Shenyang Institute of Automation,Chinese Academy Of Sciences
Not a member yet
23582 research outputs found
Sort by
一种采用无铁芯永磁电机驱动的轮缘推进器
No full text本发明涉及一种水下推进器，具体地说是一种采用无铁芯永磁电机驱动的轮缘推进器。包括无铁芯永磁电机定子、无铁芯永磁电机转子、前端盖、后端盖、螺旋桨、导叶及轴，其中无铁芯永磁电机转子设置于无铁芯永磁电机定子的内侧，前端盖和后端盖安装在无铁芯电机定子的前、后端，导叶连接在后端盖的外侧；无铁芯电机转子套装在螺旋桨上，螺旋桨通过轴承安装在轴上，轴的后端与导叶定位连接。本发明采用无铁芯永磁电机驱动螺旋桨，电机转子直接套装在螺旋桨上，传动效率高，结构紧凑，无铁芯永磁电机在运行时没有铁损，电磁效率高，无传统有铁芯永磁电机的齿槽转矩效应，振动噪声小，适合高效低噪的水下应用需求
Orthogonal double-joint type electric thruster pointing mechanism
No full text本发明涉及航天器中电推力器调节推力方向的机构，特别涉及一种正交双关节式电推力器指向机构。该机构包括旋转执行器Ⅰ、万向节环、电推力器、上旋转架、下固定架及旋转执行器Ⅱ，其中万向节环饶Y轴转动地安装在下固定架上，旋转执行器Ⅱ设置于下固定架上，且旋转执行器Ⅱ的输出端与万向节环连接，旋转执行器Ⅱ用于驱动万向节环饶Y轴转动；上旋转架绕X轴转动地与万向节环连接，旋转执行器Ⅰ设置于上旋转架上，且旋转执行器Ⅰ的输出端与万向节环连接，旋转执行器Ⅰ用于驱动上旋转架绕X轴转动；电推力器设置于上旋转架上。本发明通过使用一个万向节环达到调节上支架转动的目的，可以实现机构的上旋转架在行程范围内任意方位的指向
Touch type soft small celestial body sampling system and method
No full text本发明涉及空间探测技术领域，特别涉及一种触碰式柔顺小天体采样系统及采样方法。包括星体平台及设置于星体平台上的主控制器、样品存储系统、监视系统、柔顺机械臂及工具库；样品存储系统用于样品的储存和密封；监视系统用于获取卫星与小天体之间的相对距离信息、倾角信息、小天体地形条件和星壤颗粒状态及监视采样过程，并将获取信息发送给主控制器；自适应关节用于安装工具头；采样工具库用于安装工具头；主控制器用于接收监视系统发送信息，并根据接收的信息控制柔顺机械臂拾取对应的采样工具，进行采样。本发明能够解决采样过程控制、复杂地形适应性、样品密封返回等难题，达到小天体自主、安全、高效样品采集和密封返回的目的
一种小尺寸空间内的上螺母装置
No full text本实用新型公开了一种小尺寸空间内的上螺母装置，属于拧紧装备技术领域，该上螺母装置包括芯轴、连杆滑座、连杆机构、连杆滑座固定光轴和弹簧挡片，通过手摇轮驱动芯轴转动；所述芯轴的前端依次穿过所述连杆滑座后端、丝母铰座与连杆滑座固定挡块；所述连杆滑座固定挡块固定于所述连杆滑座后端；所述芯轴与丝母铰座为螺纹连接；丝母铰座、连杆Ⅱ、连杆Ⅰ和螺母推头依次铰接形成铰链结构，螺母推头套装于连杆滑座固定光轴上。本实用新型上螺母装置结构紧凑，所用的上料空间尺寸仅30mm×30mm；装置具备螺母防掉结构，螺母不会意外掉落；利用手摇杆进行上料，利用螺纹增力性能，旋转手轮即完成上料动作，上料省力简单
一种Bi等离子体修饰的钽酸铋锶光催化剂及其制备方法
No full text本发明提供了一种Bi等离子体修饰的钽酸铋锶光催化剂及其制备方法，属于光催化领域。所述制备方法为：(1)Bi(NO3)3·5H2O在NaOH溶液中均匀分散，得到混合物A；(2)Ta2O5和SrCl2·6H2O在NaOH溶液中均匀分散，得到混合物B；(3)混合物B滴加入混合物A并加入NaOH溶液，再加入还原剂分散均匀后得到混合物C；(4)混合物C在200℃～250℃下反应18～72h，冷却洗涤干燥得到催化剂。本发明催化剂具有独特的钙钛矿层状结构和表面Bi等离子体修饰，将NO光催化氧化反应的光吸收范围拓展到可见光区。催化剂制备工艺简便易行，合成的材料相纯度高，可高效去除ppb级别的低浓度NO
一种工业智能制造边缘智能计算优化方法
No full text本发明涉及一种工业智能制造边缘智能计算优化方法，设计工业智能制造边缘计算模型可划分为边缘资源感知模型、边缘资源与任务调度模型、边缘智能计算等模型。边缘智能计算模型基于深度学习方法，计算各个神经网络退出节点的联合损失函数，得到云边协同的自主规模适应网络模型。在线优化阶段在设定网络带宽下，计算服务器与边缘设备整体运行时间，若小于要求时延，则在线选择出口点。本方法能够缩小神经网络规模，在边缘网关设备上部署浅层深度学习模型，实现状态预研判，同时将中间结果送至云端，完成最终计算结果
智能传感器主动协同的变电站机器人智能巡检系统及方法
No full text本发明提供了一种智能传感器主动协同的变电站机器人智能巡检系统及方法，本发明巡检系统包括：智能机器人协同巡检层、自主协同层和变电站智能传感层形成三层智能巡检架构。本发明巡检系统中，巡检机器人进行自主路径规划完成图像数据采集，智能传感器感知被检测设备的状态并进行数据预处理和分析，巡检机器人和智能传感器通过近场通信机制和智能执行器进行主动协同，协同服务器基于巡检机器人感知数据进行复杂场景识别，以及对巡检机器人感知数据和智能传感器感知数据进行多源数据融合分析。显著的提升了巡视的及时性，避免操作过程的人员安全风险.减少巡检时的人工干预，保证变电巡视任务顺利进行
GasHisSDB: A new gastric histopathology image dataset for computer aided diagnosis of gastric cancer
No full textBackground and objective: Gastric cancer is the fifth most common cancer globally, and early detection of gastric cancer is essential to save lives. Histopathological examination of gastric cancer is the gold standard for the diagnosis of gastric cancer. However, computer-aided diagnostic techniques are challenging to evaluate due to the scarcity of publicly available gastric histopathology image datasets. Methods: In this paper, a noble publicly available Gastric Histopathology Sub-size Image Database (GasHisSDB) is published to identify classifiers' performance. Specifically, two types of data are included: normal and abnormal, with a total of 245,196 tissue case images. In order to prove that the methods of different periods in the field of image classification have discrepancies on GasHisSDB, we select a variety of classifiers for evaluation. Seven classical machine learning classifiers, three Convolutional Neural Network classifiers, and a novel transformerbased classifier are selected