Abstract

A task-level cooperative optimization dispatching method supporting multi-cloud disconnection disaster recovery is provided. Since cooperative dispatching is required for different resource requirements in the abnormal stage of a network, a cooperative computing system is formed by nodes of a production shop, production tasks are transmitted and processed between the nodes according to technological requirements, and task-level cooperative optimization dispatching is conducted through a CoopDispatch method in case of disconnection to ensure continuous production. The CoopDispatch method has the characteristic of high dependence on specific resources for manufacturing tasks. Data transmission, storage and calculation are achieved through a LocalAny mechanism, which can reduce task delay, improve the cooperation efficiency among the tasks and satisfy the needs of manufacturing enterprises for disconnection disaster recovery in the multi-cloud mode.

IPC Classes  ?

• G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

Abstract

The present invention relates to a task-level cooperative optimization dispatching method supporting multi-cloud network disconnection disaster recovery. On the basis of the prior art, for the problem that cooperative dispatching is required to be performed according to different resource requirements for tasks in a network anomaly stage, nodes in a production workshop form a cooperative computing system, production tasks are transmitted and processed among the nodes according to process requirements, and task-level cooperative optimization dispatching under a network disconnection condition is performed by means of a CoopDispatch method, ensuring continuous production. The CoopDispatch method is used, for the high specific resource-dependency characteristic of manufacturing tasks, transmission, storage and computing of data are implemented by means of a LocalAny mechanism, reducing the time delay of the tasks, improving the cooperative efficiency between the tasks, and satisfying the requirements of manufacturing enterprises for network disconnection disaster recovery in a multi-cloud mode.

IPC Classes  ?

• G06F 9/48 - Program initiatingProgram switching, e.g. by interrupt

Abstract

The present invention belongs to the field of water-jet guided laser micro-hole machining. Specifically, provided is a machining apparatus for a water-jet guided laser micro-hole with a high surface quality, the apparatus comprising: a nanosecond laser device, which is turned on on the basis of a control instruction of a machining control system and refracts an incident laser into a laser water-jet coupling head by means of an optical path transmission unit; a CCD camera, which is arranged above the optical path transmission unit, wherein the laser enters a detection optical path by means of the optical path transmission unit and images on the CCD camera, so as to detect the position of a laser spot diameter at a nozzle of the laser water-jet coupling head in real time, and to complete the coupling of the laser and a water jet; and the laser water-jet coupling head, which is used for coupling the laser, which is focused in the coupling head, and a high-pressure water flow, which enters a coupling cavity through a pipe of a water cavity sidewall, at small holes of the nozzle, so as to perform micro-hole machining on a workpiece. By means of the present invention, interference with a stable jet is reduced, and a micro-hole with a high roundness, a low taper and a good outlet/inlet morphology can be machined, thereby improving the machining efficiency, while also ensuring the precision and quality of micro-hole machining.

IPC Classes  ?

• B23K 26/382 - Removing material by boring or cutting by boring
• B23K 26/70 - Auxiliary operations or equipment
• B23K 26/064 - Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
• B23K 26/082 - Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
• B23K 26/146 - Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beamNozzles therefor the fluid stream containing a liquid

Abstract

A digital twin-based edge-end collaborative scheduling method for heterogeneous tasks and resources includes the following steps: establishing an edge wireless network based on digital twin; constructing an edge-end collaborative scheduling problem prototype of the heterogeneous tasks and resources; performing problem conversion based on a multi-agent Markov decision process; constructing an Actor-Critic neural network model based on multi-agent deep reinforcement learning; performing offline centralized training of the neural network model by digital twin; performing online distributed execution of task offloading and computation and communication resource allocation by end devices to collaboratively process the heterogeneous tasks. The method optimizes the heterogeneous computation resource types, the task offloading ratio, the transmit power of the end devices and the computation resource allocation ratio of edge servers through digital twin, supports the on-demand offloading of heterogeneous tasks, realizes edge-end collaborative computing, and minimizes the total task processing delay.

IPC Classes  ?

• G06F 9/48 - Program initiatingProgram switching, e.g. by interrupt
• G06F 9/50 - Allocation of resources, e.g. of the central processing unit [CPU]

Abstract

A scanning probe microscope based on high-speed instantaneous force control is used scan a sample, which includes steps of acquiring an acting force signal between a probe unit and a sample; calculating a real amplitude signal according to the acting force signal; acquiring a set amplitude signal; acquiring the first sinusoidal signal; obtaining a target acting force signal according to the real amplitude signal, the set amplitude signal and the first sinusoidal signal; and scanning the surface of the sample in a target sample scanning mode according to the target acting force signal, wherein the target sample scanning mode represents the operating mode of scanning the surface of the sample under the indication of the target acting force signal. The method solves the problems of low peak force tapping frequency and limited scanning range, and realizes high-speed instantaneous force tapping and mechanical property measurement while ensuring the scanning range.

IPC Classes  ?

• G01Q 60/34 - Tapping mode
• G01Q 10/04 - Fine scanning or positioning

Abstract

The present invention relates to wireless network transmission and scheduling technology, in particular to a digital twinning-based end-edge collaborative scheduling method for a heterogeneous task and a resource. The method comprises the following steps: establishing an edge wireless network based on digital twinning; constructing an end-edge collaborative scheduling problem prototype between a heterogeneous task and a resource; performing problem conversion on the basis of a multi-agent Markov decision-making process; constructing an Actor-Critic neural network model on the basis of multi-agent deep reinforcement learning; digital twins training in a centralized manner the neural network model offline; and a terminal device distributedly executing task migration and computing and communication resource allocation online, and collaboratively processing the heterogeneous task. In the present invention, by means of digital twinning, joint optimization can be performed on the type of a heterogeneous computing resource, the ratio of task migration, the transmission power of a terminal device, and the allocation ratio of a computing resource of an edge server, and the on-demand migration of a heterogeneous task is supported, thereby realizing end-edge collaborative computing, and minimizing the total task processing delay.

IPC Classes  ?

• H04W 28/08 - Load balancing or load distribution

Abstract

A new image formation model for descattering different from the previous works based on atmospheric scattering model is established. It can provide a corresponding physical explanation for each scattering environment, illustrate a relationship between a light source position and scattering conditions and solve the problem of scattering removal under non-uniform illumination. Firstly, a dark angle of a camera is removed by an integrating sphere; then, a pure scattering part is found by an improved dark channel-like prior method; and finally, a zenith angle, an azimuth angle, an extinction coefficient and other related physical quantities are calculated according to the light attenuation and backscattering distribution of a scattering medium to eliminate the backscattering and light attenuation. Theoretically, the model can be used in any uniform scattering medium, such as underwater and fog environments, and works well in high-density media.

IPC Classes  ?

• G06T 5/70 - DenoisingSmoothing
• G06T 7/507 - Depth or shape recovery from shading
• G06T 7/70 - Determining position or orientation of objects or cameras
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries

Abstract

A scanning probe microscope scanning method based on high-speed instantaneous force control. A scanning probe microscope comprises a probe unit (1023). The method comprises the following steps: acquiring an acting force signal between the probe unit (1023) and a sample (9) (S11); according to the acting force signal, calculating a real amplitude signal (S12); acquiring a set amplitude signal (S13); acquiring a first sinusoidal signal, and according to the real amplitude signal, the set amplitude signal and the first sinusoidal signal, obtaining a target acting force signal (S14); on the basis of the target acting force signal, scanning the surface of the sample (9) in a target sample scanning mode (S15), the target sample scanning mode representing a working mode of scanning the surface of the sample (9) under the indication of the target acting force signal. The method solves problems of low peak force tapping frequency and limited scanning range, and achieves high-speed instantaneous force tapping and mechanical characteristic measurement while ensuring the scanning range.

IPC Classes  ?

• G01Q 60/24 - AFM [Atomic Force Microscopy] or apparatus therefor, e.g. AFM probes
• G01Q 60/34 - Tapping mode

Abstract

A vehicle-mounted angiography machine with a double-robotic-arm type structure is used for interventional surgery diagnosis and treatment on patients on the site of cardiovascular diseases and on the way and occupies a small space. The vehicle-mounted angiography machine includes a six-degree-of-freedom robotic lower arm at the lower portion of an ambulance body space, a three-degree-of-freedom mobile table located in the middle of the space for moving a patient, and a seven-degree-of-freedom robotic upper arm at the upper portion of the space. An end portion of the upper arm is connected to a flat panel detector of the angiography machine, and an end portion of the lower arm is connected to an anode ball tube of the angiography machine, Large-scale isocentric detection is realized by cooperation of the central motion of the upper arm and the lower arm and the up-down, left-right and front-back motion of the table.

IPC Classes  ?

• A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment

Abstract

An online detection device underwater elements includes an LIBS system in a sealing pressure chamber and an external airflow control system. The airflow control system has a gas probe bin and a gas source. An opening is formed at one end of the gas probe bin while the other end and the sealing pressure chamber are hermetically partitioned through a glass window. A laser in the LIES system outputs laser to an underwater object surface to be detected for generating plasma spectra. A spectrometer collects plasma spectra returned along an original optical path. When the device operates in water, the balance gas storage tank produces gas with the same pressure as underwater. A flow model is invoked according to the current water pressure to accurately control the air flow rate to form a stable gas environment in the gas probe, which improves the plasma excitation and collection efficiency.

IPC Classes  ?

• G01N 21/71 - Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light thermally excited

Abstract

An underwater element online detection apparatus and method based on LIBS technology. The apparatus is composed of two parts: an LIBS system inside a sealed pressure chamber (1) and a gas flow control system (2) outside the sealed pressure chamber (1). The gas flow control system (2) comprises a gas probe chamber (21) and a gas source (22), wherein the gas source (22) is connected to the gas probe chamber (21) by means of a gas source pipeline; and one end of the gas probe chamber (21) is provided with a hole (2101), and the other end thereof is sealed and separated from the sealed pressure chamber (1) by means of a glass window (26). A laser device (1202) inside the LIBS system outputs laser light to the surface of an underwater object to be subjected to detection, so as to generate a plasma spectrum, and a spectrometer (1203) collects a plasma spectrum returned along an original light path. When the apparatus works in water, a detection light path, which is originally in a water environment, is changed into being in a gas environment by means of a gas probe, such that the excitation and collection efficiency of a plasma can be greatly improved without a complicated precise focusing process, and the sensitivity of in situ on-line detection of chemical elements of a underwater solid or water is improved. The apparatus and the method can be widely applied to the fields of marine mineral exploration, marine environment monitoring, etc.

