CN118915849B - Temperature balance control method, device and system - Google Patents
Temperature balance control method, device and system Download PDFInfo
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- CN118915849B CN118915849B CN202410998802.XA CN202410998802A CN118915849B CN 118915849 B CN118915849 B CN 118915849B CN 202410998802 A CN202410998802 A CN 202410998802A CN 118915849 B CN118915849 B CN 118915849B
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12Q—MEASURING OR TESTING PROCESSES INVOLVING ENZYMES, NUCLEIC ACIDS OR MICROORGANISMS; COMPOSITIONS OR TEST PAPERS THEREFOR; PROCESSES OF PREPARING SUCH COMPOSITIONS; CONDITION-RESPONSIVE CONTROL IN MICROBIOLOGICAL OR ENZYMOLOGICAL PROCESSES
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- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
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Abstract
The invention discloses a temperature balance control method, device and system, and relates to the field of biological inspection temperature control. According to the temperature balance control method provided by the invention, the current temperature error of the two control channels and the estimated temperature of the next moment are calculated through the current temperature of the two control channels and the estimated error of the next moment, the error correction quantity of any channel is determined according to the temperature error, and the error correction quantity is distributed to the corresponding control channels for correction so as to control and adjust the heating power of the two control channels, so that the heating temperatures of the two control channels are balanced, the synchronism of the heating process of a sample block is improved, the temperature consistency balance of a plurality of temperature regulating elements is ensured in the rapid temperature changing process, and the effective nucleic acid amplification efficiency is maintained.
Description
Technical Field
The invention relates to the field of biological inspection temperature control, in particular to a temperature balance control method, device and system.
Background
Polymerase Chain Reaction (PCR) is a technique for achieving exponential amplification of the number of targeted nucleic acid fragments in vitro, and has become a standard technical means for nucleic acid testing. The PCR process is subjected to tens of temperature cycle processes, and shortening the total amplification time is one of the important exploration directions for realizing rapid detection. The implementation of rapid PCR includes contact type such as continuous flow, fixed cavity, oscillation type, and non-contact type such as infrared, metal nano particle, microwave, magnetic induction. The consumable of the implementation mode has strong customization, a reagent system is relatively closed, and the cost is relatively high.
The thermal cycle of the nucleic acid sample amplification stage is usually realized by using the Peltier temperature control technology in the universal PCR instrument, so that the Peltier can be improved from tiled arrangement to V-shaped arrangement for realizing the rapid PCR reaction by using conventional compatible consumables, the heat exchange area is increased, and the variable temperature power of unit samples is improved. In the control system, due to the preparation errors and the installation condition differences of different peltier devices, in the process of realizing rapid temperature change, the same target sample tube is controlled by using a plurality of peltier devices, so that the problems of uneven temperature control, poor temperature duration accuracy, temperature drift, shaking and the like are easily caused by different peltier device output effective power, and further the nucleic acid amplification efficiency is affected. Therefore, in the application scenario that the multi-peltier control single reaction tube realizes the rapid thermal cycle, how to cooperate with the working condition of the multi-peltier and precisely control the temperature of the target reaction system is still to be further researched and perfected.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a temperature balance control method, a temperature balance control device and a temperature balance control system, which are used for accurately controlling the working temperature of a target reaction system in cooperation with the working condition of a multi-Peltier device so as to solve the problems of uneven temperature control, poor accuracy of temperature duration, temperature drift, jitter and the like.
According to a first aspect, an embodiment of the present invention provides a temperature balance control method applied to a thermal cycle device, where the thermal cycle device is configured with two control channels, the method includes:
Acquiring the current temperature of any control channel at the current moment;
calculating the estimated temperature of any control channel at the next moment according to the heat required by the heat table when any control channel is independently heated and the control power output by the heating work of any channel;
calculating temperature errors of the two control channels according to the current temperature of the two control channels and the estimated temperature of the next moment;
Determining an error correction amount of any channel according to the temperature error;
And distributing the error correction quantity to the corresponding control channels so as to control and adjust the heating power of the two control channels and balance the heating temperatures of the two control channels.
The temperature balance control method provided by the invention calculates the temperature errors of the two control channels through the current temperature of the two control channels and the estimated temperature of the next moment, determines the error correction quantity of any channel according to the temperature errors, distributes the error correction quantity to the corresponding control channel for correction so as to control and adjust the heating power of the two control channels, balance the heating temperature of the two control channels, improve the synchronism of the heating process of the sample block, ensure that a plurality of temperature regulating elements realize the temperature uniformity balance in the rapid temperature change process, and maintain the effective nucleic acid amplification efficiency.