for testing on image classification tasks. Results: This study performed extensive experiments using traditional machine learning and deep learning methods to prove that the methods of different periods have discrepancies on GasHisSDB. Traditional machine learning achieved the best accuracy rate of 86.08% and a minimum of just 41.12%. The best accuracy of deep learning reached 96.47% and the lowest was 86.21%. Accuracy rates vary significantly across classifiers. Conclusions: To the best of our knowledge, it is the first publicly available gastric cancer histopathology dataset containing a large number of images for weakly supervised learning. We believe that GasHisSDB can attract researchers to explore new algorithms for the automated diagnosis of gastric cancer, which can help physicians and patients in the clinical setting
Fabrication of Multi-Channel Nerve Guidance Conduits Containing Schwann Cells Based on Multi-Material 3D Bioprinting
No full textNerve guidance conduits (NGCs) are an essential solution for peripheral nerve repair and regeneration in tissue engineering and medicine. However, the ability of current NGCs is limited to repairing longer nerve gap (i.e., >20 mm) because it cannot meet the following two conditions simultaneously: (1) directional guidance of the axial high-density channels and (2) regenerative stimulation of the extracellular matrix secreted by Schwann cells (SCs). Therefore, we propose a multi-material 3D bioprinting process to fabricate multi-channel nerve guide conduits (MNGCs) containing SCs. In the article, cell-laden methacrylate gelatin (GelMA) was used as the bulk material of MNGCs. To improve the printing accuracy of the axial channels and the survival rate of SCs, we systematically optimized the printing temperature parameter based on hydrogel printability analysis. The multi-material bioprinting technology was used to realize the alternate printing of supporting gelatin and cell-laden GelMA. Then, the high-accuracy channels were fabricated through the UV cross-linking of GelMA and the dissolving technique of gelatin. The SCs distributed around the channels with a high survival rate, and the cell survival rate maintained above 90%. In general, the study on multi-material 3D printing was carried out from the fabricating technology and material analysis, which will provide a potential solution for the fabrication of MNGCs containing SCs.</p
Satellite Pose Estimation via Only a Single Spatial Circle
No full textTo estimate the pose of satellites in space, the docking ring component has strong rigid body characteristics and can provide a fixed circular feature, which is an important object. However, due to the need for additional constraints to estimate a single spatial circle pose on the docking ring, practical applications are greatly limited. In response to the above problems, this paper proposes a pose solution method based on a single spatial circle. First, the spatial circle is discretized into a set of 3D asymmetric specific sparse points, eliminating the strict central symmetry of the circle. Then, a two-stage pose estimation network, Hvnet, based on Hough voting is proposed to locate the 2D sparse points on the image. Finally, the position and orientation of the spatial circle are obtained by the Perspective-n-Point (PnP) algorithm. The effectiveness of the proposed method was verified through experiments, and the method was found to achieve good solution accuracy under a com-plex lighting environment. Switzerland.</p