IPC Classes  ?

• G01N 21/71 - Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light thermally excited
• G01N 21/01 - Arrangements or apparatus for facilitating the optical investigation

Abstract

A balance disorder rehabilitation robot based on virtual and real scene fusion has a follow-up supporting device, a weight loss protection device and a virtual projection device. The follow-up supporting device is arranged in the center position of a bottom surface of the weight loss protection device and is used to follow the balance training gait of a patient in real time. The weight loss protection device is used to follow the position of center of gravity of the patient in a process of balance rehabilitation training in real time. The virtual projection device is arranged in front of the follow-up supporting device to present a virtual scene. The postures and the positions of the follow-up platforms are controlled to realize the physical sense reproduction of multiple motion scenes. The physical scene is organically combined with the virtual scene to ensure a diverse balance rehabilitation training environment.

IPC Classes  ?

• A63B 26/00 - Exercising apparatus not covered by groups
• A61H 1/02 - Stretching or bending apparatus for exercising
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• G16H 20/30 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising

Abstract

An image restoration method based on a real physical parameter-based physical scattering model. A novel scattering model different from a universal atmospheric light scattering model is established, corresponding physical interpretation can be given to each scattering environment, relationships between light source positions and scattering conditions are stated, and the problem of scattering removal under non-uniform illumination is solved. First, camera vignetting is removed by means of an integrating sphere, then a pure scattering part is found out by means of an improved method similar to dark channel prior, and finally, a zenith angle, an azimuth angle, an extinction coefficient, and other related physical quantities are calculated according to light attenuation and backscattering distribution of the scattering medium to eliminate backscattering and light attenuation. The model can be used in any uniform scattering medium, such as underwater and foggy environments, and works well in high density mediums.

IPC Classes  ?

• G06T 5/00 - Image enhancement or restoration
• G06T 7/50 - Depth or shape recovery

Abstract

A device capable of simultaneous independent motion measurement of multiple probes in an atomic force microscope includes at least two cantilever arms arranged in parallel. The end of each cantilever arm is provided with a needle tip. The surface of each cantilever arm is provided with a grating structure with a periodic distribution rule for reflecting laser irradiated on the grating structure and receiving the laser through reflected light detectors. The discrimination and motion measurement includes the steps of irradiating the measurement laser of different wavelengths on the back surfaces of multiple probes through the same light path at the same time, adopting the grating structures of different feature sizes as physical labels of the multiple probes and reflecting high-order reflected light of the laser of different wavelengths by the grating structures at different angles to separate the light path.

IPC Classes  ?

• G01Q 20/02 - Monitoring the movement or position of the probe by optical means
• G01Q 60/38 - Probes, their manufacture or their related instrumentation, e.g. holders

Abstract

An atomic force microscope has dual probes composed of a hinge structure, two cantilever beams and needle tips arranged on free ends of the cantilever beams. The hinge structure is a U-shaped body having two ends respectively extended with a first cantilever beam and a second cantilever beam. The free end of the first cantilever beam and the free end of the second cantilever beam are respectively provided with a first needle tip and a second needle tip. The integrated dual probes is operated by the driving function of the probe clamp. Therefore, only a set of motion control and measurement system of the atomic force microscope is required to realize the rapid in-situ switching function of the dual probes.

IPC Classes  ?

• G01Q 60/24 - AFM [Atomic Force Microscopy] or apparatus therefor, e.g. AFM probes
• G01Q 10/04 - Fine scanning or positioning
• G01Q 20/02 - Monitoring the movement or position of the probe by optical means
• G01Q 60/38 - Probes, their manufacture or their related instrumentation, e.g. holders
• G01Q 70/06 - Probe tip arrays

Abstract

The present invention relates to an osteotomy actuator for a two-degrees-of-freedom knee joint. The osteotomy actuator comprises a Y-direction moving mechanism, an X-direction moving mechanism, a six-dimensional force sensor and a bone cutting tool, wherein the Y-direction moving mechanism is provided with a Y-direction driving assembly, a Y-direction frame body and a Y-direction sliding seat, and the Y-direction sliding seat is slidably connected to the Y-direction frame body and is driven to move by the Y-direction driving assembly; the X-direction moving mechanism comprises an X-direction driving assembly, an X-direction frame body and an X-direction sliding seat, the X-direction frame body is fixedly connected to the Y-direction sliding seat, and the X-direction sliding seat is slidably connected to the X-direction frame body and is driven to move by the X-direction driving assembly; and the bone cutting tool is mounted on the X-direction sliding seat, and the six-dimensional force sensor is arranged between the bone cutting tool and the X-direction sliding seat. In the present invention, the displacement of the bone cutting tool can be accurately controlled, and precise force and force feedback of the bone cutting tool can be obtained, such that a system can be assisted in completing the online planning of a bone cutting trajectory and the tracking of the bone cutting trajectory.

IPC Classes  ?

• A61B 17/16 - Instruments for performing osteoclasisDrills or chisels for bonesTrepans
• A61B 17/17 - Guides for drills
• A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
• A61B 34/32 - Surgical robots operating autonomously

Abstract

An industrial 5G dynamic multi-priority multi-access method based on deep reinforcement learning includes the following steps: establishing an industrial 5G network model; establishing a dynamic multi-priority multi-channel access neural network model based on deep reinforcement learning; collecting state, action and reward information of multiple time slots of all industrial 5G terminals in the industrial 5G network as training data; training the neural network model by using the collected data until the packet loss ratio and end-to-end latency meet industrial communication requirements; collecting the state information of all the industrial 5G terminals in the industrial 5G network at the current time slot as the input of the neural network model; conducting multi-priority channel allocation; and conducting multi-access by the industrial 5G terminals according to a channel allocation result. The method allocates multiple channels to the industrial 5G terminals of different priorities in the industrial 5G network in real time to ensure large-scale concurrent access.

IPC Classes  ?

• H04W 74/08 - Non-scheduled access, e.g. ALOHA
• G06N 3/04 - Architecture, e.g. interconnection topology
• G06N 3/045 - Combinations of networks
• H04L 5/00 - Arrangements affording multiple use of the transmission path
• H04W 74/00 - Wireless channel access

Abstract

A flexible endoscope control robot, comprising a flexible endoscope supporting unit (700) and a flexible endoscope main operating robot arranged on the flexible endoscope supporting unit (700). The flexible endoscope main operating robot comprises a flexible endoscope positioning unit (300), a flexible endoscope conveying unit (400), a flexible endoscope operating unit (500), and a flexible endoscope following unit (600); the flexible endoscope positioning unit (300) is connected to the flexible endoscope supporting unit (700), and the flexible endoscope operating unit (500) is connected to the flexible endoscope positioning unit (300) by means of the flexible endoscope following unit (600); the flexible endoscope operating unit (500) is used for being connected to a flexible endoscope (450) and controlling the flexible endoscope (450) to act; the flexible endoscope conveying unit (400) is arranged on the flexible endoscope positioning unit (300) and is used for clamping and conveying the flexible endoscope (450). According to the flexible endoscope control robot, accurate control is performed on the flexible endoscope (450), remote control operation is combined, radiation by X-rays to doctors is avoided, sensor information is fused, and intelligent robot intervention is achieved.

IPC Classes  ?

• A61B 34/35 - Surgical robots for telesurgery
• A61B 34/37 - Leader-follower robots
• A61B 1/005 - Flexible endoscopes

Abstract

A vehicle-mounted angiography machine with a double-mechanical-arm structure. The vehicle-mounted angiography machine belongs to the technical field of medical instruments, is used for performing interventional operation diagnosis and treatment on a patient suffering from cardiovascular disease on site and on the way, and occupies a small space. The vehicle-mounted angiography machine comprises a six-degree-of-freedom robot lower arm (2) located at the lower part of a vehicle body space, a three-degree-of-freedom moving bed (3) located in the middle of the space and used for moving the patient, and a seven-degree-of-freedom robot upper arm (1) located at the upper part of the space, wherein an end of the upper arm (1) is connected to a flat panel detector of the angiography machine, and an end of the lower arm (2) is connected to an anode ball tube of the angiography machine. By means of the central movement of the upper arm and the lower arm (1, 2), in combination with the up-down, left-right and front-back movement of the bed (3), large-scale isocentric detection is realized, and high-quality contrast images are provided for a minimally invasive operation process.

IPC Classes  ?

• A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment

Abstract

The present invention relates to a method and device for measuring the simultaneous and independent motion of a multiprobe of an atomic force microscope. The device comprises at least two cantilever arms arranged in parallel, wherein a tip is arranged at the tail end of each cantilever arm; and grating structures, which follow a periodic distribution law, are arranged on the surfaces of the cantilever arms and are used for reflecting lasers, which irradiate the grating structures, and for receiving the reflected lasers by means of reflected light detectors. In the present invention, the distinguishing and motion measurement of multiple probes at an ultra-short distance are realized by one set of optical path systems. The specific method involves making measurement lasers of different wavelengths pass through the same optical path and simultaneously irradiate the back faces of the multiple probes, using the grating structures of different feature sizes as physical tags of the multiple probes, and reflecting high-order reflected light of the lasers of different wavelengths by the grating structures at different angles, thereby achieving the purpose of separating the optical path.

IPC Classes  ?

• G01Q 60/38 - Probes, their manufacture or their related instrumentation, e.g. holders

Abstract

An atomic force microscope based measurement method and device for rapid in-situ switching of an integrated double probe (100). The device comprises the double probe (100) formed of a hinge structure (1), two cantilever beams (2, 3), and tips (4, 5) arranged at free ends of the cantilever beams (2, 3). The hinge structure (1) is a U-shaped body. The two tail ends of the U-shaped body respectively extend to form the first cantilever beam (2) and the second cantilever beam (3). The free end of the first cantilever beam (2) and the free end of the second cantilever beam (3) are respectively provided with the first tip (4) and the second tip (5). The integrated double probe (100) is used, and the driving function of a probe clamp (200) is used for driving a working probe to work, and therefore, a rapid probe in-situ switching function of the double probe (100) can be realized only by means of one set of motion control and measurement system based on an atomic force microscope.

IPC Classes  ?