With reference to the first aspect, in a preferred technical solution, according to the heat required by the heat stage when any one of the control channels is heated alone and the control power of the heating operation output of any one of the channels, the method includes:
Establishing a continuous variable-temperature step of a designated temperature section;
when any control channel is independently heated, calculating the heat required by the heat table at each step temperature change;
the required power per unit time of any control channel when maintaining the temperature in the temperature equilibrium state is calculated.
With reference to the first aspect, in a preferred technical solution, calculating an estimated temperature of any control channel at a next moment includes:
and (3) establishing a temperature estimation model, and accumulating each continuous variable temperature step to enable the sum of the heat required by the heat table in the designated temperature section and the accumulated heat of the current temperature to be equal to the accumulated heat of the estimated temperature at the next moment.
With reference to the first aspect, in a preferred technical solution, calculating the temperature error of the two control channels according to the current temperatures of the two control channels and the estimated temperatures of the next time includes:
the temperature error calculation model is built, errors of the current temperature and the expected temperature of the two control channels, errors of the estimated temperature at the next moment and the expected temperature at the next moment are combined, the intersection error of the temperatures of the two control channels at the current moment and the intersection error of the estimated temperatures of the two control channels at the next moment form a temperature error matrix group, and the temperature error matrix group is quantized to calculate the temperature intersection error.
With reference to the first aspect, in a preferred technical solution, determining an error correction amount of any channel according to a temperature error includes:
An error distribution model is established, and the power correction quantity of any channel is determined based on the temperature crossing error of any channel.
In combination with the first aspect, in a preferred technical solution, delay and resampling processing are performed on the current temperature of the two control channels, the estimated temperature of the next moment, and the power control parameter, respectively, and the temperature parameter and the power correction amount are recalculated, so as to continuously adjust the power correction amount in the temperature changing process.
According to a second aspect, an embodiment of the present invention further provides a temperature balance control apparatus, including:
The acquisition module is used for acquiring the current temperature of any control channel at the current moment;
the first calculation module is used for calculating the estimated temperature of any control channel at the next moment according to the heat required by the heat table when any control channel is independently heated and the control power output by the heating work of any channel;
the second calculation module is used for calculating temperature errors of the two control channels according to the current temperatures of the two control channels and the estimated temperature of the next moment;
the determining module is used for determining the error correction quantity of any channel according to the temperature error;
And the correction distribution module is used for distributing the error correction quantity to the corresponding control channels so as to control and adjust the heating power of the two control channels and balance the heating temperatures of the two control channels.
According to a third aspect, embodiments of the present invention also provide a temperature balance control system, including a memory for storing a computer program;
and a processor, configured to implement the temperature balance control method in the first aspect of the present invention or a preferred technical solution in combination with the first aspect when executing the computer program.
According to a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a computer to execute the temperature balance control method according to the first aspect or the preferred technical solution combined with the first aspect of the present invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a temperature balance control method provided by the invention;
FIG. 2 is a schematic view of a thermal cycling apparatus provided by the present invention;
FIG. 3 is a schematic diagram of a thermal cycle apparatus according to the present invention;
FIG. 4 is a schematic diagram of establishing continuous temperature steps in the temperature balance control method provided by the invention;
FIG. 5 is a schematic diagram of parameter control in the temperature balance control method according to the present invention;
FIG. 6 is a schematic diagram of a cross balance control unit in the temperature balance control method according to the present invention;
FIG. 7 is a graph showing the temperature change of the thermal cycle device in the normal operation phase of the present invention;
FIG. 8 is a graph showing a temperature change curve of a thermal cycle apparatus according to the present invention using a temperature balance control method;
FIG. 9 is a schematic diagram of a temperature balance control device according to the present invention;
Reference numerals illustrate:
1-sample block, 11-support part, 21-first temperature regulating element, 22-second temperature regulating element, 31-first temperature sensing element and 32-second temperature sensing element;
The system comprises a 201-two-way control unit, a 202-cross balance control unit, a 203-control parameter output unit, a 204-delay module and a 205-resampling module;
301-second calculation module, 302-determination module, 303-first balance control output unit, 304-second balance control output unit, 305-correction distribution module, 306-first independent PID control unit, 307-second independent PID control unit.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Examples
The embodiment of the invention provides a thermal circulation device, which is shown in fig. 2 and 3, and comprises a sample block 1, a first temperature regulating element 21 and a second temperature regulating element 22, wherein the first temperature regulating element 21 and the second temperature regulating element 22 are relatively and adjacently arranged on the lateral end face of the sample block 1 along the extending direction of the sample block, the first temperature regulating element 21 and the second temperature regulating element 22 are arranged in a V shape, and the thermal circulation device is provided with a first temperature sensing piece 31 suitable for detecting the heating temperature of the first temperature regulating element 21 and a second temperature sensing piece 32 suitable for detecting the heating temperature of the second temperature regulating element 22 on the sample block 1. In a specific embodiment, the sample block 1 is provided with a support 11 adapted to receive a reaction tube, and the sample block 1 is provided with a mounting hole for mounting a temperature sensing element. The thermal cycling device is provided with two heating control channels to adjust the operating power of the first temperature adjusting element 21 and the second temperature adjusting element 22, respectively, to heat the sample block 1.
