Abstract: The present invention relates to the field of water surface treatment, and in particular to a cleaning ship for water surface treatment for harvesting water plants. In order to solve the technical problems that the existing cleaning ship cannot adapt to the waters of different depths for harvesting water plants, and a hull has low load utilization rate for the collected water plants and affects the overall working efficiency and the fuel economy of the hull, the present invention provides a cleaning ship for water surface treatment for harvesting water plants, comprising a steel belt conveying mechanism, a driven shaft and the like. The steel belt conveying mechanism drives the driven shaft to rotate.

Abstract: The present invention relates to the technical field of water surface waste treatment, and in particular to a water surface floater collecting ship. The technical problems are: picking up floaters with the cooperation of labors consumes manpower and causes disturbance of water surface, which makes the floaters float further away with water waves, and the odor emitted by the collected floating waste will pollute the environment and affect the salvage efficiency. The technical solution is: a water surface floater collecting ship, comprising a hull, a collecting system, etc.; the left part of the hull is connected with the collecting system used for collecting waste.

Abstract: In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.

Abstract: In various examples, a yield scenario may be identified for a first vehicle. A wait element is received that encodes a first path for the first vehicle to traverse a yield area and a second path for a second vehicle to traverse the yield area. The first path is employed to determine a first trajectory in the yield area for the first vehicle based at least on a first location of the first vehicle at a time and the second path is employed to determine a second trajectory in the yield area for the second vehicle based at least on a second location of the second vehicle at the time. To operate the first vehicle in accordance with a wait state, it may be determined whether there is a conflict between the first trajectory and the second trajectory, where the wait state defines a yielding behavior for the first vehicle.

Abstract: In various examples, a safety decomposition architecture for autonomous machine applications is presented that uses two or more individual safety assessments to satisfy a higher safety integrity level (e.g., ASIL D). For example, a behavior planner may be used as a primary planning component, and a collision avoidance feature may be used as a diverse safety monitoring component—such that both may redundantly and independently prevent violation of safety goals. In addition, robustness of the system may be improved as single point and systematic failures may be avoided due to the requirement that two independent failures—e.g., of the behavior planner component and the collision avoidance component—occur simultaneously to cause a violation of the safety goals.

Abstract: Techniques for efficiently generating a variable boosted supply voltage for an amplifier and/or other circuits are disclosed. In an exemplary design, an apparatus includes an amplifier, a boost converter, and a boost controller. The amplifier receives an envelope signal and a variable boosted supply voltage and provides an output voltage and an output current. The boost converter receives a power supply voltage and at least one signal determined based on the envelope signal and generates the variable boosted supply voltage based on the power supply voltage and the at least one signal. The boost controller generates the at least one signal (e.g., an enable signal and/or a threshold voltage) for the boost converter based on the envelope signal and/or the output voltage. The boost converter is enabled or disabled based on the enable signal and generates the variable boosted supply voltage based on the power supply voltage and the threshold voltage.

Abstract: Techniques for dynamically generating a headroom voltage for an envelope tracking system. In an aspect, an initial headroom voltage is updated when a signal from a power amplifier (PA) indicates that the PA headroom is insufficient. The initial headroom voltage may be updated to an operating headroom voltage that includes the initial voltage plus a deficiency voltage plus a margin. In this manner, the operating headroom voltage may be dynamically selected to minimize power consumption while still ensuring that the PA is linear. In a further aspect, a specific exemplary embodiment of a headroom voltage generator using a counter is described.

Abstract: Techniques for generating a boost clock signal for a boost converter from a buck converter clock signal, wherein the boost clock signal has a limited frequency range. In an aspect, the boost clock signal has a maximum frequency determined by Vbst/T, wherein Vbst represents the difference between a target output voltage and a battery voltage, and T represents a predetermined cycle duration. The boost converter may include a pulse insertion block to limit the minimum frequency of the boost clock signal, and a dynamic blanking/delay block to limit the maximum frequency of the boost clock signal. Further techniques are disclosed for generally implementing the minimum frequency limiting and maximum frequency limiting blocks.