• G01Q 60/38 - Probes, their manufacture or their related instrumentation, e.g. holders

Abstract

Disclosed is an autonomous underwater robot with high mobility and a great submerging depth, the robot comprising a submarine body (1), a channel propeller (3) and rudder-propeller coupling mechanisms. The submarine body (1) is of a vertically flat structure, the channel propeller (3) is horizontally arranged at the bow of the submarine body (1), and the rudder-propeller coupling mechanisms are arranged on two sides of the submarine body (1); and the channel propeller (3) and the rudder-propeller coupling mechanisms cooperatively control the six degrees of freedom of the submarine body. Each rudder-propeller coupling mechanism comprises a front horizontal rudder plate (5), an auxiliary propeller (6), a rear horizontal rudder plate (11) and a main propeller(12). Each of the two front horizontal rudder plates (5) is provided with one auxiliary propeller (6), and each of the two rear horizontal rudder plates (11) is provided with one main propeller (12). The underwater robot can be used in a sea area with a great depth and complex terrain, has complex environment perception and high-mobility autonomous collision avoidance capabilities, and realizes high-efficiency environment perception and high-mobility autonomous collision avoidance detection capabilities in a sea area with complex terrain.

IPC Classes  ?

• B63G 8/08 - Propulsion
• B63G 8/14 - Control of attitude or depth
• G05D 1/10 - Simultaneous control of position or course in three dimensions

Abstract

A large-range cruise autonomous underwater robot structure, comprising a robot body (1), a horizontal channel thruster (6), a vertical channel thruster (18), a main thruster system, and a stabilizing wing system. The robot body (1) is of a revolving body structure; and the horizontal channel thruster (6) and the vertical channel thruster (18) are disposed on the bow of the robot body (1) and are perpendicular to one another; and the main thruster system and the stabilizing wing system are disposed at the stern of the robot body (1). The underwater robot structure is suitable for large-range and long-distance detection sampling.

IPC Classes  ?

• B63G 8/00 - Underwater vessels, e.g. submarines

Abstract

The present invention relates to industrial 5G network technology, and specifically relates to a deep reinforcement learning-based industrial 5G dynamic multi-priority multi-access method. The method comprises the following steps: establishing an industrial 5G network model; establishing a deep reinforcement learning-based dynamic multi-priority multi-channel access neural network model; collecting status, action, and reward information of all industrial 5G terminals in the industrial 5G network in multiple time slots as training data; using the collected data to train the neural network model until the packet loss rate and end-to-end delay meet requirements for industrial communication; collecting status information of all industrial 5G terminals in the industrial 5G network in a current time slot and using same as an input of the neural network model for multi-priority channel allocation, and the industrial 5G terminals perform multiple access according to the channel allocation results. The present invention may efficiently perform multi-channel allocation with industrial 5G terminals of different priorities in an industrial 5G network in real time, and ensure large-scale concurrent access.

IPC Classes  ?

• H04L 5/00 - Arrangements affording multiple use of the transmission path

Abstract

The present invention relates to a medical rehabilitation training apparatus, in particular to a virtual and real scenario combined balance disorder rehabilitation robot. The balance disorder rehabilitation robot comprises a follow-up support device, a weight reduction protection device and a virtual projection device, wherein the follow-up support device is arranged in the center of the bottom surface of the weight reduction protection device and is used for following the balance training gait of a patient in real time; the weight reduction protection device is used for following the center of gravity position of the patient in the balance rehabilitation training process in real time; and the virtual projection device is arranged in front of the follow-up support device and used for presenting a virtual scenario. The present invention achieves the physical sense reproduction of various motion scenarios by controlling the posture and the position of a follow-up platform, and organically combines a physical scenario with the virtual scenario in combination with the projected virtual scenario, thereby ensuring the existence of diversified balance rehabilitation training environments.

IPC Classes  ?

• A63B 26/00 - Exercising apparatus not covered by groups
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• G16H 20/30 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• A61H 1/02 - Stretching or bending apparatus for exercising

Abstract

A robot for testing lower limb performance of a spacesuit includes a pressure maintaining box, an air circulation component, an air cooling unit, heat radiating hose components, and two mechanical legs. The air cooling unit is connected with the pressure maintaining box; the air circulation component is arranged in the pressure maintaining box; the mechanical legs are installed on the pressure maintaining box, and the heat radiating hose components are arranged in the mechanical legs; air in the pressure maintaining box is cooled through the air cooling unit and delivered into the heat radiating hose components through the air circulation component; each mechanical leg comprises a thigh, a knee joint component, a shank, an ankle joint component and a foot; the thigh is connected with the shank through the knee joint component; the shank is connected with the foot through the ankle joint component.

IPC Classes  ?

• B25J 11/00 - Manipulators not otherwise provided for
• B25J 17/02 - Wrist joints
• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
• G01M 13/00 - Testing of machine parts
• B64G 6/00 - Space suits

Abstract

The present invention designs a PROFINET protocol-based access method in an industrial SDN, comprising a message processing process of a PROFINET industrial Ethernet protocol in an industrial software-defined network switch, a message processing process of the PROFINET industrial Ethernet protocol in an industrial software-defined network controller, and an access processing process of a PROFINET industrial Ethernet device. Under an industrial software-defined network architecture, the present invention provides a network communication basis for operation of a PROFINET industrial Ethernet device in an industrial software-defined network concerning the problem of difficulty in identification, analysis and processing of a PROFINET industrial Ethernet protocol under an industrial control network architecture and the problem of difficulty in accessing and establishing a communication relationship and the like by the PROFINET industrial Ethernet device.

IPC Classes  ?

• H04L 12/947 - Address processing within a device, e.g. using internal ID or tags for routing within a switch
• H04L 12/761 - Broadcast or multicast routing

Abstract

Disclosed is a time synchronization method for a redundant network. A network performs clock synchronization with neighboring nodes. When a network comprises a redundant link, a node having a redundant link can perform clock synchronization with different neighbors by means of different links, and calculate an estimated value of a standard clock by using a weighted average approach. A weighting parameter depends on a clock error factor of the neighboring nodes and the link delay with the neighboring nodes. The clock error factor of the node is obtained by calculation according to the clock error factor of the neighboring nodes, the link delay with the neighboring nodes, and the slope of a local clock.

IPC Classes  ?

• H04J 3/06 - Synchronising arrangements

Abstract

A deformable segment with combined motion includes a flexible center backbone, the tendons of deformable segment with combined motion, a connecting piece, a proximal disk and a distal disk. The proximal end of the flexible center backbone and the proximal ends of the tendons of deformable segment with combined motion are fixedly connected to the proximal disk. The distal ends of the tendons of deformable segment with combined motion are fixedly connected to the distal disk. The distal end of the flexible center backbone penetrates through the distal disk and then extends into the distal execution segment, and is connected with the end-effector. The deformable segment with combined motion is provided with the connecting piece. The proximal driving segment is provided with proximal driving tendons. The proximal driving tendons penetrate through the proximal disk, and then are fixedly connected with the connecting piece.

IPC Classes  ?

• A61B 34/30 - Surgical robots
• A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
• A61B 17/00 - Surgical instruments, devices or methods

Abstract

A resource allocation method for coexistence of multiple line topological industrial wireless networks is provided. It pertains to the coexistence problem of multiple TDMA-based line topological industrial wireless networks, including three parts: lower bound analysis of scheduling delay, allocation algorithm of inter-network resources and allocation algorithm of intra-network resources. The method uses overall scheduling delay and resource utilization ratio as measurement indexes when analyzing the lower bound of delay and designing resource allocation algorithms, and selects a best node combination in each time slot to occupy as many channel resources as possible to improve the resource utilization ratio and reduce the overall scheduling delay.

IPC Classes  ?

• H04W 72/04 - Wireless resource allocation
• H04W 28/02 - Traffic management, e.g. flow control or congestion control
• H04W 28/16 - Central resource managementNegotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]
• H04W 92/02 - Inter-networking arrangements

Abstract

The present invention discloses a data forwarding unit based on a Handle identifier, comprising a dynamic configuration module, a Handle identifier data identification module and a matching-forwarding module. The system of the present invention is applied to network devices such as switches and routers, and supports dynamic configuration of data packet analysis, matching and forwarding rules through data interaction with network systems such as SDN managers, so that the network devices can identify data packets based on the Handle identifier and perform the specified operation on the designated data packets with the Handle identifier according to the rules of dynamic configuration.

IPC Classes  ?

• H04L 12/725 - Selecting a path with suitable quality of service [QoS]
• H04L 45/302 - Route determination based on requested QoS
• H04L 12/46 - Interconnection of networks
• H04L 45/74 - Address processing for routing

Abstract

A robot multi-degree-of-freedom clamper has a short stroke biaxial cylinder installed on the clamping jaw supporting frame and an output end connected with a pneumatic clamping jaw A. In addition, a clamping jaw finger A is connected with an output end of the pneumatic clamping jaw A. A long stroke biaxial cylinder is connected with a pneumatic clamping jaw B. A clamping jaw finger B is connected with the output end of the pneumatic clamping jaw B. A pneumatic clamping jaw C is positioned between the pneumatic clamping jaw A and the pneumatic clamping jaw B. A clamping jaw finger C is connected with the output end of the pneumatic clamping jaw C. The clamping jaw finger A and the pneumatic clamping jaw A are driven by the short stroke biaxial cylinder to move back and forth on the clamping jaw supporting frame.

IPC Classes  ?

• B25J 15/00 - Gripping heads
• B25J 15/08 - Gripping heads having finger members
• B25J 15/10 - Gripping heads having finger members with three or more finger members
• B64G 1/64 - Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements

Abstract

The present invention relates to a rotating self-drilling device for extraterrestrial objects. One end of a pressure sensor installing barrel is connected with a rear cover; a reed fixing lower cover is installed on the rear cover; one end of a wire outlet post is connected with the reed fixing lower cover, and the other end is provided with a reed fixing upper cover; a plurality of reeds are arranged between the reed fixing upper cover and the reed fixing lower cover; both ends of each of the reeds are respectively connected with the reed fixing upper cover and the reed fixing lower cover; the other end of the pressure sensor installing barrel is connected with one end of a motor installing barrel; the other end of the motor installing barrel is connected with a motor installing barrel front cover; a motor and decelerator is placed in the motor installing barrel; both ends of a transmission shaft are respectively connected with the output end of the motor and decelerator and a ferrule; both ends of a milling head are respectively connected with the ferrule and a drill bit; a propelling spiral tube is sleeved outside the motor installing barrel; both ends are respectively connected with the ferrule and a bearing fixing cover; the bearing fixing cover is rotatably connected with the motor installing barrel; The overall structure of the present invention is light and compact. A drive system has only one motor to realize large penetration depth.

IPC Classes  ?

• E21C 51/00 - Apparatus for, or methods of, winning materials from extraterrestrial sources
• E21B 3/02 - Surface drives for rotary drilling
• E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions

Abstract

A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

IPC Classes  ?

