Shenyang Institute of Automation,Chinese Academy Of Sciences
Not a member yet
23582 research outputs found
Sort by
Time synchronization method of redundant network
No full text本申请公开了一种冗余网络时间同步方法，网络节点与相邻节点进行时钟同步。当网络存在冗余链路时，具有冗余链路的节点可以通过不同链路与不同邻居之间进行时钟同步，并采用加权平均的方式计算标准时钟的估计值。其中，加权参数取决于邻居节点的时钟误差因子和与邻居节点间的链路时延；节点的时钟误差因子通过邻居节点的时钟误差因子、与邻居节点间的链路时延以及本地时钟斜率计算得出
Switch supporting heterogeneous network time synchronization delay compensation
No full text本发明涉及网络通信系统，具体地说是一种支持异构网络时间同步时延补偿的交换机。包括：网络接口单元、时间戳记录单元、报文类型判断单元、时间戳提取单元、时延补偿计算单元、修正域修改单元和报文处理单元。通过本发明交换机，实现PTP设备的无线通信链路的时延补偿，进而实现有线网络和无线网络等异构网络的高精度时间同步
用于水下机器人的间接测量式深度计
No full text本发明涉及一种用于水下机器人的间接测量式深度计，包括壳体、传压端盖、转换端盖、密封销、压力传感器和传压膜片，其中壳体一端与传压端盖密封固连，另一端与转换端盖密封固连，压力传感器设于壳体中，所述壳体靠近传压端盖一端设有压力舱和密封销，所述密封销内设有传压通道，所述传压端盖内设有传压通孔，所述压力舱通过所述传压通道与所述传压通孔连通，且所述压力舱、传压通道和传压通孔内充满液压油，所述传压通孔远离壳体一端设有传压膜片，所述压力舱通过所述压力传感器检测压力。本发明间接检测海水压力，重量轻体积小，耐高压，抗腐蚀能力强，能够长期用于深海环境且保持高测量精度
一种协作型机械臂的动态轨迹规划方法
No full text本发明涉及一种协作型机械臂的动态轨迹规划方法，属于动态轨迹规划领域。本发明方法包括：步骤一、基于Kinect库文件完成人体检测程序二次开发，实现人体26个关节点在Kinect相机坐标系下的位置检测；步骤二、建立协作型机械臂的运动学模型，利用Kinect相机和齐次坐标变换实现同一工作空间下的人机距离在线检测。步骤三、针对人机协作场景下人体障碍物的复杂性与不可预测性，提出了APF‑RV动态轨迹规划算法。对于静态人体障碍，本方法利用改进型人工势场法进行轨迹规划。对于动态人体障碍，本方法利用改进的排斥向量法进行障碍物的避障。最后，对静态障碍物和动态障碍物的处理方法进行了融合，提出了APF‑RV算法，分时的对不同运动状态的人体障碍物进行轨迹规划
一种盂肱关节仿生机构及盂肱关节角度识别方法
No full text本发明涉及一种盂肱关节仿生机构及盂肱关节角度识别方法，机构包括肩部前伸后缩固定架、外展内收固定架及位于该肩部前伸后缩固定架与外展内收固定架之间的两个球面菱形机构，每个球面菱形机构的四条边均为弧形，且相邻边均通过转轴转动连接，一个球面菱形机构的一个端点处的转轴安装于肩部前伸后缩固定架上，相对的端点与另一个球面菱形机构的一个端点共用一根转轴，另一个球面菱形机构上相对的端点处的转轴安装于外展内收固定架上；肩部前伸后缩固定架连接于人体大臂，外展内收固定架与人体背部连接。本发明的球面菱形机构分布在人体盂肱关节外侧，可有效避免大范围外展运动中外骨骼与人体头部干涉，大幅提升肩部运动灵活性
一种空间站科学手套箱机械臂
No full text本发明涉及载人航天空间站科学实验设备，特别涉及一种空间站科学手套箱机械臂。机械臂设置于空间站科学手套箱内，机械臂包括依次连接的六个关节及与末端关节连接的末端快速接口，六个关节均为转动关节，其中第一关节与空间站科学手套箱的底部连接，且可沿圆弧轨迹转动。本发明能实现六自由度操作任务，以辅助航天员完成精细操作或自主完成精细操作，可极大地降低航天员在轨操作精细任务的劳动强度，并提高其任务成功率
Design of Silver Wire Detection System for Grain End Based on Machine Vision
No full text针对内埋金属丝药柱端面银丝识别过程中人工检测效率低、精度差的问题,设计了一种基于机器视觉的药柱端面银丝检测系统。该系统通过工业相机采集药柱端面图像,使用C++和Opencv库实现银丝检测算法,采用MFC的多线程技术提高算法的运行效率,通过TCP/IPv4协议与可编程逻辑控制器通信。同时,针对切断药柱时银丝被抽出,无法检测银丝位置的问题,提出了一种多点预测模型,提高了银丝检测的稳定性。试验结果表明系统设计应用合理、运行稳定、参数配置简便,银丝识别率可达99.9%,检测速度可满足工业自动化生产的要求。</p
Automatic brain tumour diagnostic method based on a back propagation neural network and an extended set-membership filter
No full textBackground: Diagnosing brain tumours remains a challenging task in clinical practice. Despite their questionable accuracy, magnetic resonance image (MRI) scans are presently considered the optimal facility for assessing the growth of tumours. However, the efficiency of manual diagnosis is low, and high computational cost and poor convergence restrict the application of machine learning methods. This study aims to design a method that can reliably diagnose brain tumours from MRI scans. Methods: First, image pre-processing (which includes background removal, size standardization, noise removal, and contrast enhancement) is utilized to normalize the images. Then, grey level co-occurrence matrix features are selected as texture features of the brain MRI scans. Finally, a method combining a back propagation neural network (BPNN) and an extended set-membership filter (ESMF) is proposed to classify features and perform