Shenyang Institute of Automation,Chinese Academy Of Sciences
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基于Yolo-v3算法的水下声呐侧扫图像小目标检测方法
No full text本发明涉及基于YoLo‑v3算法的水下声呐侧扫图像小目标检测方法。通过对已有的水下声呐侧扫图像中的小目标进行标注，利用YoLo‑v3算法在目标检测任务中的优势，并根据水下声呐侧扫图像中目标检测任务的要求对网络结构进行适当的修改，以实现水下声呐侧扫图像的目标检测任务。实验结果验证了该方法在水下声呐侧扫图像目标检测任务中的有效性
一种基于信息协调的工业无线网络非集中式共存管理方法
No full text本发明涉及工业无线网络的共存管理方法，具体是一种基于信息协调的工业无线网络非集中式共存管理方法。针对多个工业无线网络相互干扰而导致的共存问题，本发明首次提出应用于工业无线网络的非集中式共存管理方法，具体包括不完全信息交互和非集中式资源协调两个部分。对于用于协调的不完全信息，考虑保护隐私的前提下，明确定义不完全信息内容，为非集中式资源协调提供指导；针对非集中式资源协调方面，考虑网络传输数据包截止时间的要求，设计网络效用函数，基于协调的不完全信息，设计网络效用函数，独立调整网络占用资源策略。最大化网络增益，减少算法达到收敛所需的时间，最小化共存网络间干扰
一种潜航器最优容错自适应控制分配方法
No full text本发明涉及一种潜航器最优容错自适应控制分配方法，该方法将控制器输出的综合力和力矩以阻力最优的方式分配到各个执行机构，该方法包括两个约束优化求解阶段：基于约束松弛的可行解判定阶段和以阻力最小为目标的最优分配求解阶段。第一阶段，基于约束松弛的可行解判断阶段，将综合力和力矩约束条件进行松弛，将执行机构指令值和松弛变量共同作为决策变量，以松弛变量平方和最小为目标进行求解，获取松弛后的约束条件，从而保证第二阶段存在可行解；第二阶段，以阻力最小为目标的最优分配阶段，将松弛后的约束条件作为约束条件，求解各执行机构的最优指令值，从而实现潜航器减阻节能航行，且对一定程度的执行机构故障或性能退化情况具有自适应能力
基于稀疏低秩先验的降质图像恢复与识别方法
No full text本发明涉及基于稀疏低秩先验的降质图像恢复与识别方法。对降质人脸图像进行分析，通过人脸图像的稀疏低秩先验，对降质人脸图像同时进行恢复和识别，既降提高了人脸恢复算法的效率，又保证了识别的准确率，解决了降质人脸识别这一挑战性问题。提出了一种迭代算法，其由降质人脸图像恢复和人脸识别两部分结合。人脸图像恢复部分对人脸进行对正，识别部分进行人脸图像识别。利用稀疏低秩先验，对人脸图像进行恢复对正，再将恢复对正的人脸图像输入到人脸识别中，通过识别效果来提高恢复对正算法效率，通过恢复对正来保证识别准确率。该算法解决了降质人脸图像的图像对正、图像去遮挡及图像识别等问题，并验证了其有效性和先进性
基于变胞周转锥齿轮系的绝缘子检测变胞机器人机构
No full text本实用新型涉及绝缘子检测机器人技术领域，特别涉及一种基于变胞周转锥齿轮系的绝缘子检测变胞机器人机构，包括蠕动式移动机构、第一周转锥齿轮系变胞夹持机构及第二周转锥齿轮系变胞夹持机构夹持机构，其中两个周转锥齿轮系变胞夹持机构设置于蠕动式移动机构两侧，在移动机构的移动下交替夹持绝缘子钢帽和伞裙，实现绝缘子检测变胞机器人在绝缘子串上的移动检测任务。两组周转锥齿轮系变胞夹持机构通过变胞周转锥齿轮系实现夹持机构夹爪转动和夹爪移动两种构态及其变换，完成对绝缘子钢帽的夹持任务，并且对绝缘子钢帽尺寸位置变化适应性强，夹持稳定，受力情况良好
一种基于多传感器数据融合算法的运动目标航迹感知方法
No full text本发明涉及信息处理领域，具体说是一种基于多传感器数据融合算法的运动目标航迹感知方法。包括以下步骤：通过初始状态下的目标所在位置原点，以正东方向为X轴正向，根据右手定则建立绝对坐标系；将多种类型传感器采集的目标航迹信息转换为在绝对坐标系下目标航迹量测矩阵；多种类型传感器进行目标航迹信息匹配，对某种传感器采集目标的丢失情况进行处理，对多种类型传感器的目标航迹信息进行融合，得到融合后的目标航迹量测矩阵，即融合信息；将融合信息作为参数输入，利用最小二乘法进行数据融合，获取融合结果，并将融合结果添加至目标列表，得到目标航迹。本发明感知水面运动目标的信息精度高，且在机动时也可以保证对目标运动信息准确感知
一种基于激光诱导击穿光谱技术的矿浆品位在线检测方法
No full text本发明公开了一种基于激光诱导击穿光谱技术的矿浆品位在线检测方法，包括：通过管道取样器及多路缩分器从矿浆管路中获取矿浆样品并进行LIBS光谱测量；测量过程中对样品进行同步取样并使用国家标准分析方法获得品位含量信息；使用背景去除、光谱归一化、特征谱线筛选等方法对光谱进行预处理；根据预处理后的光谱数据与分析获得的品位含量值建立多元回归模型；新获得的测量光谱数据输入至回归模型，得到测量矿浆的品位预测值。本发明具有操作简单、成本低、测量快速等特点，可应用于选矿生产过程中的矿浆品位值在线测量
Combining Micropipette and Atomic Force Microscopy for Single cell Drug Delivery and Simultaneous Cell Mechanics Measurement
No full textObjective Cell mechanics plays an important role in cellular physiological and pathological processes and is closely related to the health states of living organisms. Investigating cell mechanics significantly benefits revealing the underlying mechanisms guiding life activities. The advent of atomic force microscope (AFM) provides a novel instrument for single-cell assay. AFM is able to not only visualize the morphology of singe living cells under aqueous conditions with high resolution, but also quantitatively measure the mechanical properties of cells. Utilizing AFM to investigate the mechanics of individual cells has achieved great success in the past decades, which provides numerous new insights into cellular physiological and