• B62D 55/075 - Tracked vehicles for ascending or descending stairs
• B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
• B62D 55/125 - Final drives
• B62D 55/08 - Endless-track unitsParts thereof

Abstract

A folding space shelf has a lower backplane and an upper backplane that are connected by one or more hinges, and a pair of top crossbeams and a pair of upper stringers. Each top crossbeam has a first end hinged to an upper portion of the upper backplane and a second end rotatably connected to one of the pair of upper stringers. It further contains a pair of bottom crossbeams and a pair of bottom stringers. Each bottom crossbeam has a first end hinged to a lower portion of the lower backplane and a second end rotatably connected to one of the pair of bottom stringers. The folding space shelf also contains a pair of middle stringers, each having a first end connected to one of the pair of upper stringers and a second end hinged to one of the pair of the bottom stringers.

IPC Classes  ?

• A47B 43/00 - Cabinets, racks or shelf units, characterised by features enabling folding of the cabinet or the like
• A47B 47/00 - Cabinets, racks or shelf units, characterised by features related to dismountability or building-up from elements
• A47B 96/02 - Shelves
• A47F 5/10 - Adjustable or foldable display stands
• A47B 96/14 - Bars, uprights, struts, or like supports, for cabinets, brackets, or the like
• A47B 47/02 - Cabinets, racks or shelf units, characterised by features related to dismountability or building-up from elements made of metal only
• B65G 1/02 - Storage devices

Abstract

The present invention relates to ground support equipment for aerospace engineering, and particularly relates to an assembly and test operation robot for a space station experimental cabinet. The assembly and test operation robot comprises a mobile lifting platform, a comprehensive monitoring system, a rotating clamping mechanism, a multifunctional adapter and a science experimental cabinetet, wherein the mobile lifting platform is used for regulating the horizontal position and the height position of the science experimental cabinetet to realize assembly and transportation functions of the experimental cabinet; the rotating clamping mechanism is installed on the mobile lifting platform to realize clamping and rotation functions of the science experimental cabinet; the multifunctional adapter is installed on the rotating clamping mechanism to carry the science experimental cabinet; and the comprehensive monitoring system is used to monitor the assembly state of the science experimental cabinet in real time. The present invention realizes integrated operation functions of transportation, flipping, assembly and parking in the ground assembly and test process of the space station experimental cabinet, so as to achieve the purpose of safe, efficient and accurate assembly and test of the space station experimental cabinet.

IPC Classes  ?

• B66F 9/12 - PlatformsForksOther load-supporting or load-gripping members
• B65D 19/00 - Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered

Abstract

Disclosed is a transfer platform for storage, comprising a platform structure frame (2), a drive motor, drive gears (3), a sliding contact line (4), a rack (7), loading universal wheels (10) and a current collector (12). The platform structure frame (2) is a square structure, each of two adjacent sides of the platform structure frame is provided with a driving gear (3) and a sliding contact line (4), or each is provided with a driving gear (3) and a current collector (12), and each of the other two adjacent sides is provided with a rack (7) and a current collector (12), or each is provided with a rack (7) and a sliding contact line (4). Each of the driving gears (3) is connected to the driving motor; and the bottom of the platform structure frame (2) is provided with a plurality of loading universal wheels (10). Compared with the existing transfer platforms in other forms, the described transfer platform has the characteristics of strong load-bearing capacity, simple structure form, high reliability, low manufacturing cost, strong practicability and the like.

IPC Classes  ?

• B65G 1/04 - Storage devices mechanical

Abstract

The present invention belongs to the technical field of storage, and particularly relates to a three-dimensional matrix-type storage system. The three-dimensional matrix-type storage system comprises a computer management system, a matrix-type repository and a plurality of movable carrier platforms arranged in the matrix-type repository. The plurality of movable carrier platforms are arranged in the form of a two-dimensional matrix to form a digital Huarong Dao mode; two adjacent movable carrier platforms can slide relative to each other in a contact manner; and stacking can be performed on an upper portion of each movable carrier platform to form a three-dimensional matrix, and there is always a vacancy in the three-dimensional matrix to serve as a space for enabling the movable carrier platform to move. A cargo entrance/exit is provided in an end of the matrix-type repository, and the computer management system is used for controlling a specified movable carrier platform to move, in a parallel manner, towards the cargo entrance/exit along two-dimensional plane coordinates, thereby realizing the entering and leaving of cargo. The present invention is high in storage density and utilization rate of space, and related devices are simple in structural form and low in cost, and has a high practicability.

IPC Classes  ?

• B65G 1/04 - Storage devices mechanical

Abstract

The present invention relates to a quick clamping device. A pressing flange and a top plate are respectively installed on both sides of a bracket; one end of a top rod is rotatably connected with the top plate, and the other end is in threaded connection with a center pressing element; a slip ring copper sleeve is sleeved on the center pressing element; a synchronous slip ring can be sleeved outside the slip ring copper sleeve relatively movably; the outer end part of the slip ring copper sleeve is provided with a copper sleeve flange; a spring sleeved on the slip ring copper sleeve is arranged between the synchronous slip ring and the copper sleeve flange; both ends of the spring are respectively abutted against the synchronous slip ring and the copper sleeve flange; a plurality of pull rods are evenly distributed along the circumferential direction of a clamped element; one end of each of the pull rods is respectively hinged to the center pressing element, and the other end is a pressing end; the clamped element is positioned between the pressing flange and the pressing end of each pull rod; a connecting rod is connected between each of the pull rods and the synchronous slip ring; and both ends of the connecting rod are respectively hinged with the pull rods and the synchronous slip ring. The present invention has the advantages of novel structure, simple operation, small size, and the like.

IPC Classes  ?

• B25B 11/02 - Assembly jigs
• B23Q 3/12 - Devices holding, supporting, or positioning, work or tools, of a kind normally removable from the machine for securing to a spindle in general

Abstract

The present invention belongs to the field of robots, and relates to a soft ground crawling robot. Front wheels are connected on both sides of the front end of a body shell; a universal wheel is arranged on the rear end; rotary stepping motors are installed on both sides of a supporting assembly; an output shaft of the rotary stepping motor on each side passes through the body shell and then is connected with the front wheel on the same side; a swinging stepping motor is installed on the supporting assembly; the output shaft is connected with a connecting plate; the connecting plate is connected with the body shell through a connecting shaft; the body shell is driven to swing by the swinging stepping motor; lower end covers are rotatably connected on both sides of the body shell; a wheel bracket is connected to the rotary stepping motor on each side; and the wheel bracket on each side is connected with the lower end cover on the same side. The crawling robot of the present invention can crawl on all soft ground while moving in a plane, and overcome the phenomenon that some existing crawling robots cannot walk and work on the soft ground such as sand due to sinking.

IPC Classes  ?

• B62D 11/04 - Steering non-deflectable wheelsSteering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
• B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Abstract

The present invention relates to wireless network resource allocation technology, and specifically relates to a resource allocation method oriented to the coexistence of multiple linear topology industrial wireless networks. The present invention takes the problem of the coexistence of multiple TDMA-based linear topology industrial wireless networks into consideration, and comprises three parts, i.e. a scheduling delay lower bound analysis, an inter-network resource allocation algorithm and an intra-network resource allocation algorithm. In the method, when a delay lower bound is analyzed and a resource allocation algorithm is designed, an overall scheduling delay and a resource utilization rate are taken as measurement indexes, and an optimal node combination is selected in each slot in order to occupy as many channel resources as possible, thereby improving the resource utilization rate and reducing the overall scheduling delay.

IPC Classes  ?

• H04W 28/02 - Traffic management, e.g. flow control or congestion control

Abstract

The present invention relates to cognitive wireless sensor network technologies, and in particular to a medium access control method for a cognitive sensor network based on broadcast preamble sampling. A cognitive node in the cognitive sensor network adopts a periodical dormancy-awakening mechanism. Firstly, a state of a primary user is judged by using a spectrum sensing technology. If the primary user is not active, a data sending node establishes a communication link by using a broadcast preamble code. Each neighbor node simultaneously considers information of hops from a gateway according to an awakening order, and independently determines to serve as a relay node for forwarding data. Furthermore, a transmission conflict between the cognitive node and the primary user may be caused due to return or missed alarm of the primary user. The present invention adopts a retransmission mechanism based on confirmation to ensure transmission reliability of data packets. The present invention is independent of a common control channel, and can realize reliable access of the cognitive sensor network for an authorized frequency band at low overhead.

IPC Classes  ?

• H04W 74/08 - Non-scheduled access, e.g. ALOHA
• H04L 1/18 - Automatic repetition systems, e.g. Van Duuren systems
• H04W 84/18 - Self-organising networks, e.g. ad hoc networks or sensor networks

Abstract

The present invention relates to the technical field of on-orbit space launching. Disclosed is an on-orbit launching apparatus. The main body of the apparatus is a permanent magnet linear synchronous motor, and the apparatus comprises a mover assembly and a stator assembly; the mover assembly comprises an I-shaped carriage, a mover permanent magnet array, and a mover guide rail; the mover permanent magnet array is embedded on the I-shaped carriage; the stator assembly comprises a support beam member, a stator winding array, and a stator guide rail; the support beam member is used for fixing the stator winding array. The stator guide rail and the mover guide rail work in concert to enable the mover assembly to slide along the direction of the stator guide rail. There is a gap, i.e., an air gap, between the mover permanent magnet array and the stator winding array at the corresponding position. The apparatus in the present invention has a simple structure and a large launching radius, can be repeatedly loaded for use, and is high in reliability.

IPC Classes  ?

• B64G 1/00 - Cosmonautic vehicles
• H02K 41/03 - Synchronous motorsMotors moving step by stepReluctance motors

Abstract

A spatial micro-interference release mechanism and a locking and micro-interference release method therefor. The release mechanism comprises a force sensor beam (1), an upper top surface (2), a single guide-rail slide table (3), an inner support post (4), a support plate (7), an inner driving finger (8), a low-voltage piezoelectric driving device (9), a spring, an outer driving finger (11), a tip (12), and a driving housing (13). The driving housing (13) is connected to a slide table of the single guide-rail slide table (3) by means of the support plate (7). The support plate (7) is engaged with the slide table of the single guide-rail slide table (3) and the driving housing (13) both by means of a bolt connection, and is provided with threaded holes (14) on top and bottom surfaces thereof.

IPC Classes  ?

