Shenyang Institute of Automation,Chinese Academy Of Sciences
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Temperature environmental adaptability on electrical and stress properties of Ge film in space
No full textThe Ge-film-based photon-counting imaging detector is a key component of optical payload in space weather observation. It's important to study the space temperature adaptability of Ge film since the performances of Ge film are extremely sensitive to the temperature. Herein, the in-situ tests are proposed to measure the resistance and stress of the Ge film at the operating temperature. It is demonstrated that the resistance decreases from 520 M Omega/square to 124M Omega/square linearly between -20 degrees C and 80 degrees C, which can meet the requirement of the imaging system well. Andthe stress gradually releases in the thermal cycle. The ex-situ test is adopted to investigate the limited temperature adaptability and the intrinsic mechanism of performance variations. When the temperature increased to 600 degrees C, Ge film failed and cracked because of resistance reducing to 30 K Omega/square and stress increasing to 504 Mpa. Meanwhile, methods were proposed to enhance the temperature adaptability of Ge film by analyzing crystal phase andopticalband gap. Thus, the resistance and stresschanges ofGefilmin space have little effect on the performances of imaging system. The Ge film with high temperature adaptability and low stress we prepared is promising in the space observation. (C) 2021 The Author(s). Published by Elsevier B.V
A novel 2D/3D hierarchical registration framework via principal-directional Fourier transform operator
No full textAbstract
An effective registration framework between preoperative 3D computed tomography and intraoperative 2D x-ray images is crucial in image-guided therapy. In this paper, a novel 2D/3D hierarchical registration framework via principal-directional Fourier transform operator (HRF-PDFTO) is proposed. First, a PDFTO was established to obtain the in-plane translation and rotation invariance. Then, an initial free template-matching approach based on PDFTO was utilized to avoid initial value assignment and expand the capture range of registration. Finally, the hierarchical registration framework, HRF-PDFTO, was proposed to reduce the dimensions of the registration search space from n
6 to n
2. The experimental results demonstrated that the proposed HRF-PDFTO has good performance with an accuracy of 0.72 mm, and a single registration time of 16 s, which improves the registration efficiency by ten times. Consequently, the HRF-PDFTO can meet the accuracy and efficiency requirements of 2D/3D registration in related clinical applications
Compliance control method for joint of collaborative robot
No full text本发明涉及一种用于协作机器人关节的柔顺控制方法，包括以下步骤：首先，采用扭矩反馈比例控制方法，设计内环控制算法；然后，采用比例微分控制方法，设计外环控制算法；最后，根据辨识的模型参数，设计扰动观测算法。关节控制算法由以上三步组成，根据要求的精度和动态性能调节参数。本发明不仅能使协作机器人关节具备传统工业机器人高精度运动特点，而且还能够使关节具有力控制、力位混合控制能力，使关节具有柔顺特性。方法可应用于协作机器人控制系统，增加人机协作控制功能
Electric water-air dual-purpose propeller
No full text本发明属于推进器技术领域，特别涉及一种电动水空两用推进器。包括外转子电机、轮缘电机、螺旋桨、定子支架、单向离合机构及推进器安装架，其中外转子电机通过定子支架与推进器安装架连接，外转子电机的输出轴与螺旋桨连接，轮缘电机套设于螺旋桨的外侧、且通过单向离合机构与螺旋桨连接；当在空气中工作时，外转子电机驱动螺旋桨转动，单向离合机构与螺旋桨脱离；当在水中工作时，轮缘电机驱动螺旋桨转动，单向离合机构与螺旋桨啮合。本发明利用了外转子电机高转速、低扭矩和轮缘电机低转速、高扭矩的特性，实现水下和空中的高效推进，具有结构紧凑、推进效率高等特点