Due to the preparation errors of different temperature regulating elements, such as Peltier, in the process of realizing rapid temperature change, the control of the same target sample tube by a plurality of Peltier is easy to cause the problems of uneven temperature control, poor accuracy of temperature duration, temperature drift, shaking and the like, thereby influencing the nucleic acid amplification efficiency.
Based on the above, the temperature balance control method provided by the embodiment of the invention calculates the temperature errors of the two control channels through the current temperature of the two control channels and the estimated temperature of the next time, determines the error correction amount of any channel according to the temperature errors, distributes the error correction amount to the corresponding control channel for correction so as to control and adjust the heating power of the two control channels, balances the heating temperatures of the two control channels, improves the synchronism of the heating process of the sample block 1, ensures that a plurality of temperature regulating elements balance the temperature consistency in the rapid temperature changing process, and maintains the effective nucleic acid amplification efficiency. In one embodiment, the invention can propose a method solution for implementing control for the temperature change consistency temperature of the first temperature regulating element 21 and the second temperature regulating element 22 of the V-shaped arrangement.
According to an embodiment of the present invention, there is provided a temperature balance control method, it should be noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that herein.
In this embodiment, the embodiment of the invention provides a temperature balance control method applied to a thermal cycle device, wherein the thermal cycle device is configured with two control channels, referring to fig. 1, fig. 1 is a flowchart of the temperature balance control method provided according to the embodiment of the invention, and the flowchart includes the following steps:
S11, acquiring the current temperature of any control channel at the current moment, wherein the current temperatures of the two control channels can be acquired in real time through the first temperature sensing piece 31 and the second temperature sensing piece 32 respectively;
s12, calculating the estimated temperature of any control channel at the next moment according to the heat required by the heat table when any control channel is independently heated and the control power output by the heating work of any channel;
s13, calculating temperature errors of the two control channels according to the current temperatures of the two control channels and the estimated temperature of the next moment;
s14, determining an error correction amount of any channel according to the temperature error;
S15, distributing the error correction quantity to the corresponding control channels so as to control and adjust the heating power of the two control channels and balance the heating temperatures of the two control channels.
In a specific implementation manner, referring to fig. 5, the temperature balance control method is configured with a two-way control unit 201, a cross balance control unit 202, a control parameter output unit 203, a delay module 204 and a resampling module 205 to implement input, output and communication processes of control parameters, where an output side of the two-way control unit 201 is abutted against an input side of the cross balance control unit 202, an output side of the cross balance control unit 202 is abutted against an input side of the control parameter output unit 203, an output side of the control parameter output unit 203 is abutted against an input side of the delay module 204, an output side of the delay module 204 is abutted against an input side of the resampling module 205, and an output side of the resampling module 205 is abutted against an input side of the two-way control unit 201.
In a preferred embodiment, the control power according to the heat required by the heat stage when either control channel is heated alone and the heating work output of either channel comprises:
s121, establishing a continuous temperature-changing step of a specified temperature section, wherein the specified temperature section, such as T0 to T1, can be controlled by computer software;
s122, when any control channel is independently heated, calculating the heat required by the heat table at each step temperature change, and calculating the required power of any control channel in unit time when the temperature is maintained in a temperature balance state.
In a specific embodiment, a heat model of the heat table is established, and for a process of changing the temperature from T0 to T1, the heat required by the heat table is expressed as follows under the premise that a thermal circulation device is unchanged:
Q=(T1-T0)CeqMeq,
Wherein C eq is the equivalent specific heat capacity of the heat table, and M eq is the equivalent mass of the heat table.
Under the individual heating drive conditions of the first temperature regulating element 21 or the second temperature regulating element 22, a continuously variable temperature step is constructed and the temperature change process is recorded, see fig. 4, wherein deltaq i、ΔQi-1、ΔQi-n represents the amount of heat required for each step change of the heat stage,Indicating the power required to maintain the temperature for a unit time at equilibrium. The computer software can control the appointed unit time to stably time each temperature-changing step in the heating process.
