Shenyang Institute of Automation,Chinese Academy Of Sciences
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一种板式换热片的激光清洗强化复合除锈方法
No full text本发明公开了一种板式换热片的激光清洗强化复合除锈方法，属于激光清洗和激光冲击强化技术领域。该除锈方法首先使用高功率高重频的激光辐照在换热片生锈部位，以除去板式换热片表面氧化层；然后在换热片表面粘贴牺牲层，并喷洒水膜；再使用高能激光辐照到换热片表面的牺牲层上，对清洗后的换热片基体进行激光冲击强化处理后，去除换热片表面的牺牲层；将板式换热器翻面，重复上述操作过程。本发明复合除锈技术能够提高清洗后换热片表面的致密性，从而提高基体的耐腐蚀性
适用于无人潜器的水下对接装置
No full text本实用新型涉及水下对接装置，具体地说是一种适用于无人潜器的水下对接装置，对接装置头部为对接头，对接头的上方开有对接通孔；对接装置的内部为空心式结构，在对接装置的对接头内部的空心结构中，存在一个保压密封装置；被对接装置的头部为导向罩，导向罩上设有灯源，导向罩后侧为对接筒，对接筒内设有可以夹紧和放松的电动夹爪；在被对接装置的内部也有一个保压密封装置。本实用新型为前头移动式对接，解决了水下设备移动性差、方向性差的笨重问题，符合了水下结构控制学的基本要求；同时，本实用新型可以使水下无人潜器有效地设置精密仪器的使用环境，并保证对接中的稳定性，具有方便进行水下无人潜器与其它装置的信息、能源传输的优势
包络形深海软体手指及深海软体抓手
No full text本实用新型涉及软体机器人的软体手指，具体地说是一种包络形深海软体手指及深海软体抓手。软体手指设有手指指尖、包络结构板、小压力囊、大压力囊、密封夹紧片、压力管道等结构，软体手指内部设有两个压力通道，当向压力通道充入液体时，充入的液体通过压力通道导入到小压力囊和大压力囊中，压力囊充液膨胀使得手指实现弯曲。本实用新型通过手指、夹紧件、直角宝塔接头与三指手掌组装，能够得到三指深海软体抓手。本实用新型设置的大小压力囊能够在加压时让软体手指不同位置均达到合适的弯曲角度，包络结构板相互配合能够牢牢地包裹住被抓物体，压力管道与直角宝塔接头相互配合能够实现水下密封
一种用于农机信息获取和共享的无线自组网络节点装置
No full text本发明提供了一种用于农机作业信息获取和共享的无线自组网络节点装置。该节点装置主要包括电源模块、STM32F1处理器模块、RS232模块、CAN、模块和Lora无线模块。电源模块为整个节点提供3.3V和5V供电。STM32F1处理器模块通过UART端口与RS232模块和Lora无线模块连接，实现串口通信和无线组网。STM32F1处理器模块通过CAN端口收发与CAN模块连接，实现CAN通信。节点通过RS232和CAN通信采集农机定位和作业信息的信号，通过Lora无线模块连接外部的上位机或其他终端将信息自组网络共享，为农机导航作业、运维系统等提供底层支持
Different Types of Near-Inertial Internal Waves Observed by Lander in the Intermediate-Deep Layers of the South China Sea and Their Generation Mechanisms
No full textWe report the direct and quantitative measurement of five significant near-inertial waves (NIWs) events observed by Lander at water depths of 600 m to 1100 m at 119◦ 17′ E and 22◦ 06′ N in the northern South China Sea from July to November 2017. We found that these five NIWs events lead to strong shearing, which plays an important role in deep water mixing. Each event corresponds to several different NIWs generation mechanisms. The results show that the NIWs events generated by typhoons were the most regular. This was caused by dispersive NIWs propagation over long periods of time and over long distances. NIWs formed by spontaneous generation do not have this feature. The strongest NIWs events during the observation period were caused by a combination of shelf wave attenuation and monsoon. This time, the signal was transmitted to the seabed, and the upward signal reflected in the meridional direction was found. The reflected signal was anisotropically affected by the seabed topography. A horizontally propagated NIWs event with relatively weak dispersion was also found in this study. Based on the topography, we suspect it was formed by the Lee wave, but we cannot provide any more useful evidence.</p
Research status and prospect of plate elements in absolute nodal coordinate formulation
No full textThe Absolute Nodal Coordinate Formulation (ANCF) is a milestone in the study of flexible multibody dynamics and is of great significance for the study of the dynamics of multi-flexible systems, of which the plate element is an important part. In this article, the construction and principles of this type of element are systematically traced, the types of elements that have been studied are summarized, and the research history of the element locking problem and extended applications in different fields are briefly described. Through the systematic summary, the shortcomings in the current research and application of the element are identified, and some suggestions for future theoretical research on the plate element are given. The functional expansion of the plate element under the conditions of constraints, materials and physical fields as well as practical engineering applications are discussed