• B64G 99/00 - Subject matter not provided for in other groups of this subclass

Abstract

Disclosed is a reconfigurable joint track composite mobile robot. The reconfigurable joint track composite mobile robot comprises a main vehicle body (1), a yawing joint (2) and a secondary track module (3), wherein the main vehicle body is provided with a primary track (101), a clutch brake (1082) and a first wheel joint (1083) are arranged in a primary track driving wheel (108), a second wheel joint(1052) is arranged in a primary track driven wheel (105), a primary track drive mechanism and a wheel joint drive mechanism are arranged on the main vehicle body, the primary track driving wheel is driven to rotate by means of the primary track drive mechanism, the primary track drive mechanism is connected to the corresponding clutch brake, the second wheel joint is driven to rotate by means of the wheel joint drive mechanism, each wheel joint is correspondingly connected to each yawing joint, the yawing joint is rotatably connected to the secondary track module, a yawing drive mechanism for driving the secondary track module to swing is arranged in the yawing joint, and a secondary track drive mechanism and a rotation drive mechanism that drives the entire secondary track module to rotate are arranged in the secondary track module. The reconfigurable joint track composite mobile robot can realize complicated and changeable running forms and is suitable for various complicated terrain environments.

IPC Classes  ?

• B62D 55/065 - Multi-track vehicles, i.e. more than two tracks
• B62D 55/08 - Endless-track unitsParts thereof
• B62D 55/12 - Arrangement, location, or adaptation of driving sprockets

Abstract

Provided by the present invention is a lightweight authentication method supporting anonymous access of heterogeneous terminal in an edge computing scenario. The present invention uses a cloud platform to create a pseudo identity for each terminal device to hide the true identity information, and can meanwhile trace a malicious terminal device. During the authentication process of terminal devices accessing an edge computing node, the edge computing node can verify the legality of the identities of all accessing devices without communicating with the cloud platform, and will not learn the true identity information of the terminals. The present invention guarantees the identity privacy of terminal devices, improves the efficiency of access authentication, and can resist common threats such as replay attacks, thereby enhancing the security and reliability of the entire edge computing system, and solving the problem of access authentication of terminal devices with limited resources in an edge computing scenario.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol
• H04L 9/32 - Arrangements for secret or secure communicationsNetwork security protocols including means for verifying the identity or authority of a user of the system
• H04L 9/08 - Key distribution

Abstract

The present invention discloses a Handle identification-based data forwarding unit, which comprises a dynamic configuration module, a Handle identification data recognition module, and a matching-forwarding module. The present invention system is applied to a network device such as a switch and a router, carries out data interaction with a network system such as an SDN manager, supports dynamic configurations of data packet parsing, matching and forwarding rules, so that the network device can recognize the Handle identification-based data packets, and perform designated operations on data packets with the designated Handle identification according to the dynamic configuration rules.

IPC Classes  ?

• H04L 12/741 - Header address processing for routing, e.g. table lookup
• H04L 12/721 - Routing procedures, e.g. shortest path routing, source routing, link state routing or distance vector routing
• H04L 12/46 - Interconnection of networks

Abstract

An extraterrestrial object sampling apparatus and a sampling method thereof. Supporting legs (2), a telescoping grabbing device (3), and a mechanical arm (4) having multiple degrees of freedom are separately provided at the bottom of a satellite main body (1); there are multiple supporting legs (2) that are uniformly distributed along a circumferential direction; the upper end of the mechanical arm (4) having multiple degrees of freedom is connected to the bottom of the satellite main body (1), and the lower end of the mechanical arm is connected with a diamond chain saw (5) that cuts an extraterrestrial object sample; the telescoping grabbing device (3) can be mounted on the satellite main body (1) in a relatively telescoping manner, the upper end of the telescoping grabbing device is connected with a power source mounted in the satellite main body (1) and is driven by the power source to extend and retract, and the lower end of the telescoping grabbing device is provided with a grabbing claw for grabbing the sample. After the landing of the satellite main body is completed, the working space of the mechanical arm (4) having multiple degrees of freedom is supported by the supporting legs (2), then the diamond chain saw (5) mounted on the mechanical arm (4) having multiple degrees of freedom is used to cut the surface of a planet, and a conical sample formed by means of cutting is grabbed by the telescoping grabbing device (3) and is separated from the surface of the planet. The extraterrestrial object sampling apparatus is simple in structure and flexible to move, is ingeniously controlled, and ensures the success rate of sampling.

IPC Classes  ?

• G01N 1/04 - Devices for withdrawing samples in the solid state, e.g. by cutting

Abstract

The present invention relates to a clamping apparatus, and in particular to a compliant clamping device. One end of a linear air cylinder is provided with a robot arm tail end adapter, the other end thereof is connected to a bracket. One end of a left clamping jaw and one end of a right clamping jaw are respectively hinged to the bracket, and the other end of the left clamping jaw and the other end of the right clamping jaw are both clamping jaw finger ends. An output end of the linear air cylinder is connected to a drive connecting rod adapter, one end of a drive connecting rod A and one end of a drive connecting rod B are respectively hinged to the drive connecting rod adapter, and the other end of the drive connecting rod A and the other end of the drive connecting rod B are connected to the left clamping jaw and the right clamping jaw, respectively. The linear air cylinder drives, by means of the drive connecting rod adapter, the drive connecting rod A and the drive connecting rod B to respectively rotate around a hinge point of the drive connecting rod adapter, and thus drives the left clamping jaw and the right clamping jaw respectively around a hinge point between the two clamping jaws and the bracket to clamp or release a target object. The present invention is new in structure and flexibly controlled, has good compliance in a clamping process, and is suitable for capturing and grasping objects of different sizes in a water surface floating state or in other moving states.

IPC Classes  ?

• B25J 15/02 - Gripping heads servo-actuated
• B25J 15/00 - Gripping heads

Abstract

Disclosed is a working condition state modeling and model correction method, comprising: collecting data, and arranging the data according to a time sequence to form a time series data set; preprocessing the time series data set; clustering the preprocessed time series data set, and calculating a central point data set of the clustering to generate a working condition data set and a working condition process data set; performing statistics on a working condition transition probability with regard to the working condition process data set to form a working condition transition probability model data set; collecting data, and detecting and processing the data; and calculating a working condition state transition mode segment by segment and processing same. On the basis of a statistics based modeling method, by introducing a priori knowledge of experts, an established model is corrected step by step, such that the scope of the model covers the entire system working condition state, the problem of low coverage rate of a mechanism analysis modeling method and the statistics-based modeling method is solved, and the model can serve as an input of an abnormal working condition diagnosis method and can effectively improve the accuracy of abnormality diagnosis.

IPC Classes  ?

• G06K 9/62 - Methods or arrangements for recognition using electronic means

Abstract

A drilling device and a drilling method therefor. A mounting cylinder (5) is disposed in a housing (12), a motor (4) is mounted in the mounting cylinder (5), a shafting (7) is rotatably mounted in the mounting cylinder (5), one end is connected to an output end of the motor (4), and the other end is provided with a supporting part for supporting a cam (8); the cam (8) may be relatively and slidingly sleeved on the shafting (7) in an axial direction, the bottom surface has a height difference in the axial direction, the bottom surface of the cam (8) is supported by the supporting part, and the cam (8) is opened with a notch; one end of an impact hammer (9) is connected to the cam (8), the other end is an impact end, the impact hammer (9) is sleeved by a driving spring (10), one end of the driving spring (10) is connected to the impact hammer (9), and the other end abuts against the mounting cylinder (5); and the lower portion of the impact hammer (9) is provided with a head cone (13) connected to a lower end of the housing (12).

IPC Classes  ?

• E21B 1/16 - Percussion drilling with a reciprocating impulse member driven by a rotating mechanism with spring-mounted reciprocating masses, e.g. with air cushion
• E21B 4/06 - Down-hole impacting means, e.g. hammers
• E21B 4/10 - Down-hole impacting means, e.g. hammers continuous unidirectional rotary motion of shaft or drilling pipe effecting consecutive impacts

Abstract

A deformation linkage mechanism, comprising a proximal driving section (1), a linkage deformation section (2), a distal actuation section (3), and an actuator mechanism (4). The linkage deformation section (2) comprises a flexible central framework (201), a linkage connecting tendon (202), a connector (203), a proximal plate (205), and a distal plate (206). A proximal end of the flexible central framework (201) and a proximal end of the linkage connecting tendon (202) are both fixed to the proximal plate (205); a distal end of the linkage connecting tendon (202) is fixedly connected to the distal plate (206); and a distal end of the flexible central framework (201) passes through the distal plate (206), extends into the distal actuation section (3), and is connected to the actuator mechanism (4). A connector (203) is provided on the linkage deformation section (202), the proximal driving section (1) is provided with a proximal driving tendon (101), and the proximal driving tendon (101) passes through the proximal plate (205) and is then fixedly connected to the connector (203). The distal actuation section (3) is provided with a distal driving tendon (302), and a distal end of the distal driving tendon (302) is fixedly connected to an end of the actuator mechanism (4). A proximal end of the distal driving tendon (302) passes through the linkage deformation section (2) and the proximal driving section (1) and then extends outwards. The present invention can produce the deployment space required for surgery without affecting the action of an actuator mechanism, and satisfies requirements for instrument deformability, small dimensions, and high load capacity.

IPC Classes  ?

• A61B 34/30 - Surgical robots
• A61B 17/00 - Surgical instruments, devices or methods

Abstract

A small vertical high-speed centrifuge, comprising a housing (4), a load plate (6), a stopper (7), a transmission shaft (8), an elastic coupling (10), and a motor (11). The motor (11) and the elastic coupling (10) are both located inside the housing (4); the transmission shaft (8) is rotatably mounted inside the housing (4); an input end of the transmission shaft (8) is connected to an output shaft of the motor (11) by means of the elastic coupling (10); an output end of the transmission shaft (8) is connected to a lower portion of the stopper (7), and an upper portion of the stopper (7) is connected to the load plate (6); and the motor (11) drives the stopper (7) and the load plate (6) to rotate by means of the elastic coupling (10) and the transmission shaft (8). When the centrifuge is with no-load and with the load plate, and when the rotational speed is increased from a low speed to a high speed, the vibration amount, the bearing wear amount, and the heat of the centrifuge in three directions are very small, so that the high-speed, long-term, stable, and reliable rotation can be implemented.

IPC Classes  ?