As a further embodiment, calculating an estimated temperature of any control channel at a next time instant comprises:
s123, a temperature estimation model is built, each continuous variable temperature step is accumulated, and the sum of the heat required by the heat table in the designated temperature section and the accumulated heat of the current temperature is equal to the accumulated heat of the estimated temperature at the next moment.
In a specific embodiment, for any one of the two-way control units 201, at any time T i, the control power P is output after PID operation, the transfer heat is set to q=εpΔt, where Δt represents the temperature control interval, ε represents the heat conversion efficiency, and the estimated temperature T i+1,1 at the next time is estimated in combination with the above-mentioned heat stage heat model:
in a preferred embodiment, calculating the temperature error of the two control channels based on the current temperature of the two control channels and the estimated temperature at the next time, comprises:
s141, a temperature error calculation model is established, and errors of the current temperature and the current expected temperature of the two control channels, errors of the estimated temperature at the next moment and the expected temperature at the next moment, intersection errors of the two control channels at the current moment and intersection errors of the estimated temperatures of the two control channels at the next moment form a temperature error matrix group;
S142, quantizing the temperature error matrix group to calculate a temperature crossing error.
In a specific embodiment, to coordinate the consistency of the temperature change process, a cross-balance control unit 202 may establish a cross-control strategy based on the current temperature and the predicted temperature of the next time of the two paths of control units;
Wherein Err i,1 represents the error between the current temperature and the current expected temperature, err i+1,1 represents the error between the estimated temperature at the next time and the expected temperature at the next time, SE i represents the intersection error of the two control channels at the current time, SE i+1 represents the intersection error of the estimated temperatures of the two control channels at the next time, and alpha and beta are quantized control coefficients respectively. For the above-mentioned temperature error matrix group after quantization control, it can obtain three columns of matrices of error correction factors related to control channel 1, error correction factors of control channel 2 and two control channel cross correction factors, and SUM all elements in the matrices.
As a further embodiment, determining an error correction amount for any channel based on the temperature error includes:
Establishing an error distribution model:
Where M 1 represents the power correction of the first channel, M 2 represents the power correction of the second channel, and γ is the control coefficient.
In this embodiment, the power correction amount of any one channel is determined based on the temperature cross error of any one channel. And distributing the power correction quantity to the corresponding control channels, so as to control and adjust the heating power of the two control channels, and achieve the purpose of balancing the heating temperatures of the two control channels.
As a further embodiment, delay and resampling processing are respectively performed on the current temperature of the two control channels, the estimated temperature of the next moment, and the power control parameters, the temperature parameters and the power correction amounts are recalculated to continuously adjust the power correction amounts in the temperature changing process, and the steps S11 to S15 are repeated in a circulating manner, so as to realize the control of the temperature balance synchronization of the first temperature adjusting element 21 and the second temperature adjusting element 22 in a specified temperature section.
In one embodiment, the control power P is replaced by duty cycle information corresponding to the control output through either path. And replacing the heat quantity Q of the heat station by using the duty ratio information and the change time which are correspondingly controlled and output by any path. In a specific embodiment, a PCR temperature control thermal cycle program is used for setting the expected temperature and the expected temperature changing rate, the expected temperature at each time t i can be obtained through decomposition, at any time t i, the duty ratio controlled by an output temperature regulating element at the next time is calculated through PID operation according to the current error P item, the accumulated integral error I item and the accumulated differential error D item, and for the temperature regulating element set as Peltier, the peak voltages at two ends of the Peltier are known, namely, the output power information can be represented through duty ratio information.
Referring to fig. 7, which is a normal working phase, the temperature change curves of the two temperature adjusting elements are collected, the temperature change curve of the control channel 1 and the temperature change curve of the control channel 2 have obviously separated deviation errors in a heating phase, and referring to fig. 8, which is a temperature balance control method provided by the embodiment, the temperature change curves of the two temperature adjusting elements are collected, the temperature change curve of the control channel 1 and the temperature change curve of the control channel 2 are basically overlapped in the heating phase, and basically have no deviation errors.
The temperature balance control method provided by the embodiment can solve the problems of inconsistent temperature, unstable temperature control, uneven sample temperature and the like caused by unbalanced control of the single target sample tube by the two temperature regulating elements.
