Chinese Academy of Sciences

Central Iron and Steel Research Institute

Beijing Engo Technology Co., Ltd.

Min Tan

Zengguang Hou

Long Cheng

Zhengxing Wu

Junzhi Yu

Jian Wang

Xiaoliang Xie

Guibin Bian

Feng Zhang

Jin Hu

Zhenqiu Feng

Xiaohu Zhou

Zize Liang

Fengshui Jing

Zhiqiang Cao

En Li

Shuaizheng Yan

Long Peng

Yixiong Chen

Pengfeng Li

Qingling Li

Xinchao Zhang

Wei Li

Hao Wang

Wei He

Yang Zhao

Chao Zhou

Liang Peng

Di Ling Chen

Kailiang Zhang

Junwei Zhang

Shuang Liang

Zhijie Liu

Guodong Yang

Xingyu Chen

Haibo Feng

Hongjun Yang

Zhonghui Li

Anhua Li

Zishu Gao

Degang Yang

Yunong Tian

Yuansong Sun

Weiqun Wang

Sixi Lu

Xu Liang

Xilong Liu

Hongbo Wang

Longlong Xi

Yan Meng

Lincong Luo

Jinli Kang

Kun Ai

Chengpeng Wang

Guoqing Hu

Yi Hong

Jinzhu Bai

Zhen Lv

Tairen Sun

Yanhui Qiang

A multi-label object detection method based on an object detection network includes: selecting an image of an object to be detected as an input image; based on a trained object detection network, obtaining a class of the object to be detected, coordinates of a center of the object to be detected, and a length and a width of a detection rectangular box according to the input image; and outputting the class of the object to be detected, the coordinates of the center of the object to be detected, and the length and the width of the detection rectangular box. The method of the present invention can perform real-time and accurate object detection on different classes of objects with improved detection speed and accuracy, and can solve the problem of object overlapping and occlusion during the object detection.

Method, system and device for multi-label object detection based on an object detection network

A LiDAR odometry method based on the directed geometric point and sparse frame includes: obtaining original three-dimensional point cloud data of a surrounding environment in the coordinate system of the current frame of the LiDAR sensor; constructing and converting the first directed geometric point set and first environmental directed geometric point set into the second directed geometric point set and second environmental directed geometric point set in the world coordinate system, respectively; calculating candidate associated points in the second environmental directed geometric point set in association with each point in the second directed geometric point set, and determining the best associated point of each point in the second directed geometric point set; constructing and solving a pose optimization function to obtain an optimized pose from the coordinate system of the current frame of the LiDAR sensor to the world coordinate system; and updating directed geometric point sets of sparse frames.

LiDAR odometry method, system and apparatus based on directed geometric point and sparse frame

A control method, system and device for a flexible carbon cantilever beam actuated by a smart material is provided. The new control method, system and device aims to solve the problems of control overflow and instability that are likely to occur in the distributed parameter system constructed in the prior art. The method includes: acquiring an elastic displacement of the flexible carbon cantilever beam in real time as input data; and obtaining, based on the input data, a control torque through a distributed parameter model constructed in advance, and performing vibration control on the flexible carbon cantilever beam. The new control method, system and device improves the control accuracy and stability of the distributed parameter system.

Control method for flexible carbon cantilever beam actuated by smart material

A water-air amphibious cross-medium bio-robotic flying fish includes a body, pitching pectoral fins, variable-structure pectoral fins, a caudal propulsion module, a sensor module and a controller. The caudal propulsion module is controlled to achieve underwater fish-like body-caudal fin (BCF) propulsion, and the variable-structure pectoral fins is adjusted to achieve air gliding and fast splash-down diving motions of the bio-robotic flying fish. The coordination between the caudal propulsion module and the pitching pectoral fins is controlled to achieve the motion of leaping out of water during water-air cross-medium transition. The ambient environment is detected by the sensor module, and the motion mode of the bio-robotic flying fish is controlled by the controller.

Water-air amphibious cross-medium bio-robotic flying fish

The present invention relates to a Ce-containing sintered rare earth permanent magnet with high toughness and high coercivity and a method of preparing the magnet, belonging to the technical field of rare earth permanent magnetic materials. The magnet is prepared by steps of raw material batching, strip casting, hydrogen decrepitation and jet milling, powder orientating and forming, sintering and heat treatment. The materials of the permanent magnet comprise the main phase alloy powders and the Ce added phase alloy powders, wherein the Ce added phase alloy is a magnetic phase or a non-magnetic liquid-phase alloy; and the Ce added phase alloy accounts for 5% to 30% of the total weight of the permanent magnet, and the remainder is the main phase alloy. During the jet milling stage, a certain concentration of oxygen is added into the inert gas, so that the final magnet has an oxygen content of 1500 to 2500 ppm. The Ce-containing dual-alloy magnet prepared in accordance with the present invention has high coercivity, and the intrinsic coercivity (H) is up to 17 to 28.73 kOe. The magnet of the present invention has good fracture toughness which is increased by 10% to 30% as compared with the conventional Nd&#x2014;Fe&#x2014;B sintered magnet. The magnet of the present invention can meet needs of high-end applications such as wind power generation, new energy vehicles, and the like, and greatly expands the application fields of Ce-containing magnets.

