Shenyang Institute of Automation,Chinese Academy Of Sciences
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一种基于边缘计算的水下设备检查系统及方法
No full text本发明涉及一种基于边缘计算的水下设备检查系统及方法包括：对水下设备进行唯一编码；每个水下设备都通过相应的控制器，向边缘计算设备发送水下设备的各种状态数据。边缘计算设备对数据进行数据预处理把处理后的数据发送到边缘计算服务器中，在边缘计算服务器对数据进行进一步的分类处理及存储，将设备状态数据上传到水面数据服务中心。本发明根据设备状态数据，针对水下设备进行检查、故障分析等操作，利用边缘计算的特点，数据不用再传到遥远的远端进行处理，在边缘侧就能解决，更适合实时的数据分析和智能化处理，也更加高效而且安全。最终满足使用需求，完成对水下设备的检查和故障排除，保证水下设备稳定运行
一种舰船甲板上无人机自动化部署系统
No full text本实用新型涉及一种舰船甲板上无人机自动化部署系统，包括控制系统、船体和设于所述船体上的机械臂、无人机放置架和弹射器，其中船体内设有机械臂滑轨，机械臂下端设有机械臂底座与机械臂滑轨滑动连接，并且所述机械臂底座内设有机械臂移动组件，弹射器设于机械臂一侧，无人机放置架设于机械臂另一侧，并且无人机通过所述机械臂拾取在弹射器和无人机放置架间移动，所述机械臂通过所述控制系统控制移动路径，且所述控制系统基于RRT算法进行机械臂移动路径规划。本实用新型利用机械臂实现无人机拾取转移，且控制系统基于RRT算法对所述机械臂移动路径进行规划，保证机械臂移动精度同时也避免碰撞，从而使整个系统可集成于小型舰船上
一种倾转旋翼飞行器旋翼系统测试台
No full text本实用新型涉及一种倾转旋翼飞行器旋翼系统测试台，其中测试台座包括支撑罩体和台体，台体中设有电机，支撑罩体中设有旋转轴通过所述电机驱动旋转，旋翼系统的桨叶与桨毂通过带配重垫片的连接销铰接，桨毂安装于所述旋转轴上，桨叶拉杆上端与对应的桨叶尾端铰接、下端铰接于自动倾斜器上，且桨叶拉杆两端设有关节轴承，舵机上设有舵机连杆与自动倾斜器连接，数据采集系统包括扭矩及转速传感器、旋翼拉力传感器和拉杆拉力传感器，动平衡分析系统包括光学转速传感器、振动传感器和光学跟踪器，所述动平衡分析系统、数据采集系统、电机和舵机均与所述控制系统连接。本实用新型可以调整旋翼系统动平衡，并能够全面获得旋翼系统的性能参数
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
Design and Analysis of a 2-DOF Actuator with Variable Stiffness Based on Leaf Springs
No full textVariable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which is an inevitable development trend in robotic. The existing variable stiffness actuators are basically single degree-of-freedom (DOF) rotating joints, which are achieving multi-DOF motion by cascades and resulting in complex robot body structures. In this paper, an integrated 2-DOF actuator with variable stiffness is proposed, which could be used for bionic wrist joints or shoulder joints. The 2-DOF motion is coupling in one universal joint, which is different from the way of single DOF actuators cascade. Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism, the stiffness could be adjusted by varying the effective length of the springs, which is uniformly distributed in the variable stiffness unit. The variable stiffness principle, the model design, and theoretical analysis of the VSA are discussed in this work. The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments. The results show that the measured actuator characteristics are sufficiently matched the theoretical values. In the future, VSA could be used in biped robot or robotic arm, ensuring the safety of human–robot interaction.</p
Multibranch Feature Difference Learning Network for Cross-Spectral Image Patch Matching
No full textCross-spectral image patch matching is still challenging due to significant nonlinear differences between image patches. Recently, image patch matching methods based on feature relation learning have attracted increasing attention and achieved good performance. However, we find that the metric learning methods based on feature difference cannot comprehensively and effectively extract useful discriminative information between image patch pairs by only adopting two branches network structure. Therefore, we propose a novel multi-branch feature difference learning network (MFD-Net). Specifically, we build a multi-branch parallel feature difference extraction network, which can capture richer and more discriminative feature difference information and achieve significant improvements on matching tasks. Furthermore, we propose a combined metric network composed of a master metric network module and multiple branch metric network modules, which promotes the forward update of network weights and reduces the similarity of features extracted by each feature difference extraction module with negligible increase in inference time. Extensive experimental results show that the proposed MFD-Net achieves superior performances on cross-spectral image patch matching and single spectral image patch matching.</p
Ocean Temperature Prediction Based on Stereo Spatial and Temporal 4-D Convolution Model