The embodiment also provides a temperature balance control device, which is used for implementing the above embodiment and the preferred embodiment, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The embodiment of the invention also provides a temperature balance control device, referring to fig. 9, fig. 9 is a schematic structural diagram of the temperature balance control device provided by the invention, and the temperature balance control device comprises:
The acquisition module is used for acquiring the current temperature of any control channel at the current moment.
The first calculation module is used for calculating the estimated temperature of any control channel at the next moment according to the heat required by the heat table when any control channel is independently heated and the control power output by the heating work of any channel.
The second calculating module 301 is configured to calculate temperature errors of the two control channels according to the current temperatures of the two control channels and the estimated temperatures of the next time.
A determining module 302, configured to determine an error correction amount of any channel according to the temperature error.
The correction distribution module 305 is configured to distribute the error correction amount to the corresponding control channels, so as to control and adjust the heating powers of the two control channels, so that the heating temperatures of the two control channels are balanced.
Referring to fig. 6, the temperature balance control device provided in the embodiment of the present invention is configured with a first balance control output unit 303 and a second balance control output unit 304, so as to perform temperature balance control on two temperature adjustment elements, where the first balance control output unit 303 receives, on one hand, a control parameter from a first independent PID control unit 306 at a PID control end, and receives, on the other hand, a correction amount of the control parameter distributed by a correction distribution module 305, such as a power correction amount M 1 of a first channel, and the second balance control output unit 304 receives, on the one hand, a control parameter from a second independent PID control unit 307 at the PID control end, and receives, on the other hand, a correction amount of the control parameter distributed by the correction distribution module 305, such as a power correction amount M 2 of a second channel. Specifically, the determining module 302 is configured as a PID control arithmetic unit, referring to fig. 6, the second calculating module 301 calculates the crossover error according to the calculation formula of E out in the crossover control strategy, the crossover error is used as an input of the PID control arithmetic unit, the target value of the PID control arithmetic unit is set to 0, the output C out of the PID control arithmetic unit is distributed to M 1、M2 according to the ratio of γ (1- γ) in the error distribution model, and acts on the first balance control output unit 303 and the second balance control output unit 304 to participate in the control of the control channel 1 and the control channel 2, respectively, based on the error Err i,1、Erri,2 of the current actual temperature and the desired temperature error Err of the left control channel 1,2, the error Err i+1,1、Erri+1,2 of the estimated temperature of the next control channel 1,2 and the estimated crossover error SE i of the two control channels at the current time, and the estimated crossover error SE i+1 of the next time.
The temperature balance control device in this embodiment is presented in the form of a functional unit, where the unit refers to an integrated/chip circuit, a processor and a memory executing one or more software or fixed programs, and/or other devices that can provide the above-described functions.
Further functional descriptions of the above respective modules are the same as those of the above corresponding embodiments, and are not repeated here.
The embodiment of the invention also provides a temperature balance control system which is provided with a temperature balance control device.
An alternative embodiment of the present invention provides a temperature balance control system that may include at least one processor, such as a CPU, at least one communication interface, a memory, at least one communication bus. Wherein the communication bus is used to enable connection communication between these components. The communication interface may include a display screen, a keyboard, and the selectable communication interface may also include a standard wired interface, a wireless interface. The memory may be a high-speed RAM memory or may be non-volatile memory, such as at least one disk memory. The memory may optionally also be at least one storage device located remotely from the aforementioned processor. Wherein the processor may incorporate a temperature balance control means, the memory storing an application program, and the processor invoking program code stored in the memory for performing any of the method steps described above.
The communication bus may be a peripheral component interconnect standard bus or an extended industry standard architecture bus, among others. Communication buses may be classified as address buses, data buses, control buses, etc. The memory may comprise volatile memory, such as random access memory, nonvolatile memory, such as flash memory, hard disk or solid state drive, or a combination of the above.
The processor may be a central processing unit, a network processor, or a combination of a CPU and NP. The processor may further comprise a hardware chip. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The PLD may be a complex programmable logic device, a field programmable gate array, general-purpose array logic, or any combination thereof.
Optionally, the memory is further used for storing program instructions. The processor may call program instructions to implement the temperature balance control method provided by the embodiment of the invention.
The embodiment of the invention also provides a non-transitory computer storage medium, which stores computer executable instructions that can execute the correction method of the fetal heart rate deceleration type in any of the above method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random memory, a flash memory, a hard disk, a solid state disk or the like, and can also comprise a combination of the above types of memories.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
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| CN114544021A (en) * | 2022-01-13 | 2022-05-27 | 成都金知丽科技有限公司 | Cold end temperature estimation method of multi-channel temperature acquisition system based on heat conduction and signal reconstruction |
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