wherein the method comprises the following steps: s1, providing a circuit board semi-finished product subjected to false pressing, wherein the circuit board semi-finished product comprises a bonded PET (polyethylene terephthalate) film, a prepreg and a daughter board; s2, performing CO2 laser drilling of blind holes on the circuit board semi-finished product; and S3, removing the residual glue at the bottom of the blind hole by adopting UV laser, and cutting part of the copper layer. According to the circuit board manufacturing method, the residual glue at the bottom of the blind hole of the incompletely cured prepreg is removed by utilizing a UV laser cold processing mode, so that the problems of board explosion caused by wet glue removal and board burning and incomplete glue removal caused by dry glue removal can be avoided, and the quality and the qualification rate of products are improved.

摘要：【中文】本发明公开了一种提取檀香高含量精油组织总RNA的方法。取檀香木材组织液氮研磨成粉末后，加入到Tris‑HCl提取液中，‑80°冷冻处理，离心取上清，再加入醋酸钠和异丙醇沉淀RNA，离心后用TE缓冲液溶解沉淀，然后加入十六烷基三甲基溴化铵混匀，用氯仿/异戊醇抽提，离心，取上清，加入氯化锂过夜沉淀RNA，离心，用乙醇洗涤后，即得总RNA。利用本发明方法提取的檀香木材组织总RNA用Nanodrop检测的OD₂₆₀/OD₂₈₀的比值为2.0以上，OD₂₆₀/OD₂₃₀的比值为2.3以上，RNA水溶液的浓度在800.0ng/μL以上，并且RIN高于7.5；经1.0％琼脂糖凝胶变性电泳检测显示RNA条带清晰，完整性好，具有高质量、高浓度的优点。 【EN】The invention discloses a method for extracting total RNA of sandalwood high-content essential oil tissue. Grinding sandalwood tissue liquid nitrogen into powder, adding the powder into Tris-HCl extracting solution, freezing at-80 ℃, centrifuging to obtain supernatant, adding sodium acetate and isopropanol to precipitate RNA, centrifuging, dissolving the precipitate by using TE buffer solution, adding hexadecyl trimethyl ammonium bromide to mix uniformly, extracting by using chloroform/isoamyl alcohol, centrifuging, taking supernatant, adding lithium chloride to precipitate RNA overnight, centrifuging, washing by using ethanol to obtain total RNA. OD detected by Nanodrop for total RNA of sandalwood wood tissue extracted by using method disclosed by the invention₂₆₀/OD₂₈₀Has a ratio of 2.0 or more, OD₂₆₀/OD₂₃₀The ratio of (A) to (B) is more than 2.3, the concentration of the RNA aqueous solution is more than 800.0 ng/mu L, and the RIN is more than 7.5; the detection of 1.0% agarose gel denaturation electrophoresis shows that the RNA band is clear, the integrity is good, and the method has the advantages of high quality and high concentration.

摘要：【中文】本发明提供了一种用于多花黄精组培的芽增殖培养基和多花黄精的育苗方法，涉及植物组织培养技术领域。本发明提供的芽增殖培养基，以MS培养基为基本培养基，包括以下质量浓度的组分：NAA 0.5～2.0mg/L、KT 0～2.0mg/L、蔗糖28～32g/L和卡拉胶6.8～7.2g/L；所述芽增殖培养基的pH值为6.1～6.3。利用本发明提供的芽增殖培养基，使得芽增殖系数达2.5以上，移栽成活率高达95％以上。 【EN】The invention provides a bud multiplication culture medium for polygonatum cyrtonema tissue culture and a polygonatum cyrtonema seedling culture method, and relates to the technical field of plant tissue culture. The bud multiplication culture medium provided by the invention takes an MS culture medium as a basic culture medium and comprises the following components in mass concentration: 0.5-2.0 mg/L, KT 0-2.0 mg/L of NAA, 28-32 g/L of sucrose and 6.8-7.2 g/L of carrageenan; the pH value of the bud multiplication medium is 6.1-6.3. By using the bud multiplication medium provided by the invention, the bud multiplication coefficient reaches more than 2.5, and the transplanting survival rate reaches more than 95%.

