Abstract: A dynamic obstacle avoidance method based on real-time local grid map construction includes: acquiring and inputting Red-Green-Blue-RGBD image data of a real indoor scene into a trained obstacle detection and semantic segmentation network to extract obstacles of different types and semantic segmentation results in the real indoor scene and generate 3D point cloud data with semantic information; according to the 3D point cloud data, extracting and inputting state information of a dynamic obstacle to a trained dynamic obstacle trajectory prediction model, and predicting a dynamic obstacle trajectory in the real indoor scene to build a local grid map; and based on a dynamic obstacle avoidance model, sending a speed instruction in real time to the mobile robot to avoid various obstacles during the navigation process.

Abstract: A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.

Abstract: A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aeria

Abstract: A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aeria

Abstract: A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.

Abstract: The present disclosure discloses a place recognition method based on knowledge graph inference; and provides, on the basis of giving a knowledge graph construction method in the place field, a recognition method of general places that is based on knowledge graph inference and can integrate various heterogeneous environmental information, including the following steps: (1) extracting main clues such as the main items that make up the place, the produced events, and the spatial structure from various heterogeneous information, and describing these clues in natural language text; (2) screening the foregoing descriptions by using natural language processing methods, to form place description entities; (3) constructing a knowledge graph in the place field according to the occurrence frequencies of the description entities in an actual environment; and (4) implementing inference and classification based on the knowledge graph by using a Deep Neural Network (DNN), to give a final recognition result.

Abstract: The present invention provides a method for controlling the oscillation of flapping-wing air vehicle, which comprises the following steps: calculating the kinetic energy, potential energy and virtual work of the system using the flexible wing with the two-degree of freedom as the research object; establishing system dynamics model based on the Hamilton's principle; setting the boundary control rate according to said system dynamics model wherein said boundary control rate includes F(t) and M(t), said F(t) is the inputted boundary control force, and said M(t) is the inputted boundary torque; and controlling the flexible wings according to the system dynamics model in combination with the boundary control rate.

Abstract: A synchronization preamble transmission method, a synchronization method, a device and a system are disclosed in the disclosure. The method includes: transmitting synchronization preambles in a superframe, the synchronization preambles comprise one Primary Preamble (P-Preamble) and two Secondary-Preambles (S-Preambles), wherein the P-Preamble carries system bandwidth information and the S-Preambles carry cell/sector Identification (ID) information. The disclosure reaches the effect of reducing the overhead of Synchronization Channel (SCH) on the basis of ensuring the performance of synchronization access.

Abstract: A method for mapping resources of broadcast control channel is disclosed. Available subcarriers of a subframe in which the broadcast control channel is located are divided into three subcarrier sets, each of which is mapped to be one frequency partition, so that the subframe in which the broadcast control channel is located includes N frequency partitions, and resources of each frequency partition are mapped to be logical resource units, wherein N can be 1 or 3. With this method, subcarrier sets of the broadcast control channel are divided, and the resources of the broadcast control channel are mapped.

Abstract: A method for sending a middle pilot is disclosed. The sending method comprises: selecting a middle pilot sequence set; creating a middle pilot subcarrier union; mapping by a base station a middle pilot sequence in the middle pilot sequence set after modulation through an OFDMA or OFDM symbol for transmitting the middle pilot onto a middle pilot subcarrier in a middle pilot subcarrier union corresponding to each transmission antenna, or, mapping by a base station a middle pilot sequence in the middle pilot sequence set through an OFDMA or OFDM symbol for transmitting the middle pilot onto a middle pilot subcarrier in a middle pilot subcarrier union corresponding to each transmission antenna and then performing modulation on the data at the subcarrier. By way of the present invention, the sending of middle pilot sequences is achieved, and the method reduces the periodicity of pilot symbols in the frequency domain and improves downlink performance of user data.

Abstract: The present invention provides a method for configuring a preamble and a method for searching a cell, wherein the method for configuring a preamble comprises: configuring a preamble as comprising a first reference preamble and a second reference preamble, wherein the first reference preamble and the second reference permeable are located in different OFDM symbols. By means of the technical solution of the present invention, accessing solution between the fourth-generation communication system with the third-generation communication system based on the OFDM technology can be realized and the accessing time is shortened.

Abstract: A synchronization preamble transmission method, a synchronization method, a device and a system are disclosed in the disclosure. The method includes: transmitting synchronization preambles in a superframe, the synchronization preambles comprise one Primary Preamble (P-Preamble) and two Secondary-Preambles (S-Preambles), wherein the P-Preamble carries system bandwidth information and the S-Preambles carry cell/sector Identification (ID) information. The disclosure reaches the effect of reducing the overhead of Synchronization Channel (SCH) on the basis of ensuring the performance of synchronization access.

Abstract: A method for sending a middle pilot is disclosed. The sending method comprises: selecting a middle pilot sequence set; creating a middle pilot subcarrier union; mapping by a base station a middle pilot sequence in the middle pilot sequence set after modulation through an OFDMA or OFDM symbol for transmitting the middle pilot onto a middle pilot subcarrier in a middle pilot subcarrier union corresponding to each transmission antenna, or, mapping by a base station a middle pilot sequence in the middle pilot sequence set through an OFDMA or OFDM symbol for transmitting the middle pilot onto a middle pilot subcarrier in a middle pilot subcarrier union corresponding to each transmission antenna and then performing modulation on the data at the subcarrier. By way of the present invention, the sending of middle pilot sequences is achieved, and the method reduces the periodicity of pilot symbols in the frequency domain and improves downlink performance of user data.

Abstract: A method for mapping resources of broadcast control channel is disclosed. Available subcarriers of a subframe in which the broadcast control channel is located are divided into three subcarrier sets, each of which is mapped to be one frequency partition, so that the subframe in which the broadcast control channel is located includes N frequency partitions, and resources of each frequency partition are mapped to be logical resource units, wherein N can be 1 or 3. With this method, subcarrier sets of the broadcast control channel are divided, and the resources of the broadcast control channel are mapped.

Abstract: The present invention provides a method for configuring a preamble and a method for searching a cell, wherein the method for configuring a preamble comprises: configuring a preamble as comprising a first reference preamble and a second reference preamble, wherein the first reference preamble and the second reference permeable are located in different OFDM symbols. By means of the technical solution of the present invention, accessing solution between the fourth-generation communication system with the third-generation communication system based on the OFDM technology can be realized and the accessing time is shortened.

Abstract: A method for uplink burst equalization in broad wide access system, using the form of combining pre-training and burst equalization, that is, before transmitting user data, training the equalizer, then starting transmitting user data, in which, the equalizer uses decision user data as reference to track the changed wireless channel; if the change of channel exceeds the tracking region of equalizer, for example, the error rate exceeds threshold 1 but doesn't exceed threshold 2, the burst equalization will be performed; if the channel change exceeds the equalization region of equalizer, for example, the error rate exceeds threshold 2, the training will be performed again.

Abstract: A method for uplink burst equalization in broad wide access system, using the form of combining pre-training and burst equalization, that is, before transmitting user data, training the equalizer, then starting transmitting user data, in which, the equalizer uses decision user data as reference to track the changed wireless channel; if the change of channel exceeds the tracking region of equalizer, for example, the error rate exceeds threshold 1 but doesn't exceed threshold 2, the burst equalization will be performed; if the channel change exceeds the equalization region of equalizer, for example, the error rate exceeds threshold 2, the training will be performed again.