Ce-containing sintered rare-earth permanent magnet with having high toughness and high coercivity, and preparation method therefor

A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.

Biomimetic robotic manta ray

A motion control method and system for a biomimetic robotic fish based on an adversarial structured control, includes: taking the accuracy and speed of motion to the target point as a reward term, and taking a power sum of servomotors as a loss term to construct an optimization objective function; optimizing parameters of a central pattern generator model that generates a global control quantity of a servomotor, after curing its parameters, optimizing the parameters of the servomotor compensation control model; iteratively optimizing the parameters of the model; obtaining the global control signal and compensation control signal of the biomimetic robotic fish through the trained model, and using the linear combination of the two sets of output signals as the control signal of the servomotor of the robotic fish to realize the motion control of the fish.

Motion control method and system for biomimetic robotic fish based on adversarial structured control

A gliding depth control method for a biomimetic gliding robotic dolphin includes: obtaining a preset gliding depth and a preset yaw angle; obtaining an estimated velocity by a sliding mode observer based on depth information and inertial navigation information, and obtaining a control quantity of pectoral fins on both sides of the biomimetic gliding robotic dolphin by a yaw controller in combination with the preset yaw angle; obtaining a segmented diving velocity reference trajectory by constructing and segmenting a B&#xe9;zier curve; obtaining a diving control quantity by a model predictive control method in combination with the estimated velocity; obtaining a target position of a piston through a buoyancy principle, and obtaining a control quantity of the piston according to a current position of the piston; and controlling the biomimetic gliding robotic dolphin to glide based on the control quantity of the piston and the control quantity of the pectoral fins.

Gliding depth control method, system and device for biomimetic gliding robotic dolphin

The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.

Multi-posture lower limb rehabilitation robot

A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (), a forefinger component (), a driving component () and a catheter/guide wire support component (); the thumb component () comprises a pair of rollers () configured to advance or retreat the catheter/guide wire; the thumb component () is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component () is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (), and returning by a pull force of a spring () after being released; the driving component () is configured to drive the thumb component () and the forefinger component (); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

Catheter or guide wire manipulating device with two-point-clamping for vascular intervention

The disclosure relates to a method for detection of the horizontal and gravity directions of an image, the method comprising: selecting equidistant sampling points in an image at an interval of the radius of the sampling circle of an attention focus detector; placing the center of the sampling circle of the attention focus detector on each of the sampling points, and using the attention focus detector to acquire attention focus coordinates and the corresponding significant orientation angle, and all the attention focus coordinates and the corresponding significant orientation angles constitute a set &#x3a9;; using an orientation perceptron to determine a local orientation angle and a weight at the attention focus according to the gray image information, and generating a local orientation function; obtaining a sum of each of the local orientation functions as an image direction function; obtaining a function M(&#x3b2;), and further obtaining the horizontal and gravity identification angles.

Method for detecting horizontal and gravity directions of an image

A catheter or guide wire manipulating device for vascular intervention is provided, comprising a thumb component (), a forefinger component (), a driving component () and a catheter/guide wire support component (); the thumb component comprises a roller () configured to advance or retreat the catheter/guide wire; the thumb component () is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component () is configured to cooperate with the thumb component () to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component, and returning by a pull force of a spring () after being released; the driving component () is configured to drive the thumb component () and the forefinger component (); the catheter/guide wire support component () comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.

Catheter or guide wire manipulating device for vascular intervention

A functional electrical stimulation system having a boost module to raise an output voltage of a primary power to a first preset voltage, an energy storage module, connected to the boost module, configured to store electrical energy of the first preset voltage, a central control unit configured to generate data packets of electrical stimulation parameters, and an electrical stimulation output channel, connected to the energy storage module, configured to receive the data packets of electrical stimulation parameters, analyze the electrical stimulation parameters from the data packets, convert electrical energy stored in the energy storage module to an electrical stimulation pulse corresponding to the electrical stimulation parameters and apply the electrical stimulation pulse to a part of a user. The functional electrical stimulation system can enhance flexibility and autonomy of an electrical stimulation pulse so that the user can select a personalized electrical stimulation pulse type according to his/her actual conditions.

Functional electrical stimulation system

The present invention discloses a functional electrical stimulation system comprising a primary power, a boost module, an energy storage section, an output control relay, an automatic discharge circuit, a foot/hand controlled switch, a current detection chip and a current limiting fuse. The boost module comprises n DC chopper circuits connected in series, and outputs a high voltage of 100-200V. According to an enable signal and a current detection signal, the output control relay disables/enables the DC boost module. The automatic discharge circuit discharges capacitance of the energy storage section automatically when the relay turns off the power input. The Foot/hand controlled switch, the current detection chip and the current limiting fuse form a triple accident protection circuit. The functional electrical stimulation system maximizes the intensity of electrical stimulation within the range that the human body can withstand. Meanwhile, it provides multiple security protection mechanisms and enhanced reliability to avoid danger during the use.

System of functional electrical stimulation

A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.

System and method for robot trajectory generation with continuous accelerations

Growing community of inventors

Beijing, China

Min Tan