摘要：【中文】本发明公开了一种嵌入散热铜块的治具和方法，该治具包括定位板和载板，所述定位板设置有通孔和对位孔，所述通孔用于放置散热铜块；所述载板可分离设置在所述定位板的底部，所述载板能够覆盖所述通孔且避让所述对位孔。在线路板嵌入铜块前，将散热铜块放入定位板的通孔内，并通过载板承载散热铜块，当需要在线路板上埋入铜块时，将放有散热铜块的定位板和载板叠放在线路板上，通过抽出载板使散热铜块落入线路板上，可以实现快速嵌入铜块，降低叠板工序的时间，有利于提高工作效率。 【EN】The invention discloses a jig and a method for embedding a heat dissipation copper block, wherein the jig comprises a positioning plate and a support plate, the positioning plate is provided with a through hole and a counterpoint hole, and the through hole is used for placing the heat dissipation copper block; the support plate is arranged at the bottom of the positioning plate in a separable mode, and can cover the through holes and avoid the alignment holes. Before the circuit board is embedded into the copper block, the heat dissipation copper block is placed into the through hole of the positioning plate, the support plate bears the heat dissipation copper block, when the copper block needs to be embedded into the circuit board, the positioning plate with the heat dissipation copper block and the support plate are stacked on the circuit board, the support plate is pulled out to enable the heat dissipation copper block to fall into the circuit board, the copper block can be rapidly embedded, the time of a plate stacking process is shortened, and the work efficiency is improved.

摘要：【中文】本发明提供了一种变电站数据接入泛在电力物联网的方法，该方法将系统划分为61850服务器设备、61850客户端协议处理单元、泛在电力物联网协议处理单元、泛在电力物联网大数据处理平台，其中61850客户端协议处理单元、泛在电力物联网协议处理单元由通信网关完成。本发明的有益效果是：1.本发明充分利用现有变电站设备投资及通信网络，只需要新增一种本发明所述的通信网关，即可实现将变电站数据接入到泛在电力物联网；2.本发明充分通过采用导入ICD文件、DAT文件并生成CFG文件的方式，可以方便地实现数据的接入配置，大幅降低现场实施工作量。 【EN】The invention provides a method for accessing data of a transformer substation into a ubiquitous power Internet of things, which divides a system into 61850 server equipment, 61850 client protocol processing units, ubiquitous power Internet of things protocol processing units and a ubiquitous power Internet of things big data processing platform, wherein the 61850 client protocol processing units and the ubiquitous power Internet of things protocol processing units are completed by communication gateways. The invention has the beneficial effects that: 1. according to the invention, the investment of the existing transformer substation equipment and a communication network are fully utilized, and the data of the transformer substation can be accessed to the ubiquitous power Internet of things only by adding one communication gateway; 2. the invention can conveniently realize the access configuration of data and greatly reduce the field implementation workload by fully adopting the mode of importing the ICD file, the DAT file and generating the CFG file.

摘要：【中文】本发明公开了一种基于爆炸能量调控的建基面先锋槽开挖方法，不留保护层，先按设计要求测量放样并钻设炮孔，炮孔均超深且中部炮孔的超深大于两侧炮孔的超深；在炮孔底铺设缓冲层后，在炮孔内从下往上放入垫块和装药段及雷管，垫块采用高波阻抗材料且竖直放置、外缘略小于炮孔孔径，中部炮孔的垫块为锥型、两侧炮孔的垫块为球型；然后填入堵塞段且将雷管的引爆线引出堵塞段；最后按先中部后两侧的顺序起爆。该方法实现了炮孔内爆炸能量的分配与调控，实现对孔底保留基岩的保护，增强了开挖成型效果，缩减了成本。 【EN】The invention discloses a building base surface pioneer groove excavation method based on explosive energy regulation, which comprises the steps of firstly measuring lofting and drilling blast holes according to design requirements without reserving a protective layer, wherein the blast holes are ultra-deep, and the ultra-deep of the blast holes in the middle part is greater than that of the blast holes on the two sides; after a buffer layer is laid at the bottom of a blast hole, a cushion block, a charging section and a detonator are placed in the blast hole from bottom to top, the cushion block is made of a high-wave impedance material and is vertically placed, the outer edge of the cushion block is slightly smaller than the aperture of the blast hole, the cushion block of the blast hole in the middle is conical, and the cushion blocks of the blast holes on two sides are spherical; then filling the blocking section and leading the detonating cord of the detonator out of the blocking section; and finally, detonating according to the sequence of the middle part and the two sides. The method realizes the distribution and regulation of explosion energy in the blast hole, realizes the protection of reserved bedrock on the hole bottom, enhances the excavation forming effect and reduces the cost.