image classification. Results: A total of 304 patient MRI series (247 images of brains with tumours and 57 images of normal brains) were included and assessed in this study. The results revealed that our proposed method can achieve an accuracy of 95.40% and has classification accuracies of 97.14% and 88.24% for brain tumour and normal brain, respectively. Conclusion: This study proposes an automatic brain tumour detection model constructed using a combination of BPNN and ESMF. The model is found to be able to accurately classify brain MRI scans as normal or tumour images.</p
An Intelligent Graphene-Based Biosensing Device for Cytokine Storm Syndrome Biomarkers Detection in Human Biofluids
No full textAbnormal elevated levels of cytokines such as interferon (IFN), interleukin (IL), and tumor necrosis factor (TNF), are considered as one of the prognosis biomarkers for indicating the progression to severe or critical COVID-19. Hence, it is of great significance to develop devices for monitoring their levels in COVID-19 patients, and thus enabling detecting COVID-19 patients that are worsening and to treat them before they become critically ill. Here, an intelligent aptameric dual channel graphene-TWEEN 80 field effect transistor (DGTFET) biosensing device for on-site detection of IFN-gamma, TNF-alpha, and IL-6 within 7 min with limits of detection (LODs) of 476 x 10(-15), 608 x 10(-15), or 611 x 10(-15) m respectively in biofluids is presented. Using the customized Android App together with this intelligent device, asymptomatic or mild COVID-19 patients can have a preliminary self-detection of cytokines and get a warning reminder while the condition starts to deteriorate. Also, the device can be fabricated on flexible substrates toward wearable applications for moderate or even critical COVID-19 cases for consistently monitoring cytokines under different deformations. Hence, the intelligent aptameric DGTFET biosensing device is promising to be used for point-of-care applications for monitoring conditions of COVID-19 patients who are in different situations
Ocean Circulation in the Challenger Deep Derived From Super-Deep Underwater Glider Observation
No full textOcean circulation in the Challenger Deep is rarely investigated due to sparse observations. Based on hydrographic data collected by two super-deep Chinese "Sea-Wing" gliders during September–October 2018, we analyzed water properties and ocean circulation structures in this trench. Results showed that the horizontal distribution of water properties is approximately a three layer structure, changing from a northeast-southwest structure to a north-south structure then to an east-west structure as the depth increases from 3,000 to 7,000 m. This structure is a joint result of the water uplift, advection, and diffusion in the trench. The westward geostrophic flow, with 1.29 Sv (1 Sv = 106 m3 s−1) volume transport, dominates the deep layer of the Challenger Deep, gradually weakening with depth. The unexpectedly large volume transport, twice that of previous studies, might be due to temporal variations of LCDW (Lower Circumpolar Deep Water) intrusion from the Southern Ocean and different reference levels.</p