• B04B 7/00 - Elements of centrifuges

Abstract

A rotary self-drilling device for an extraterrestrial celestial body, wherein one end of a pressure sensor installation cylinder (10) is connected to a rear cover (7), a reed fixing lower cover (6) is installed on the rear cover (7), one end of a wire outlet post (1) is connected to the reed fixing lower cover (6), the other end is provided with a reed fixing upper cover (3), and a plurality of reeds (4) are provided between the reed fixing upper and lower covers (3, 6); the other end of the pressure sensor installation cylinder (10) is connected to one end of a motor installation cylinder (16), a motor and speed reducer (14) are housed in the motor installation cylinder (16), and two ends of a transmission shaft (18) are connected to an output end of the motor and speed reducer (14) and a ferrule (19) respectively; two ends of a milling cutter (20) are connected to the ferrule (19) and a drill bit (21) respectively; a propelling spiral tube (15) is sleeved at an outer part of the motor installation cylinder (16), two ends are connected to the ferrule (19) and a bearing fixing cover respectively, and the bearing fixing cover is rotatably connected to the motor installation cylinder (16).

IPC Classes  ?

• E21B 3/02 - Surface drives for rotary drilling
• E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
• E21B 49/02 - Testing the nature of borehole wallsFormation testingMethods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
• E21C 51/00 - Apparatus for, or methods of, winning materials from extraterrestrial sources

Abstract

The present invention relates to a trusted authentication method employing two cryptographic values and chaotic encryption in a measurement and control network. The method specifically uses, on the basis of a trust chain constructed by means of trusted computing to realize a secure and trusted operation environment, two cryptographic values and chaotic public key cryptography to realize identity authentication and key agreement processes, and achieves the secure transmission and verification of a user identity certificate, thereby constructing a secure and trusted data transmission channel. The identity authentication method in the present invention comprises the steps such as securely generating a user identifier, reading a protective packaging, performing secure transmission, and performing key agreement, and each step employs a unique and secure cryptographic function to perform secure data generation, thereby ensuring security of authenticating device access in an industrial measurement and control network.

IPC Classes  ?

• H04L 9/00 - Arrangements for secret or secure communicationsNetwork security protocols

Abstract

The present invention relates to a security processing unit of PLC and a bus arbitration method thereof, to provide PLC with an active defense means to build a PLC hardware and software security layer. On a hardware security layer, a part of hardware processing mechanism is added to support trusted measurement, encryption algorithms and signature algorithms, and a virtual isolation technology is used; and on a software security layer, transparent encryption and decryption, integrity verification, backup recovery and virtual isolation security mechanism are provided. The security processing aspect is improved to achieve the purpose of security and reliability. The present invention can correctly establish a trusted environment of PLC to ensure that PLC is guided by a strictly verified path. A new star type trusted structure is designed to reduce loss during information transmission and increase information transmission efficiency.

IPC Classes  ?

• H04L 29/00 - Arrangements, apparatus, circuits or systems, not covered by a single one of groups
• G06F 21/72 - Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer to assure secure computing or processing of information in cryptographic circuits
• G06F 9/50 - Allocation of resources, e.g. of the central processing unit [CPU]
• G06F 13/362 - Handling requests for interconnection or transfer for access to common bus or bus system with centralised access control
• G06F 21/55 - Detecting local intrusion or implementing counter-measures
• G06F 21/60 - Protecting data
• G06F 21/64 - Protecting data integrity, e.g. using checksums, certificates or signatures

Abstract

The present invention relates to a network guard unit for an industrial embedded system and a guard method. The specific method is to form the network guard unit (NGU) through security technologies, such as integrated access control, identity authentication and communication data encryption, to provide active guard for a site control device. The NGU comprises an access control module, an identity authentication module, a data encryption module, a key negotiation module and a PCIE communication module, and supports the communication modes of dual network cards and PCIE bus. The present invention builds a secure and trusted operating environment for industrial control systems in combination with an active guard technical means in the field of information security on the basis of ensuring the correctness and the feasibility of security of various terminal devices in the industrial control systems.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol
• H04L 9/08 - Key distribution
• G06F 21/33 - User authentication using certificates

Abstract

Disclosed is a minimally invasive surgical instrument with a driving single-side plate arrangement. The minimally invasive surgical instrument comprises a proximal driving part (1), a housing (2), a rod (5), a deformation section (6) and a distal effector (7), the proximal driving part (1) comprising an integral driving and rotating mechanism, a deformation section deflection driving mechanism and a distal effector opening and closing driving mechanism (10), wherein the integral driving and rotating mechanism comprises an integral rotating mechanism (4) and an integral driving mechanism (8), the integral rotating mechanism (4) being connected to the rod (5) and connected to the integral driving mechanism (8) via a driving tendon, and the integral rotating mechanism (4) being driven by the integral driving mechanism (8) to drive the rod (5), the deformation section (6) and the distal effector (7) to rotate as a whole; the distal effector opening and closing driving mechanism (10) is connect to the distal effector (7) via a driving tendon to drive the distal effector (7) to open and close; and the deformation section (6) is connected to the corresponding deformation section deflection driving mechanism via a driving tendon, and the deformation section (6) is driven by the deformation section deflection driving mechanism to bend. The minimally invasive surgical instrument has the advantages of miniaturization and lightweight in operation driving, stable traveling of the internal driving tendons, highly concentrated driving integration due to the single-side driving arrangement, convenience for quick replacement during an operation, etc.

IPC Classes  ?

• A61B 17/94 - Endoscopic surgical instruments

Abstract

The present invention relates to a dynamic security method and system based on multi-fusion linkage response. In the method, a site control device conducts active response and passive response through identity authentication and key management to give an alarm for abnormal behaviors. The system comprises an access authentication active response module, an access control active response module, an access control passive response module, an abnormal pretending passive response module, a key vulnerability passive response module and an abnormal state passive response mechanism module. On the basis of ensuring validity and feasibility for the security of a terminal device, the present invention can build a secure and trusted industrial control system operating environment.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol
• G05B 19/05 - Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
• G06F 21/44 - Program or device authentication
• G06F 21/33 - User authentication using certificates
• G06F 21/57 - Certifying or maintaining trusted computer platforms, e.g. secure boots or power-downs, version controls, system software checks, secure updates or assessing vulnerabilities

Abstract

A ground support device for aerospace engineering, and specifically, a manipulation robot for assembly tests of a space station experiment cabinet, comprising a movable lifting platform (1), an integrated monitoring system (2), a rotating clamping mechanism (3), a multifunctional adapter (4), and a scientific experiment cabinet (5), wherein the movable lifting platform (1) is used for adjusting the horizontal position and the height position of the scientific experiment cabinet (5), to implement the functions of assembling and transporting the experiment cabinet (5); the rotating clamping mechanism (3) is mounted on the movable lifting platform (1) and used for implementing the functions of clamping and rotating the scientific experiment cabinet (5); the multifunctional adapter (4) is mounted on the rotating clamping mechanism (3) and used for bearing the scientific experiment cabinet (5); the integrated monitoring system (2) is used for monitoring the assembly state of the scientific experiment cabinet (5) in real time. The function of integration of transportation, turnover, assembly, and parking of the space station experiment cabinet (5) in a ground assembly test process is implemented, and the aim of safe, efficient, and accurate assembly test of the space station experiment cabinet (5) is achieved.

IPC Classes  ?

• B64G 4/00 - Tools specially adapted for use in space

Abstract

A spacious shelf capable of folding and unfolding, wherein a lower side of an upper back plate (3) is hinged to an upper side of a lower back plate (1), one side of a top cross beam (5) is hinged to an upper side of the upper back plate (3), and the other side of the top cross beam (5) is rotationally connected to one side of an upper longitudinal beam (9); one side of a bottom cross beam (12) is hinged to a lower side of the lower back plate (1), the other side of the bottom cross beam (12) is rotationally connected to one side of a bottom longitudinal beam (13), and two ends of one side of the bottom longitudinal beam (13) are hinged to a middle longitudinal beam (11); two ends of the lower side of the lower back plate (1) are respectively hinged to a back plate bottom longitudinal beam (17); and a back plate bolt assembly (8) for achieving relative angle fixation between the upper back plate (3) and the lower back plate (1) is installed on a surface of the upper back plate (3) facing the cross beams and the longitudinal beams. The described spacious shelf capable of folding and unfolding features an easy folding and unfolding process, is easy to store in the folded state, is highly stable after being unfolded, and is suitable for occasions in the field of aerospace which have high requirements for storage and for folding to unfolding ratio.

IPC Classes  ?

• B65G 1/02 - Storage devices

Abstract

A modularized extensible space manipulator type ground experiment platform. An air bearing table (1) is located at the lower end, and can enable the experimental platform to be floated on a horizontal plane due to the anti-thrust effect of a high-pressure gas; an objective table (2) is fixed to the upper end of the air bearing table (1) by means of a supporting rod (103) and can bear a load of a set weight; a duct propelling assembly (4) is fixed on the supporting rod (103) of the air bearing table by means of a supporting frame (402), and is used for controlling the movement of the air bearing table (1) on the horizontal plane; a modularized manipulator (3) is mounted on the objective table (2) and can achieve a set operation task. The modularized extensible space manipulator type ground experiment platform has a novel structure, flexibility of movement, and extensibility, and is suitable for ground simulation experiment of a space robot.

IPC Classes  ?

• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
• B64G 7/00 - Simulating cosmonautic conditions, e.g. for conditioning crews

Abstract

Provided is a rapid clamping device, comprising a support (2), a pressing flange (7), a pull rod (8), an abutment plate (9), a connection rod (12), a synchronous slip ring (14), a mandrel (16), a copper bushing flange (19) and a center pressing member (22), wherein the pressing flange and the abutment plate are mounted on two sides of the support respectively, one end of the mandrel is rotatably connected to the abutment plate, and the other end is in threaded connection with the center pressing member; a slip ring copper bushing is sleeved on the center pressing member, and the synchronous slip ring is sleeved outside the slip ring copper bushing in a relatively moving manner; the copper bushing flange is arranged at an outer end of the slip ring copper bushing, and a spring (23) sleeving on the slip ring copper bushing is arranged between the synchronous slip ring and the copper bushing flange; two ends of the spring bear against the synchronous slip ring and the copper bushing flange respectively; a plurality of the pull rods are provided, and are uniformly distributed in a circumferential direction of a clamped member (6), an end of each of the pull rods is hinged to the center pressing member respectively, and the other end is a pressing end; a clamped member is located between the pressing flange and the pressing end of the various pull rods; and the connection rod is connected between each of the pull rods and the synchronous slip ring, and two ends of the connection rod are respectively hinged to the pull rod and the synchronous slip ring. The clamping device has a novel structure, is simple and convenient to operate, and has a relatively small size.