pathological processes and has become an important tool in the field of life sciences. However, due to the fact that AFM probe itself is unable to perform drug delivery, so far it is still challenging for the simultaneous measurements of cell mechanics by AFM in response to the stimulation of ultra-trace drug. Here, by combining micropipette and AFM, a method allowing single-cell precise drug delivery and simultaneous measurements of cell mechanics is presented. Methods The micropipette-based single-cell microinjection system was built on an inverted fluorescent microscope by using a all manipulator, a micropump, a syringe, a PIFE tube and a micropipette. The micropipette was obtained from the glass capillary by using the micropipette puller. NIH 3T3 cells (mouse embryonic fibroblast), HEK 293 cells (human embryonic kidney cell) and MCF-7 cells (human breast cancer cell) were used for the experiments. Under the guidance of optical microscopy, staining reagents or drug molecules were delivered to individual cells, and then AFM probe was moved to the targeted cells to obtain force curves, Cellular Young's modulus was calculated from the force curves by applying Hertz-Sneddon model. Results The effects of the pore size of micropipette tip on cell injection were analyzed firstly, and the results showed that larger pore size tip (the outer diameter of the tip was larger than 1 mu m) could cause obvious mechanical damage to the cell. Then blue ink or P1 staining solution was injected to single cells by micropipette under the guidance of optical microscopy, and the recorded optical/fluorescent images after injection clearly showed that the targeted cells were successfully injected. Finally, micropipette was integrated with AFM to measure the Young's modulus changes of single cells after the treatment of chemotherapeutic drug (cytarabine), and the results showed that stimulation of cytarabine could cause the changes of cellular mechanical properties. Conclusion Combining micropipette and AFM enables applying precise chemical stimulation to a single cell while simultaneously measuring cellular mechanical properties after chemical stimulation, providing a novel idea for single-cell mechanical analysis in response to ultra-trace drugs
Event-Triggered Cooperative Output Regulation of Heterogeneous Multi-Agent Systems With Adaptive Fault-Tolerant Control
No full textThis brief studies the cooperative output regulation problem for heterogeneous multi-agent systems with actuator faults. A new two-layer distributed control strategy is proposed: (i) Two types of distributed observers are designed for agents to estimate the exogenous signal, and an adaptive event-triggering mechanism is introduced to reduce unnecessary information transmission between agents; (ii) A decentralized adaptive fault-tolerant control scheme is proposed to achieve the cooperative output regulation of heterogeneous multi-agent systems and compensate for the actuator faults automatically. Finally, a numerical example is given to verify the feasibility of the proposed algorithm