Abstract: A stability control method and device based on particle active disturbance rejection are provided. The method includes: establishing an active disturbance rejection controller model based on a dynamic model and a speed loop control model of a tethered balloon system, where the speed loop control model is established through theoretical modeling of executive components of a control system of the tethered balloon system; and optimizing to-be-optimized parameters of the active disturbance rejection controller model using a particle swarm optimization algorithm, determining an optimal active disturbance rejection controller model, and using the optimal active disturbance rejection controller model to implement stability control of a photoelectric pod. An active disturbance rejection controller is optimized by using a particle swarm optimization algorithm, which can effectively isolate the internal and external disturbances of the photoelectric pod and improve the imaging stability of the photoelectric pod.

Abstract: A stability control method and device based on particle active disturbance rejection are provided. The method includes: establishing an active disturbance rejection controller model based on a dynamic model and a speed loop control model of a tethered balloon system, where the speed loop control model is established through theoretical modeling of executive components of a control system of the tethered balloon system; and optimizing to-be-optimized parameters of the active disturbance rejection controller model using a particle swarm optimization algorithm, determining an optimal active disturbance rejection controller model, and using the optimal active disturbance rejection controller model to implement stability control of a photoelectric pod. An active disturbance rejection controller is optimized by using a particle swarm optimization algorithm, which can effectively isolate the internal and external disturbances of the photoelectric pod and improve the imaging stability of the photoelectric pod.

Abstract: The present disclosure relates to a ternary positive electrode material and a battery using the ternary positive electrode material. The ternary positive electrode material includes secondary particles composed of primary particles. The secondary particles have an average particle diameter D50 of 6 ?m-20 ?m, BET of 0.2 m2/g-1 m2/g, and the number ? of primary particles per unit area of the secondary particles is 5 particles/?m2-100 particles/?m2. The ternary positive electrode material has a formula of Li1+a[NixCoyMnzM1bM2c]O2?dNd, where element M1 and element M2 are each independently selected from at least one of Al, Zr, Ti, Mg, Zn, B, Ca, Ce, Te and Fe, element N is selected from at least one of F, Cl and S, and 0<x<1, 0<y?0.3, 0?z?0.3, ?0.1<a<0.2, 0?b<0.3, 0?c<0.3, 0?d<0.2, 0?b+c?0.3, x+y+z+b=1. The formed secondary particles have high compactness, thereby effectively improving the structural stability and the cycling performance at high or low temperature.

Abstract: The present disclosure relates to a ternary positive electrode material and a battery using the ternary positive electrode material. The ternary positive electrode material includes secondary particles composed of primary particles. The secondary particles have an average particle diameter D50 of 6 ?m-20 ?m, BET of 0.2 m2/g-1 m2/g, and the number ? of primary particles per unit area of the secondary particles is 5 particles/?m2-100 particles/?m2. The ternary positive electrode material has a formula of Li1+a[NixCoyMnzM1bM2c]O2-dNd, where element M1 and element M2 are each independently selected from at least one of Al, Zr, Ti, Mg, Zn, B, Ca, Ce, Te and Fe, element N is selected from at least one of F, Cl and S, and 0<x<1, 0<y?0.3, 0?z?0.3, ?0.1<a<0.2, 0?b<0.3, 0?c<0.3, 0?d<0.2, 0?b+c?0.3, x+y+z+b=1. The formed secondary particles have high compactness, thereby effectively improving the structural stability and the cycling performance at high or low temperature.

Abstract: Disclosed is a home service robot, comprising an intelligent control system, a mechanical structure and a remote control terminal. The intelligent control system is mounted in the mechanical structure, and the intelligent control system is controlled by the remote control terminal, to cause the mechanical structure to act correspondingly. The mechanical structure comprises a head (1), a body (2), a chassis (7), a chassis suspension protection and movement mechanism and two movable moving-wing mechanisms (4). The head (1) is mounted at an upper end of the body (2), and the body (2) is mounted on the chassis (7); the two moving-wing mechanisms (4) are symmetrically mounted on two sides of the body (2), and the chassis suspension protection and movement mechanism is mounted on the bottom of the chassis (7). The robot has multiple functions.

Abstract: The present invention discloses a method and system for switching an operating state of a robot. The method comprises the following steps of: providing an excitation device for an opening terminal and an excitation device for a closing terminal on a mask of the robot; transmitting, by the excitation device, a mask state signal to a slave computer processor when the mask is opened or closed; by the slave computer processor, processing the received mask state signal and then transmitting the processed mask state signal to a master computer processor; and controlling, by the master computer processor, the switchover of the operating state of the robot according to the received processed mask state signal. With regard to the technical solutions of the present invention, through the opening and closing of a mask, the system of a robot can be in two operating states and perform different functions.

Abstract: Disclosed is a home service robot, comprising an intelligent control system, a mechanical structure and a remote control terminal. The intelligent control system is mounted in the mechanical structure, and the intelligent control system is controlled by the remote control terminal, to cause the mechanical structure to act correspondingly. The mechanical structure comprises a head (1), a body (2), a chassis (7), a chassis suspension protection and movement mechanism and two movable moving-wing mechanisms (4). The head (1) is mounted at an upper end of the body (2), and the body (2) is mounted on the chassis (7); the two moving-wing mechanisms (4) are symmetrically mounted on two sides of the body (2), and the chassis suspension protection and movement mechanism is mounted on the bottom of the chassis (7). The robot has multiple functions.