A rope replacement apparatus includes: a rope conveying mechanism, used for driving a first rope to move along a moving path of a second rope, so as to replace the second rope; a first detection part, used for detecting a first moving speed V.sub.1 of the first rope output by the rope conveying mechanism; the first detection part being installed on the rope conveying mechanism; a second detection part, used for detecting a second moving speed V.sub.2 of the second rope outside the rope conveying mechanism; the second detection part being installed on the moving path of the second rope; a control part, used for adjusting V.sub.1 according to the difference between V.sub.1 and V.sub.2; the first detection part and the second detection part being both in communication connection with the control part. The rope replacement apparatus improves rope replacement efficiency and slipping can be reduced.

Methods and apparatus described for forming individual packages in a food packaging machine comprising a plurality of sub-systems. One or more local variable values are received, which indicate measurements by the food packaging machine of one or more physical parameters for a local sub-system. One or more remote variable values are received, which indicate measurements by the food packaging machine of one or more physical parameters for one or remote sub-systems. One or more control parameter values are determined for the local sub-system of the food packaging machine, by processing the remote variable values and the local variable values using a reinforcement learning model and a local control model. One or more control parameters of the local sub-system are adjusted in accordance with the determined control parameter values. The formation of individual packages by the food packaging machine is controlled in accordance with the adjusted one or more control parameters.

A winding device and a winding method. The winding device includes a winding mechanism configured to wind an electrode plate to form an electrode assembly. The winding mechanism includes: a winding needle assembly, including an inner winding needle and an outer winding needle surrounding the inner winding needle; and a piezoelectric assembly, disposed between the outer winding needle and the inner winding needle and configured to control the outer winding needle to move relative to the inner winding needle to adjust a circumference of the outer winding needle.

Methods and apparatus, including computer program products, are described for controlling web tensioning in a food packaging machine comprising a plurality of sub-systems. One or more local variable value are received, which indicate measurements by the food packaging machine of one or more physical parameters for a web tensioning sub-system. One or more remote variable values are received, which indicate measurements by the food packaging machine of one or more physical parameters for one or remote sub-systems. One or more control parameter values are determined for the web tensioning sub-system, by processing the remote and the local variable values using a reinforcement learning model and a local control model. One or more control parameters of the web tensioning sub-system are adjusted in accordance with the determined control parameter values.

A medium conveying apparatus includes a roller to convey a medium, a direct current (DC) motor to drive the roller, and control circuitry to control the DC motor. The control circuitry switches control of the DC motor from open-loop control to closed-loop control when a predetermined time elapses after start of speed change of the DC motor or the roller, or speed of the DC motor or the roller reaches a predetermined speed after the start of speed change of the DC motor or the roller.

A document sheet conveying device includes a guide portion, a swinging shaft, a sheet member, and a biasing member. The guide portion guides a document sheet to the discharge tray. The swinging shaft is provided at an upstream end of the guide portion in a conveyance direction of the document sheet and swingably supports the guide portion with a width direction of the document sheet as an axis direction. One end of the sheet member is fixed to an upstream end of the discharge tray in the conveyance direction, and the other end is supported by the guide portion. As the guide portion is lifted up, the sheet member is drawn out from a part of the guide portion lower than the discharge outlet. The biasing member biases in a direction in which the sheet member is drawn into the guide portion.