Abstract: Simple and efficient techniques for closed loop control of a boost converter. In an aspect, a current feed-forward (CFF) mode of operation includes providing current information to a control logic block controlling transistor switches of the boost converter to advantageously smooth the signals present in the closed loop control of the system. In another aspect, a modified peak current (MPC) mode of operation includes providing a simplified control mechanism based on a peak current mode of operation. Both CFF mode and MPC mode may share similar circuit elements, allowing a single implementation to selectively implement either of these modes of control. Further techniques are provided for determining average current information for the logic block.

Abstract: Techniques for dynamically generating a headroom voltage for an envelope tracking system. In an aspect, an initial headroom voltage is updated when a signal from a power amplifier (PA) indicates that the PA headroom is insufficient. The initial headroom voltage may be updated to an operating headroom voltage that includes the initial voltage plus a deficiency voltage plus a margin. In this manner, the operating headroom voltage may be dynamically selected to minimize power consumption while still ensuring that the PA is linear. In a further aspect, a specific exemplary embodiment of a headroom voltage generator using a counter is described.

Abstract: Techniques for efficiently generating a variable boosted supply voltage for an amplifier and/or other circuits are disclosed. In an exemplary design, an apparatus includes an amplifier, a boost converter, and a boost controller. The amplifier receives an envelope signal and a variable boosted supply voltage and provides an output voltage and an output current. The boost converter receives a power supply voltage and at least one signal determined based on the envelope signal and generates the variable boosted supply voltage based on the power supply voltage and the at least one signal. The boost controller generates the at least one signal (e.g., an enable signal and/or a threshold voltage) for the boost converter based on the envelope signal and/or the output voltage. The boost converter is enabled or disabled based on the enable signal and generates the variable boosted supply voltage based on the power supply voltage and the threshold voltage.

Abstract: Techniques for dynamically generating a headroom voltage for an envelope tracking system. In an aspect, an initial headroom voltage is updated when a signal from a power amplifier (PA) indicates that the PA headroom is insufficient. The initial headroom voltage may be updated to an operating headroom voltage that includes the initial voltage plus a deficiency voltage plus a margin. In this manner, the operating headroom voltage may be dynamically selected to minimize power consumption while still ensuring that the PA is linear. In a further aspect, a specific exemplary embodiment of a headroom voltage generator using a counter is described.

Abstract: Techniques for dynamically generating a headroom voltage for an envelope tracking system. In an aspect, an initial headroom voltage is updated when a signal from a power amplifier (PA) indicates that the PA headroom is insufficient. The initial headroom voltage may be updated to an operating headroom voltage that includes the initial voltage plus a deficiency voltage plus a margin. In this manner, the operating headroom voltage may be dynamically selected to minimize power consumption while still ensuring that the PA is linear. In a further aspect, a specific exemplary embodiment of a headroom voltage generator using a counter is described.

Abstract: Techniques for generating a boost clock signal for a boost converter from a buck converter clock signal, wherein the boost clock signal has a limited frequency range. In an aspect, the boost clock signal has a maximum frequency determined by Vbst/T, wherein Vbst represents the difference between a target output voltage and a battery voltage, and T represents a predetermined cycle duration. The boost converter may include a pulse insertion block to limit the minimum frequency of the boost clock signal, and a dynamic blanking/delay block to limit the maximum frequency of the boost clock signal. Further techniques are disclosed for generally implementing the minimum frequency limiting and maximum frequency limiting blocks.

Abstract: Techniques for controlling boost converter operation in an envelope tracking (ET) system. In an aspect, an enable generation block is provided to generate an enable signal for a boost converter, wherein the enable signal is turned on in response to detecting that a sum of a first headroom voltage and an enable peak of a tracking supply voltage is greater than an amplifier supply voltage of the ET system. The enable signal may be turned on for a predetermined enable on duration. In another aspect, a target generation block is provided to generate a target voltage for the boost converter, wherein the target voltage comprises the sum of a second headroom voltage and a target peak of the tracking supply voltage.

Abstract: Techniques for controlling boost converter operation in an envelope tracking (ET) system. In an aspect, an enable generation block is provided to generate an enable signal for a boost converter, wherein the enable signal is turned on in response to detecting that a sum of a first headroom voltage and an enable peak of a tracking supply voltage is greater than an amplifier supply voltage of the ET system. The enable signal may be turned on for a predetermined enable on duration. In another aspect, a target generation block is provided to generate a target voltage for the boost converter, wherein the target voltage comprises the sum of a second headroom voltage and a target peak of the tracking supply voltage.