IPC Classes  ?

• B25B 11/00 - Work holders or positioners not covered by groups , e.g. magnetic work holders, vacuum work holders

Abstract

A woodpecker head-imitated impact-resistant structure and a manufacturing method therefor, relating to the field of impact-resistant structures and bionics. The impact-resistant structure comprises an outer housing (5), a damping layer (6), a cancellous bone vibration absorption layer (7), an inner housing (8), resin beads (9), and a cylindrical cover (12); double-layer lightweight housing design is adopted; an elastic damping material and a porous foam material are filled between the inner housing (8) and the outer housing (5); the resin beams (9) are filled between the metal inner housing (8) and a protected precise electronic component or device (10). The designed woodpecker head-imitated impact-resistant structure has the function of absorbing vibration and impact energy, thereby yielding an impact protection effect on a protected piece; furthermore, the structure is provided with the cylindrical cover (12), so that the structure has both sealed and unsealed states. The structure is simple in process and capable of achieving effective vibration and impact protection for the precise component or device (10).

IPC Classes  ?

• B32B 15/095 - Layered products essentially comprising metal comprising metal as the main or only constituent of a layer, next to another layer of a specific substance of synthetic resin comprising polyurethanes
• B32B 1/00 - Layered products having a non-planar shape

Abstract

A space suit sleeve performance test device, comprising shoulder flange quick clamping means (1), joint driving assemblies (2), an elbow joint assembly (3), a wrist connecting assembly (4), and a device support (5). The elbow joint assembly (3) is mounted on the device support (5); a space suit elbow clamp (304) is locked on the elbow joint assembly; the shoulder flange quick clamping means and the wrist connecting assembly are respectively located at two sides of the elbow joint assembly. The joint driving assemblies are provided in the device support below the shoulder flange quick clamping means and the wrist connecting assembly. Each joint driving assembly is movably mounted on the device support; the output ends of the joint driving assemblies at two sides are respectively connected to the shoulder flange quick clamping means and the wrist connecting assembly, so as to separately drive the shoulder flange quick clamping means and the wrist connecting assembly to swing. A space suit shoulder flange is clamped on the shoulder flange quick clamping means, and the wrist connecting assembly is provided with a wrist tooling (401) for fixing a space suit wrist interface. The device is novel in structure, flexible in control, easy in operation, and applicable to performance test for space suit sleeves of various sizes.

IPC Classes  ?

• G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes

Abstract

A crawling robot on a soft ground, a body shell (15) having a front end of which two sides are connected to front wheels, and a rear end provided with a universal wheel (8), rotating stepper motors (11) being mounted on two sides of a support assembly, the rotating stepper motor on each side having an output shaft which passes through the body shell and is connected to the front wheel on the same side; a swing stepper motor (13) being mounted on the support assembly, having an output shaft connected to a connecting plate (1), the connecting plate being connected to the body shell (15) by means of a connecting shaft, the body shell being driven to swing by means of the swing stepper motor (13); and lower body end covers (4) being rotatably connected to two sides of the body shell respectively, the rotating stepper motor on each side being connected to a wheel bracket (5), the wheel bracket on each side being connected to the lower body end cover (4) on the same side. The crawling robot can crawl on all kinds of soft grounds when performing plane movement, solving the problem that some existing crawling robots cannot walk and work on soft grounds, such as sand, since the robots sink therein.

IPC Classes  ?

• B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Abstract

A multi-degree-of-freedom gripper for a robot. A gripping jaw supporting frame (5) is mounted on a base plate (6); a short-stroke double-shaft cylinder (4) is mounted on the gripping jaw supporting frame (5), and has an output end connected to a pneumatic gripping jaw A (2); a gripping jaw finger A (1) is connected to an output end of the pneumatic gripping jaw A (2); a long-stroke double-shaft cylinder (7) is mounted on the base plate (6), and has an output end connected to a pneumatic gripping jaw B (9); a gripping jaw finger B (11) is connected to an output end of the pneumatic gripping jaw B (9); a pneumatic gripping jaw C (10) is mounted on the gripping jaw supporting frame (5) and located between the pneumatic gripping jaw A (2) and the pneumatic gripping jaw B (9); a gripping jaw finger C (12) is connected to an output end of the pneumatic gripping jaw C (10); the gripping jaw finger A (1) and the pneumatic gripping jaw A (2) are driven by the short-stroke double-shaft cylinder (4) to reciprocate on the gripping jaw supporting frame (5); the gripping jaw finger B (11) and the pneumatic gripping jaw B (9) are driven by the long-stroke double-shaft cylinder (7) to reciprocate on the base plate (6). According to the multi-degree-of-freedom gripper for a robot, a design simulating the operation of the human hand is adopted, and spring return-type quick connectors can be automatically connected; the gripper has a unique appearance and a novel structure, is easy to control, and provides high work reliability.

IPC Classes  ?

• B25J 15/00 - Gripping heads

Abstract

A damping and protection structure simulating a C60 molecular structure. 60 four-hole elastic spheres (1) are uniformly distributed outside a spherical housing (3); one of the holes (9) of each elastic sphere (1) is connected to the spherical housing (3) by means of a spring sleeve (4), and the other three holes (9) are connected to three adjacent elastic spheres (1) by means of connecting rods (2); each spring sleeve (4) comprises a piston (5), a sleeve (6), a damping spring (7), and a limiting bolt (8); one end of each limiting bolt (8) is threadedly connected to the spherical housing (3), and the other end of each limiting bolt (8) is threadedly connected to one end of the sleeve (6); the other end of the sleeve (6) is connected to the hole (9) formed in the elastic sphere (1) by means of the piston (5); the damping spring (7) is accommodated in the sleeve (6); both ends of each damping spring (7) respectively abut against the limiting bolt (8) and the piston (5); damping and protection are implemented by means of compression/reset of damping springs. The structure can provide comprehensive damping and protection for spherical robots, precise elements, etc.

IPC Classes  ?

• F16F 3/10 - Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of a material having high internal friction, e.g. rubber combined with springs made of steel or other material having low internal friction

Abstract

An inflatable space-expanding cabin comprises an airlock module (1), a cabin core column, and a flexible housing (5). The cabin core column is arranged in the flexible housing (5). The airlock module (1) is arranged at an upper end of the cabin core column and is arranged on an outer side of the flexible housing (5). The flexible housing (5) is expanded by inflation. The cabin core column comprises a core column frame (7), and the core column frame (7) is sequentially provided with an upper end layer, an intermediate layer (3), and a lower end layer. The upper end layer and the lower end layer are each provided with an end layer plate assembly (2), and an intermediate layer plate assembly is provided in the intermediate layer (3). A space-expanding assembly (4) is arranged on an outer side of the cabin core column, and is provided with a plurality of expansion plates, and an extension support rod is arranged between any two adjacent expansion plates. A driving expansion mechanism (702) is provided in the core column frame. The extension support rod is driven by the driving expansion mechanism (702) to rotate so as to extend or retract the expansion plate. The inflatable space-expanding cabin can be collapsed, is lightweight, and has low production costs and favorable protection performance, thereby having favorable application prospects in the field of deep space exploration.

IPC Classes  ?

• B64G 1/22 - Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles

Abstract

The present invention relates to the field of techniques for testing spacesuit performance, and more specifically relates to a manipulator for testing performance of a spacesuit lower limb. The manipulator comprises an upper leg, a knee joint assembly, a lower leg, an ankle joint assembly, and a foot member. The upper leg is connected to the lower leg by means of the knee joint assembly. The lower leg is connected to the foot member by means of the ankle joint assembly. The knee joint assembly is provided with a knee joint driving assembly and a knee joint transmission assembly. The knee joint driving assembly drives the lower leg to rotate. The knee joint driving assembly transfers a torque by means of the knee joint transmission assembly. The ankle joint assembly is provided with an ankle joint driving assembly and an ankle joint transmission assembly. The ankle joint driving assembly drives the foot member to rotate. The ankle joint driving assembly transfers a torque by means of the ankle joint transmission assembly. The present invention has high motion track control precision. Each section of the manipulator is sleeved into an extendable multi-section housing, and thus the manipulator has an adjustable size and is applicable to testing of lower limb performance of spacesuits having different sizes.

IPC Classes  ?

• G01M 13/00 - Testing of machine parts
• B25J 11/00 - Manipulators not otherwise provided for
• B25J 18/00 - Arms

Abstract

A robot for testing performance of a spacesuit lower limb comprises a pressure-maintaining tank (7), an air circulation assembly, an air-cooling apparatus set (11), a flexible tubular heat dissipation assembly (9) and two mechanical legs. The air-cooling apparatus set (11) is connected to the pressure-maintaining tank (7). The air circulation assembly (11) is provided inside the pressure-maintaining tank (7). The mechanical legs are installed at the pressure-maintaining tank (7). The flexible tubular heat dissipation assembly (9) is provided inside the mechanical leg. After being cooled by the air-cooling apparatus set (11), air in the pressure-maintaining tank (7) is transferred to the flexible tubular heat dissipation assembly (9) by means of the air circulation assembly. The mechanical leg comprises an upper leg (1), a knee joint assembly (3), a lower leg (4), an ankle joint assembly (5), and a foot member (6). The upper leg (1) is connected to the lower leg (4) by means of the knee joint assembly (3). The lower leg (4) is connected to the foot member (6) by means of the ankle joint assembly (5). The knee joint assembly (3) is provided with a knee joint driving assembly (302) and a knee joint transmission assembly (303). The ankle joint assembly (5) is provided with an ankle joint driving assembly (502) and an ankle joint transmission assembly (503). The robot has high motion track control precision and an adjustable size, and is applicable to testing of lower limb performance of spacesuits having different sizes.

IPC Classes  ?

• G01M 13/00 - Testing of machine parts

Abstract

The present invention relates to a PLC security processing unit and a bus arbitration method thereof, for use to provide an active defense means for a PLC by constructing PLC hardware and software security layers. In a hardware security layer, some hardware processing mechanisms are added to support trusted measurement, an encryption algorithm, and a signature algorithm, and the virtualization isolation technology is used; in a software security layer, transparent encryption and decryption, integrity verification, backup recovery, and a virtualization isolation security mechanism are provided. Improvement is made on security processing to achieve the purpose of security and reliability. According to the present invention, a trusted environment of a PLC can be correctly created to ensure that the PLC is booted through a strictly verified path. A new STAR trust structure is designed, loss during information transfer is reduced, and the efficiency of information transfer is improved.

IPC Classes  ?