Rotor unmanned aerial vehicle control system and method based on wind speed and direction sensor
No full text本发明涉及旋翼无人机控制领域，具体地说是一种基于风速风向传感器的旋翼无人机控制系统及方法，包括：设置在旋翼无人机上的风扰加速度传感系统和加速度反馈控制系统；其中，风扰加速度传感系统包括：风速风向传感器、滤波器、风扰加速度计算模块、通信模块A；风速风向传感器经滤波器与风扰加速度计算模块连接，风扰加速度计算模块与通信模块A连接，并与加速度反馈控制系统无线通信，风扰加速度计算模块接受加速度反馈控制系统检测的旋翼无人机姿态信息，并得到风扰加速度，并将其经通信模块A发送至加速度反馈控制系统。本发明可实现环境风矢量的测量、风扰加速度解算与反馈，并结合风扰信息进行反馈补偿控制，增强系统的稳定性
Low-Terahertz Radar Image Analysis for Road Obstacles
No full textAt present, laser radar is main studied in the in automotive sensing. However, Driverless cars have higher request for different environment and light conditions. It is even difficult for lidar to find tiny targets on the road, such as pits and packets. In the paper, The low-terahertz high-resolution imaging radar system operating frequency is 94GHz, Using the frequency-modulated continuous-wave (FMCW) technique with 3mm wavelength. We simulated the pits of different depths on the road, analyzed the changes in the electromagnetic field, and used the low-terahertz radar to perform experiments
Semantic segmentation of point cloud via bilateral feature aggregation and attention mechanism
No full text机器视觉是环境感知的重要手段之一,是自动驾驶、机器人、工业检测等领域的研究热点,而点云数据的精细分析是其中的一项关键技术。针对大尺度真实场景点云数据分割精度低的问题,提出了一种适用于点云数据语义分割的网络结构。首先,构建了一个双边特征聚合结构,通过分别处理点云的几何信息和语义信息,达到充分利用点云特征信息的目的。其次,使用近邻特征的高维空间相关性计算点与点之间的相互作用,进行局部邻域的上下文信息增强。提出了一种混合池化结构代替最大值池化,减少信息损失,使用横向跨层池化连接来增强特征多样性。最后,引入注意力机制提取全局特征,滤除尺度噪声,增强特征在空间上的表现力。实验结果表明,该方法在大尺度真实场景点云数据集S3DIS上的平均交并比为68.2%,平均准确率为80.7%,比PointNet提高了20.6%和14.5%,客观指标优于已有的代表性方法。</p
Numerical simulation analysis and optimization of modular joint temperature field based on ANSYS
No full textIn the low-speed state, temperature change has a significant impact on the working efficiency of a harmonic reducer. Therefore, since modular joints used in collaborative robots arbitrarily arrange nodes and meshes through the Finite Element Method (FEM), a temperature field calculation model of the integrated joints was established in this study. By utilizing the ANSYS software, a steady-state temperature field distribution of the modular joint was calculated, and the temperature rise of the harmonic reducer was reduced by changing the thermal resistance. Comparing the results demonstrated that the method was effective, which is very important for the safe operation and performance improvement of modular joints
A Novel Unet Decoding Strategy for Cervical Cell Mass Segmentation
No full textA novel Unet decoding strategy for segmentation of cervical cell mass is proposed, which is inspired by the sub-pixel convolution. Our proposed method avoids the artificial information added by interpolation method and the noise introduced by transpose convolution method due to padding. After the implementation of the proposed method on our in-house dataset, the quantitative evaluation shows that the sub-pixel convolution has not only higher metric score but also the stable performance, and our proposed method can be used as a promising decoding method for Unet to segment the cellular clump of the cervical cell images
Large bearing ring cylindricity measuring instrument
No full text本发明涉及轴承圆柱度测量仪，特别涉及一种大型轴承套圈圆柱度测量仪。包括伸缩表架、基础平台、数控气浮平台、安置基座、缓冲装置及Z轴立柱，其中安置基座和缓冲装置沿周向间隔交替地设置于基础平台上；数控气浮平台设置于基础平台上；Z轴立柱设置于数控气浮平台上；伸缩表架设置于Z轴立柱上；数控气浮平台用于驱动伸缩表架旋转，从而实现放置于安置基座上的轴承套圈的圆柱度测量。本发明通过非接触测量方式在大型轴承圆柱度测量中的实现形式，避免因接触式测量影响测量杆稳定性，从而保证测量准确