Shenyang Institute of Automation,Chinese Academy Of Sciences
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Fine-grained and multi-scale motif features for cross-subject mental workload assessment using bi-lstm
No full textMental workload (MW) assessment is crucial for understanding human mental state. Cross-subject MW analysis based on electroencephalogram (EEG) signals is an important way. In this paper, a fine-grained and multi-scale motif (FGMSM) features extraction method is proposed, and the proposed features together with original EEG data are used as the input of bidirectional long short-Term memory (Bi-LSTM) to evaluate the cross-subject mental workload. First, the EEG signal of each channel is decomposed based on improved complete ensemble empirical mode decomposition with adaptive noise (ICEEMDAN) algorithm. Second, for the motif structure consisting of three nodes, multi-scale detection is carried out in each intrinsic mode function, and the proportion of each motif structure is extracted as the newly extracted features. Then, the statistical differences of the extracted features between different MW levels are analyzed by using the t-Test, and the features with statistical differences are selected for the cross-subject MW assessment. Finally, based on the public dataset with 26 subjects, Bi-LSTM and a variety of machine learning algorithms are used to classify the levels of cross-subject MW. The results show that the Bi-LSTM classification method with the original EEG data and the proposed features show the most positive results. Therefore, the FGMSM features proposed in this paper with Bi-LSTM provide a new technique for the assessment of cross-subject MW based on EEG signals.</p
基于确定性网络演算的多策略工业TSN整形器建模方法
No full text本发明涉及基于确定性网络演算的多策略工业TSN整形器建模方法，包括以下步骤：网络初始化，确定数据流的端到端物理路径；确定工业流量类型；根据不同工业流量的累积到达确定流量具备的到达曲线；根据不同工业流量的累积离开确定流量获得的等效服务曲线；由到达曲线和等效服务曲线的函数关系得到端到端时延上界。本发明针对TSN网络架构中不同工业流量混合传输的流量时延问题，综合流量特征和整形调度算法的影响，考虑多数据并发干扰，使用确定性网络演算对工业TSN整形器建模，分析获得不同工业流量的时延上界。该时延上界能够为真实网络系统的稳定运行提供理论指导，避免网络资源浪费
面向激光选区熔化技术的熔池温度反馈控制方法及系统
No full text本发明公开了一种面向激光选区熔化技术的熔池温度反馈控制方法及系统，属于激光选区熔化增材制造技术领域。控制系统由模糊控制器、执行器和红外测温仪组成。方法为当红外测温仪监测到熔池温度高于温度设定值时，执行器加快扫描速度；而低于温度设定值时，执行器降低扫描速度，实现反馈控制。这里对扫描速度采用模糊控制的方式，通过调整扫描速度，改变单位时间内的热输入量，从而对熔池温度进行实时调控。本发明成功应用于激光选区熔化成形现场的温度数据实时测量、采集和监控，得到了良好的监测和控制效果
一种电力物联网终端虚拟化模拟仿真平台及仿真方法
No full text本发明属于电力物联网技术领域，尤其涉及一种电力物联网终端虚拟化模拟仿真平台及仿真方法。本发明包括固件仿真模拟分系统构成；所述固件仿真模拟分系统包括，仿真任务管理模块、固件查询模块、模拟任务创建模块、固件模拟模块、模拟结果展示模块、模拟实例监控模块及固件资源库模块。本发明在不依赖于物理硬件情况下，支持VxWorks、Linux、WinCE和Android的嵌入式系统虚拟化模型。针对电力物联网终端环境复杂、终端虚拟化的高效性和安全性需求，实现了低成本，并且能够在信息安全实验室大规模部署，并进行安全功能验证，有效提高了物联网安全防护能力和电力物联网的经济效益，积极推动了电力物联网安全的健康发展
面部肌电检测电极及检测装置
No full text本实用新型涉及一种面部肌电检测电极及检测装置，系统包括：面部肌电检测电极、信号调理单元、主控单元、无线通信单元、上位机单元以及电源管理单元。面部肌电检测电极为柔性肌电电极，用于感受人体的面部肌电信号，信号调理单元对所采集的肌电信号进行放大、滤波处理，主控单元负责对调理后的信号进行采集，采集后的数据将通过无线通信单元传输至上位机单元，上位机单元通过软件对采集的数据进行处理，并完成肌电信号的解码以及动作指令的识别，电源管理单元负责对该装置进行供电。本实用新型提供的一种面部肌电检测电极及检测装置，便携舒适、可穿戴性强，可与人体皮肤紧密贴合，实现多通道的表面肌电信号采集
小型展翼折叠杆装置
No full text本实用新型涉及小型展翼折叠杆装置，包括折叠杆固定基架及设置于所述折叠杆固定基架两侧的折叠翼；所述折叠翼包括旋转驱动机构I、第一级旋转展翼、旋转驱动机构II及第二级折叠展翼；其中第一级旋转展翼的一端通过旋转轴与所述折叠杆固定基架转动连接，另一端通过连接板、连接销轴与第二级折叠展翼转动连接；旋转驱动机构I设置于所述折叠杆固定基架上，且输出端与第一级旋转展翼连接，旋转驱动机构I用于驱动第一级旋转展翼转动；旋转驱动机构II设置于第一级旋转展翼上，且与所述第二级折叠展翼连接，旋转驱动机构II用于驱动第二级折叠展翼转动。本实用新型的装置采用多级电动展翼，展开或回收，对农业种植作物进行喷药及施液态肥，该装置应用灵活，便于安装
Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control