A family of hybrid IPT topologies for constant current and constant voltage battery charging
No full textFor meeting the actual demand of constant current (CC) and constant voltage (CV) in lithium-ion battery-charging process and improve the flexibility and safety of charging, this paper proposes a family of hybrid inductive power transfer (IPT) topologies that can realise CC and CV output and are not limited by the parameters of coils. Starting from a single existing topology with configurable CC or CV output, which can achieve zero-voltage switching (ZVS), load-independent and approximately zero reactive power, and the missing configurable CC or CV output is obtained by circuit transformation through cascaded T-type network. Then, the cascaded T-type network is switched by mode switches, so as to derive a family of hybrid IPT topologies suitable for lithium-ion battery wireless charging. In order to reduce the number of devices in the compensation network, the T-type network can be integrated with the existing compensation networks. Hence, this paper also proposes some hybrid IPT battery chargers and their design ideas. The control logic of mode switches and the sensitivity of compensation parameters are also discussed. Ultimately, a hybrid IPT battery charger based on S-S and S-LCC compensation networks is developed to test the correctness of the proposed scheme
Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning
No full textThe path planning for mobile robots has attracted extensive attention, and evolutionary algorithms have been applied to this problem increasingly. In this paper, we propose a novel gradient eigendecomposition invariance biogeography-based optimization (GEI-BBO) for mobile robot path planning, which has the merits of high rotation invariance and excellent search performance. In GEI-BBO, we design an eigendecomposition mechanism for migration operation, which can reduce the dependency of biogeography-based optimization (BBO) on the coordinate system, improve the rotation invariance and share the information between eigensolutions more effectively. Meanwhile, to find the local optimal solution better, gradient descent is added, and the system search strategy can reduce the occurrence of local trapping phenomenon. In addition, combining the GEI-BBO with cubic spline interpolation will solve the problem of mobile robot path planning through a defined coding method and fitness function. A series of experiments are implemented on benchmark functions, whose results indicated that the optimization performance of GEI-BBO is superior to other algorithms. And the successful application of GEI-BBO for path planning in different environments confirms its effectiveness and practicability.</p
Underwater image sharpening based on fusion of restored structure and enhanced texture
No full text针对水体对光的吸收与散射作用,导致水下拍摄图像存在雾化现象、色彩失真等问题,提出一种基于复原结构与增强纹理融合的水下图像清晰化算法.首先,通过相对总变差模型将图像分解为结构层与纹理层;其次,基于背景光的高亮度与平坦特性及颜色信息计算背景光值,利用红色暗通道先验优化透射率,通过逆求解成像模型得到复原结构层;然后,提出梯度平滑方法用于纹理层,该方法在抑制噪声的同时有效增强纹理细节;最后,融合复原结构层与增强纹理层,得到清晰的水下图像.实验结果表明,算法将所提出的复原与增强技术相结合,清晰化处理后的图像较好地去除了雾化现象,且色彩鲜明、细节丰富.相对于各比较算法,水下彩色图像质量评价指标提高16.09%,为水下机器人等工程实践提供了可行的参考.</p
Semi-supervised fault diagnosis method for chemical process based on TE-DS
No full text针对现有基于深度学习的化工过程故障诊断方法通常需要完备的标签数据才能构建故障诊断模型等局限，提出一种基于时间集成-双重学生模型(temporal ensembling-dual student,TE-DS)的半监督化工过程故障诊断方法。该方法首先以双重学生模型为基础，通过分类项约束、稳定性约束和一致性约束条件指导相互训练，有效地缓解了误差累积情况的发生。然后利用时间集成(temporal ensembling)将多个先前网络评估的预测集成作为一致性正则化对象，达到缓解预测值噪声、降低模型训练时间的目的，以提高分类性能，实现故障诊断。最后通过田纳西-伊斯曼(Tenessee-Eastman)化工过程基准数据进行故障诊断实验，验证提出方法的有效性和可行性，并与BNLSTM、DCNN和MCLSTM等有监督方法进行比较，证明了TE-DS算法对故障诊断的优越性。</p