Abstract: A reinforcement learning algorithm-based predictive control method for lateral and longitudinal coupled vehicle formation includes S1, combining a 3-DOF vehicle dynamics model that takes into account a nonlinear magic formula tire model with a lane keeping model and establishing a vehicle formation model; S2, constructing a distributed control framework and designing a local predictive controller for each following vehicle based on the vehicle formation model under the control framework; S3, using a reinforcement learning algorithm to solve the optimal control strategy of the local predictive controller, and applying the optimal control strategy to the target following vehicle. The present application completes the lateral and longitudinal coupled modeling of vehicle formation and considers the nonlinear characteristics of tires. In addition, the present application also transforms the global optimization problem of vehicle formation into a local optimization problem of each following vehicle.

Abstract: The present application provides a three-mode storage method for program blocks based on check, comprising: first dividing the program to be injected into N blocks and checking each block to obtain the first checksum; then injecting the program to be injected and the first checksum twice in the program storage area, and the two injected programs are noted as the main program and the backup program, respectively; dividing the main program into N blocks, and checking each program block to obtain the second checksum during program run; dividing the backup program into N blocks and checking each block to obtain the third checksum; and comparing the checksum, second checksum and third checksum: if the three are consistent, performing no operation; updating the program or checksum and checking again, if the three are inconsistent.

Abstract: A navigation satellite time system and its autonomous recovery method are provided, including a load time system, the load time system is configured to generate and maintain the load time, and the load time system comprises an space borne atomic clock, a time-frequency processing unit and a plurality of load time backups module, the time information of the load time is obtained from the ground station time; the pulse-per-second signals of the load time are generated and maintained by the space borne atomic clock and the time-frequency processing unit; when the time-frequency processing unit fails, the first-level recovery state is triggered: the time-frequency processing unit compares the time information and the pulse-per-second signals reversely output by the multiple load time backup modules to perform load time recovery.

Abstract: The present invention relates to a slider driving mechanism on a CNC assembly machine for assembled camshaft. The mechanism includes a servo motor (1), the host frame (5), ball screw (6), linear guides (9) and the slider body (8), wherein, the servo motor (1), ball screw (6) and linear guides (9) are mounted vertically on the host frame (5). The servo motor (1) connects with the ball screw. The slider body (8) connects with both the ball screw (6) and the linear guides (9). It is driven by a ball screw (6) and moves along a linear guides (9) in the vertical direction. The present invention is novel. It not only can greatly improve the assembly speed of cam, hexahedron on assembled camshaft and improve productivity, but also can eliminate complex gear system. It makes the manufacturing and processing more simple. The installation is also more convenient. It can further improve product quality and manufacturing precision of assembled camshaft.

Abstract: The present invention relates to a magnetic therapy and a physiotherapeutic device performing such a magnetic therapy. The therapy involves the application of magnetism which provides a transient penetration of magnetic flux by means of a magnetic field scanning of a whole human body or a portion thereof in a three-dimensional gradient magnetic field. The physiotherapeutic treatment device comprises (1) a bed; (2) two magnets straddling on either side of the bed; (3) a mechanical-electrical transmission system; and (4) an electric control system. Therapeutic and health-care effect is achieved by means of magnetic field scanning of the human body with the body lying on the bed facing upward while the two magnets, at properly adjusted heights and actuated by the control panel, move horizontally along the human body receiving the treatment. Clinical tests demonstrate that this invention has remarkable therapeutic effects upon the treatment of a variety of disorders.