No full textOcean temperature prediction has always occupied an important position in the research of ocean-related fields. The current studies are mostly based on the temperature of the sea surface, but the prediction of ocean internal temperature is more important in practical applications. At present, most of the research studies on the prediction of ocean internal temperature are based on time series, few of which consider the dual characteristics of time and space. Therefore, the accuracy is insufficient, especially for the prediction of thermocline and deep-sea locations. This letter proposes the stereo spatial and temporal 4-D convolution model (SST-4D-CNN) to predict the temperature in the ocean, which fully considers the dual characteristics of time series and oceanic spatial relationship to improve the prediction accuracy. The model includes 4-D convolution module, residual module and recalibration module to predict the horizontal and profile temperature changes from the sea surface to 2000-m underwater. In this letter, the prediction experiment is carried out using the real-time analysis data-temperature dataset from National Marine Data Center. The results show that the accuracy of this method in horizontal and profile prediction is above 98.02%, and most of them are more than 99%. IEEE</p
Dynamic Analysis and Vibration Reduction of Articulated Silicone Gel Column With Varying Geometry
No full textTo improve the vibration reduction effect in low-frequency band of dynamic vibration absorber (DVA), a novel type of articulated silicone gel column (SGC) is introduced in the design of the tuned dynamic vibration absorber. The nonlinear variation of frequency of SGC with varying geometry is obtained by both finite element simulation and experiments. The most sensitive mode is located, which has a wider frequency range by varying the geometry. The polynomial fitting is used to describe nonlinear relation between frequency and geometry. By tuning the geometry, the equivalent stiffness and then resonance frequencies can be manipulated to behave as an active vibration absorber. The vibration reduction experiment of SGC vibration absorbers is investigated. It is found that SGC has better vibration reduction effect in the low-frequency band. The experimental results in the current design demonstrate that the vibration reduction effect can reach 94.03% when tuning SGC to the first-order main resonance. The dimensions and material parameters of SGC should be altered for the specific frequency range and vibration strength.</p
Nanosecond pulsed laser-assisted modified copper surface structure: Enhanced surface microhardness and microbial corrosion resistance
No full textMicrobiologically influenced corrosion (MIC) is an unavoidable problem in several industries. Copper (Cu) and its alloys are widely used engineering materials. However, MIC of Cu remains a persistent chal-lenge to their performance and functional lifetime under aggressive environments. This study investi-gated nanosecond pulsed laser processing (LP), which may enhance the corrosion resistance of Cu. The microstructural evolution and corrosion behavior of LP-Cu in the presence of sulfate-reducing bacteria (SRB) were evaluated. Typical deformation-induced microstructural features of high-density dislocations were analyzed on the top surface of LP-Cu coupon. Electrochemical measurements suggested that LP-Cu coupons exhibited better corrosion resistance in SRB-inoculated solution compared with their original counterpart. The enhanced corrosion resistance by LP primarily resulted from the combined influences of compressive residual stress and work hardening in the surface. However, overlap percentage played a key role in improving corrosion resistance. LP produced optimal corrosion resistance at 50% overlap. There-fore, this study introduces a unique and an option for anticorrosion control in manufacturing processes and potentially implements it onto other materials to improve its microbial corrosion resistance through LP. (c) 2022 Published by Elsevier Ltd on behalf of The editorial office of Journal of Materials Science & Technology