No full textDynamic coupling is an inherent behavior of the space robot system, which seriously affects the motion accuracy of the system. This article focuses on how to guarantee the base attitude stability of semifloating space robots, from a control perspective-namely, the base attitude decoupling control. The quaternion representation of the system dynamics is derived to avoid the representation singularity of the Euler angles. In consideration of the complicated system dynamics and the limited computing ability of the on-board computer, an efficient decoupling controller is designed based on the time-delay estimation (TDE) and the supertwisting control (STC). Herein, for the proposed TDE-based STC (TDE-STC) scheme, TDE is used to decouple and linearize the nonlinear dynamics, and STC is a second-order sliding mode control algorithm which can compensate for the TDE error and drive the state variables to converge to the equilibrium point robustly in finite time. The model-free decoupling principle of TDE is clearly illustrated by comparison with the classical computed torque control. The global asymptotical stability analysis of the closed-loop system is proven using the Lyapunov theory and the linear matrix inequality theorem. Finally, several comparative simulation studies on a 3-D space robot system with consideration of joint friction, disturbances, and model uncertainties are conducted to verify the effectiveness of the proposed TDE-STC scheme. The corresponding results show that the TDE-STC scheme can achieve a high-accuracy attitude decoupling performance with both the model-free merits and the chatter-free merits
Transporting and rotating of microstructures actuated by algal microrobots
No full textWith perception behavior and propulsion ability, algal cells can be considered microrobots from the view of engineering. However, using algal cells to carry out tasks is still a challenge. In this study, controlled assembly and use of algal cells as actuators for manipulating some artificial microstructures were conducted. A novel algae-guiding system was developed to robotize algal cells, through which a swarm of algal cells or a single algal cell was controlled to follow arbitrarily set trajectories. Algal cells were controllably assembled onto the fabricated microstructures. The transporting and rotating of microstructures actuated by algal microrobots were realized. This research has the potential for microassembly and microcargo traverse
浅析新型研发机构财务管理问题及建议
No full text随着我国经济的快速发展,新兴产业大批量涌现出来,国家一直鼓励发展创新型产业,深入推进创新驱动发展战略,地方政府也大力推动新型产业的发展,并结合本地区自身特点,根据技术需求与新型产业特点发展产业链,同时,与大学院校以及研究所共同合作建立起新型的研发机构,这些新型研发机构的创立,为区域经济发展带来全新的发展局面,但是,新型研发机构财务管理仍存在着一些问题,阻碍着新型研发机构可持续发展进程。本文首先对新型研发机构财务管理进行了概述,其次分析了新型研发机构财务管理中存在的问题,最后对新型研发机构财务管理提出几点建议,旨在为新型研发机构的稳定发展助力。</p
Completely Event-Triggered Consensus for Multiagent Systems With Directed Switching Topologies
No full textThis article studies the leader-following consensus of multiagent systems (MASs) with completely event-triggered mechanisms (CETMs) and directed switching topologies. When most event-triggered schemes in MASs only reduce each agent's data transmissions to neighbor agents, CETMs further reduce data transmissions to actuators with one triggered function in each agent. To guarantee the switching links utilized by CETMs contain a directed spanning tree at any time, triggered decisions are improved to include the instants at which each agent's output links or leader link change. Furthermore, a less conservative method based on matrix inequalities is combined to minimize the allowable average dwell time (ADT) of switching topologies under the design conditions of CETMs. Based on multiple Lyapunov functions (MLFs), the sufficient conditions for controller gains that guarantee the leader-following consensus of MASs are proposed when the ADT of switching topologies is larger than the allowable value. Finally, an example of autonomous underwater vehicles (AUVs) is given to illustrate the effectiveness of CETMs