• G06F 21/71 - Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer to assure secure computing or processing of information

Abstract

The present invention relates to an industrial embedded system-oriented network information security protection unit and protection method. The specific method is forming a network guard unit (NGU) by means of security technologies such as an integrated access control, identity authentication, and communication data encryption to provide active protection for a field control device. The NGU comprises an access control module, an identity authentication module, a data encryption module, a key negotiation module, and a PCIE communication module, and supports dual network interface card and PCIE bus communication modes. According to the present invention, on the basis of the correctness and feasibility of ensuring the security of terminal devices in an industrial control system, a secure and trusted operating environment is constructed for the industrial control system by combining an active protection technical measure in the field of information security.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol

Abstract

A TPM-based industrial control trusted embedded platform activation method, the method comprising: after an embedded platform is powered up, a root of trust (CRTM) acting as an anchor for, and executing, a chain of trust; performing BIOS trust measurement, and activating the BIOS after measurement is passed; the BIOS measuring a Bootloader, expanding a measurement value into a PCR corresponding to a TPM, and after measurement is passed, handing over a control execution right to the Bootloader; the Bootloader measuring an OS kernel activation process, recording a measurement value thereof in the PCR of the TPM, and after measurement is passed, executing an activation process of an OS. The present method obtains a measurement before activation at every part of an activation process, and measurement values are stored in a PCR corresponding to a TPM; when an activation process is tampered with by an attacker, a completion measurement mechanism terminates execution of the process, thereby ensuring security of an embedded platform.

IPC Classes  ?

• G06F 21/57 - Certifying or maintaining trusted computer platforms, e.g. secure boots or power-downs, version controls, system software checks, secure updates or assessing vulnerabilities

Abstract

The present invention relates to a Torus-Quorum based channel rendezvous method for directional antennas. A pair of directional antennas facing any side initially points to the other party mutually in one Torus-Quorum system cycle through a rotation closure attribute of a Torus-Quorum system; and a receiver and a sender switch to a same available channel according to frequency hopping sequences to realize channel rendezvous. In the Torus-Quorum based channel rendezvous method for directional antennas proposed in the present invention, the directional antennas are rotated based on the Torus-Quorum, and elements are ensured to coincide with each other within limited time through the rotation closure attribute of the Torus-Quorum system, i.e., directions are opposite, thereby effectively shortening channel rendezvous time of the directional antennas.

IPC Classes  ?

• H04W 16/10 - Dynamic resource partitioning
• H04B 1/713 - Spread spectrum techniques using frequency hopping
• H04W 16/14 - Spectrum sharing arrangements
• H04B 1/7156 - Arrangements for sequence synchronisation

Abstract

The present invention relates to a dynamic safety method and system based on multi-fusion linked responses. The method comprises: an on-site control apparatus providing, by means of identity authentication and key management, an active response or passive response to provide an alarm for an abnormal behavior. The system comprises an access authentication-related active response module, an access control-related active response module, an access control-related passive response module, an abnormal identity theft-related passive response module, a key weakness-related passive response module, and an abnormal condition-related passive response mechanism module. The present invention enables establishment of a secure and reliable operation environment for an industrial control system while ensuring correctness and feasibility of security protection of a terminal apparatus.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol

Abstract

The present invention discloses a method for trusted booting of PLC based on a measurement mechanism, comprising the following steps: a step of initializing self firmware verification; a step of reading and computing firmware information about a PLC; a step of checking and storing one by one; and a step of verifying at the operation start stage. In the method of the present invention, a chip with a trusted function is used as a core of hardware computation. The PLC extends a Flash bus for loading by hardware of the method of the present invention. The hardware of the method of the present invention recognizes necessary boot information, verifies the integrity of the boot loader necessary for the PLC system through the integrity check method and ensures that the booted PLC system is in a trusted state. On the basis of ensuring validity and feasibility for the safety of a terminal device, the present invention can build a safe and trusted industrial control system operating environment.

IPC Classes  ?

• G06F 9/4401 - Bootstrapping
• G06F 8/61 - Installation
• G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
• G06F 9/445 - Program loading or initiating
• G06F 21/57 - Certifying or maintaining trusted computer platforms, e.g. secure boots or power-downs, version controls, system software checks, secure updates or assessing vulnerabilities
• G05B 19/05 - Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts

Abstract

The present invention discloses a method for controlling transmission security of an industrial communication flow based on an SDN architecture. The method comprises: designing a flow security control module in a management controller, performing in-depth parsing on industrial communication flow data, matching the parsing result with each preset industrial rule policy, and executing a control processing operation of the industrial rule policy, to implement transmission control of an industrial communication flow. The management controller comprises an industrial rule policy database used for storing all industrial rule policies set by a user. An SDN switch maintains a structure of a flow table, and an industrial communication flow is forwarded according to the flow table. The flow table comprises a security control identifier used for indicating whether security transmission of this communication flow needs to be controlled. The present invention can detect the legality of an industrial communication data flow, to control access of industrial communication that does not conform to an industrial rule policy, so that the security and reliability of industrial control systems based on an SDN architecture are guaranteed.

IPC Classes  ?

• H04L 29/06 - Communication control; Communication processing characterised by a protocol
• G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
• H04L 12/741 - Header address processing for routing, e.g. table lookup
• H04L 12/937 - Switch control, e.g. arbitration
• H04L 12/851 - Traffic type related actions, e.g. QoS or priority
• H04L 12/931 - Switch fabric architecture
• H04L 29/08 - Transmission control procedure, e.g. data link level control procedure

Abstract

The present invention relates to a robust coverage method for relay nodes in a double-layer structure wireless sensor network. The present invention is a local search based relay node 2-coverage deployment algorithm which, by means of reducing the global deployment problem to a local deployment problem, achieves optimal deployment while ensuring robustness. The method specifically comprises two steps: first 1-coverage and second 1-coverage, wherein the first 1-coverage comprises the three steps of construction of relay node candidate deployment locations, grouping of sensor nodes and local deployment of relay nodes, wherein the sensor nodes are grouped by means of a novel grouping method, and the complexity of the algorithm is reduced while ensuring optimal deployment. The second 1-coverage adjusts a threshold, selects from every group the sensor nodes covered by just one relay node, and uses a 1-coverage method to re-implement 1-coverage of the sensor nodes, thereby ensuring robustness, reducing the number of relay nodes deployed, and shortening the problem-saving time.

IPC Classes  ?

• H04W 16/20 - Network planning tools for indoor coverage or short range network deployment
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• H04W 16/18 - Network planning tools

Abstract

The present invention relates to wireless network technology and presents a permutation group-based channel rendezvous method for a multi-antenna cognitive radio network, allowing a cognitive user equipped with multiple antennas to achieve blind channel rendezvous without the need for clock synchronisation. The present invention defines channel hopping sequences whilst making full use of properties such as channel diversity, the closure nature of permutation groups, and multi-antenna concurrency; based on the permutation groups obtained by rotating a regular polyhedron or a regular polygon around different angles according to different types of axes of symmetry, cyclical splicing is implemented, and different antennas can, according to different rules, independently generate hopping sequences and switching channels; the sequence generating methods are various and flexible; the use of parallel search ensures that deterministic rendezvous with other cognitive users is achieved as quickly as possible and as much as possible in a limited time; and the present method is a highly efficient blind channel rendezvous method having wide applicability and suitable for use in large-scale wireless networks.

IPC Classes  ?

• H04B 1/713 - Spread spectrum techniques using frequency hopping
• H04W 72/12 - Wireless traffic scheduling
• H04W 72/04 - Wireless resource allocation
• H04B 1/405 - Circuits using the same oscillator for generating both the transmitter frequency and the receiver local oscillator frequency with multiple discrete channels
• H04B 1/10 - Means associated with receiver for limiting or suppressing noise or interference

Abstract

The present invention relates to the field of architecture of Internet of Things, specifically to a semantics-based architectural model of Internet of Things. The present invention puts forward the architecture of the Internet of Things based on the study of semantic Web, sensor network, sensor Web, wherein the architecture is divided into 7 layers: physical layer, perception layer, gateway layer, data layer, semantic layer, service layer and application layer. By means of semantic processing of sensor data and building of sensor ontology, the architecture is capable of realizing automatic discovery of heterogeneous resources, enhancing the expression ability of data, achieving effective sharing, reuse, integration, and access to data, improving interoperability of resources and accomplishing intellectualized service.

IPC Classes  ?

• H04L 29/08 - Transmission control procedure, e.g. data link level control procedure
• H04W 4/70 - Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Abstract

A method for two-stage packet aggregation facing wireless sensor network with hybrid topology structure including: building various nodes in a wireless sensor network into a hybrid topology structure which combines the star topology and mesh topology; establishing a two-stage packet aggregation architecture for periodic sensor data based on the above described topology structure; determining the packet format, aggregating and disaggregating the two-stage packets based on the topology structure and aggregation architecture; according to the application, the aggregated nodes in the network configuring router nodes and aggregation attributes of the nodes; according to the aggregation attribute, the sensor nodes performing the first-stage aggregation and generates an first-stage aggregation packet; according to the aggregation attributes, the router node implementing second-stage aggregation and generating a second-stage aggregation packet; the aggregation nodes taking charge of disaggregating the aggregated packets. Embodiments of the invention adopt the above described hybrid topology structure, feature a two-stage packet aggregation method, decrease the overhead of packet-head, reduce the energy consumption of the nodes and inter-node interference, and save communication resources.

IPC Classes  ?

• G01R 31/08 - Locating faults in cables, transmission lines, or networks

Abstract

A method for two-stage packet aggregation facing wireless sensor network with hybrid topology structure includes: building various nodes in a wireless sensor network into a hybrid topology structure which combines the star topology and mesh topology; establishing a two-stage packet aggregation architecture for periodic sensor data based on the above described topology structure; determining the packet format, aggregating and disaggregating the two-stage packets based on the topology structure and aggregation architecture; according to the application, the aggregated nodes in the network configuring router nodes and aggregation attributes of the nodes; according to the aggregation attribute, the sensor nodes performing the first-stage aggregation and generates an first-stage aggregation packet; according to the aggregation attributes, the router node implementing second-stage aggregation and generating a second-stage aggregation packet; the aggregation nodes taking charge of disaggregating the aggregated packets. The present invention adopts the above described hybrid topology structure, designs a two-stage packet aggregation method, decreases the overhead of packet-head, reduces the energy consumption of the nodes and inter-node interference, and saves communication resources.

IPC Classes  ?

• H04W 84/00 - Network topologies