Zreative Products Inc.

Zhejiang University

Zreative Product, Inc.

Other

Zpc Everglow Enterprise, Inc.

Wen Xu

Feng Liu

Lei Xie

Huifang Chen

Fengzhong Qu

Liling Jin

Chenglei Lv

Huarong Zheng

Dongfang Ma

Some embodiments of the disclosure provide a cooperative positioning system and method for an unmanned underwater vehicle (UUV) cluster based on ranging and information interaction. In some examples, the cooperative positioning system includes one master UUV, multiple slave UUVs, and a cooperative positioning apparatus. In some examples, the cooperative positioning method includes following steps. A master UUV and a slave UUV perform internal clock disciplining. The master UUV periodically packages a location of the master UUV and a covariance matrix of location estimation into a cooperative positioning data packet and broadcasts the cooperative positioning data packet to slave UUVs of a cluster. The slave UUV receives the cooperative positioning data packet. A cooperative positioning apparatus of the salve UUV constructs a state and a measurement equation according to data. The cooperative positioning apparatus calculates and obtains a cooperative positioning result by using an extended Kalman filter (EKF).

Cooperative positioning system and method for unmanned underwater vehicle (UUV) cluster based on ranging and information interaction

The present application discloses is a scheduling method and system for fully autonomous waterborne inter terminal transportation, and belongs to the field of transportation. The method includes: establishing a dynamic scheduling model for waterborne Autonomous guided vessels (wAGVs); quickly inserting the dynamically arriving transportation tasks into all the existing wAGV paths, calculating the insertion cost and selecting the path and position with the lowest insertion cost to obtain updated initial paths; improving the initial path using a heuristic algorithm based on tabu search to obtain quasi-optimal wAGV paths; executing the scheduling wAGV paths.

Scheduling method and system for fully autonomous waterborne inter terminal transportation

A sound velocity profile inversion method based on an inverted multi-beam echometer. Said method comprises the following steps: mounting, in an inverted manner, the multi-beam echometer on an underwater submerged buoy or fixing same to a water bottom, transmitting a beam to a water surface by means of a transmitting transducer array, and receiving an echo signal by means of a receiving transducer array; the multi-beam echometer obtaining an angle of arrival and arrival time of an echo according to the received echo signal; solving an EOF according to sound velocity profile prior information, and obtaining a dimension reduction primary function description method of the sound velocity profile; in combination with the EOF, a ray tracing algorithm, a surface sound velocity and multi-beam data, establishing an optimization model; according to the established optimization model, the arrival time and the angle of arrival of the received echo and the surface sound velocity, using an optimization algorithm to obtain an estimation result of the sound velocity profile of a measurement area; and further, calculating a water temperature profile of the measurement area by using an estimated value of the sound velocity profile. Said method can rapidly and accurately track fluctuations of the sound velocity profile and the temperature profile.

Sound velocity profile inversion method based on inverted multi-beam echo sounder

A method for positioning an underwater glider based on a virtual TDOA of a single beacon is provided. In the method, a positioning beacon periodically sends positioning messages, where the positioning message includes longitude, latitude and depth information of the positioning beacon; the underwater glider receives the positioning messages and records TOAs at which the positioning messages arrive at an acoustic positioning signal receiving module; and the underwater glider parses the positioning messages and stores positioning message data, creates virtual beacons based on beacon information and attitude information of the underwater glider, corrects the TOAs, and calculates a position of the underwater glider according to a TDOA algorithm. According to the method, the underwater glider passively listens to and receives the positioning messages without sending a positioning request to the positioning beacon, making the entire positioning process energy-saving with a certain degree of concealment.

Method for positioning underwater glider based on virtual time difference of arrival of single beacon

Stocking with santa lighter

Lighter

Barrel lighter

A piezoelectric lighter includes a gas emission arrangement including a pair of jet nozzles and a gas emitting tube communicating with a liquefied gas storage respectively, a gas releasable valve extended from the liquefied gas storage for controlling a flow of gas to the gas emission arrangement, a pair of gas ejecting conduits connected from the gas releasable valve to the two jet nozzles respectively, and a gas ejecting duct connected from the gas releasable valve to the gas emitting tube. Therefore, the piezoelectric lighter is adapted for selectively producing either a pair of jet flames at the same time when the gas discharged to the two jet nozzles through the gas ejecting conduits or producing a visible flame when the gas discharged to the gas emitting tube through the gas ejecting duct.

Piezoelectric lighter for cigar, pipe, and cigarette

A side actuation arrangement is incorporated with a piezoelectric lighter and includes a depressing button movably disposed in an ignition cavity of a lighter case and adapted to depress a movable operating part of a piezoelectric unit, and a side actuation member provided and being actuated on a front or rear side of the lighter case to drive the depressing member to depress the movable operating part of the piezoelectric unit so as to ignite the piezoelectric lighter. Therefore, the depressing button is hidden by the sidewall of the lighter case so as to prevent the piezoelectric lighter from being ignited unintentionally.

Side actuation piezoelectric lighter

Utility lighter

Piezoelectric lighter

Lady bug lighter

Growing community of inventors

Zhejiang, China

Wen Xu