495results about How to "Many degrees of freedom" patented technology

The invention discloses a wearable hand exoskeleton rehabilitation training robot. The wearable hand exoskeleton rehabilitation training robot comprises a hand fixing device which is fixed with a hand back and a wrist, wherein the hand fixing device is connected with a thumb rehabilitation system and a four-finger rehabilitation system; the thumb rehabilitation system comprises a thumb power source and a thumb mechanism connected with the thumb power source; the four-finger rehabilitation system comprises a four-finger linear motor, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism which are connected with the four-finger linear motor; the thumb mechanism, the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism are respectively connected with all joints of the fingers; pressure sensors are arranged at the connecting ends; the thumb rehabilitation and the four-finger rehabilitation system are driven by a thumb middle motor, a thumb linear motor and a four-finger linear motor to move, so as to drive the fingers to perform exoskeleton rehabilitation training. The device is small in size, intelligent, easy to wear and good in portability.

The invention discloses a rotatable wrist minimally-invasive electrode. The electrode comprises a head, an extension rod, a handle and two joints, wherein the head can complete the activities of five degrees of active freedom, is closer to the functions of a human wrist, and can complete the actions and surgeries which are difficultly completed and even cannot be completed by the certain traditional minimally-invasive surgical instruments; and on the other hand, the handle can perceive the pressure of a working area of the head to a certain degree, and provides certain basis for distinguishing tissues, organs, tumors and calculi for an operator.

The invention provides a motion-decoupled rope-driven non-individual body mechanical arm and a robot. The mechanical arm comprises mechanical arm sleeves, traction rope sets and knuckles, wherein the number of the mechanical arm sleeves, the number of the traction rope sets and the number of the knuckles are more than one. The mechanical arm sleeves are sequentially arranged, and the adjacent mechanical arm sleeves are hinged to form a mechanical arm body through the knuckles. The front end of the mechanical arm body is used for being connected with a rope-driven base. The traction rope sets are used for driving the corresponding knuckles. The traction rope sets and the knuckles are in one-to-one correspondence. One end of each traction rope set is connected with the corresponding knuckle, and the other end of each traction rope set is used for being connected with the rope-driven base after sequentially penetrating through through-holes in multiple knuckle rope guiding discs arranged on the front side of the corresponding knuckle. The mechanical arm has multiple degrees of freedom, is thin and long in body type and suitable for survey and operation in narrow spaces, and has large application potential.

A photolithographic reduction projection catadioptric objective includes a first optical group G1 including an even number of at least four mirrors M1–M6; and a second at least substantially dioptric optical group G2 imageward than the first optical group G1 including a number of lenses E4–E13. The first optical group G1 provides compensative axial aberrative correction for the second optical group G2 which forms an image with a numerical aperture of at least substantially 0.65, and preferably at least 0.70 or 0.75. Six mirror examples are shown.

The invention provides a lower limb mechanism of a biped robot with multiple degrees of freedom. It includes the waist, thigh, calf and foot, the thigh includes the right thigh and the left thigh, the calf includes the right calf and the left calf, and the foot includes the right foot and the left foot; the waist is composed of two parts, the right hip joint and the left hip joint, connected through the waist Board connection composition; the right hip joint and left hip joint, right thigh and left thigh, right calf and left calf, right foot and left foot are symmetrical structures; the hip joint and thigh are connected in parallel through a Hooke hinge and two connecting rods The thigh and the lower leg are connected through the knee joint connecting rod and the knee joint shaft; the lower leg and the foot are connected in parallel through the Hooke hinge and two ankle joint connecting rods. The invention has the characteristics of many degrees of freedom, and can realize the humanoid gait walking of the biped robot to the greatest extent. The structure is simple, the principle is clear, and the economy is feasible. Large load capacity, compact structure, low cost, low design difficulty, strong feasibility, suitable for biped robot mechanism design requirements.

A method reconstructs a scene behind a wall by transmitting a signal through the wall into the scene. Parameters of the wall are estimated from a reflected signal. A model of a permittivity of the wall is generated using the parameters, and then the scene is reconstructed as an image from the reflected signal using the model and sparse recovery.

The invention discloses a hand and wrist exoskeleton rehabilitation training device, comprising a wrist, a thumb, a power source, an index finger, a middle finger and a ring finger, wherein the power source is fixed on the wrist, and the thumb, the index finger, the middle finger and the ring finger are respectively connected with the power source. A motor drives a feed screw nut, so that the rehabilitation training device obtains power; the rehabilitation training device is simple in structure and easy to implement; weight of hand exoskeleton is born by a support part, so that a patient has no burden; and the rehabilitation training device realizes movements with more degrees of freedom, and can complete more and more skillful rehabilitation training actions.

The invention discloses a lithium-battery variable fractional order and equivalent circuit model and an identification method thereof. The lithium-battery variable fractional order and equivalent circuit comprises a run time circuit and a battery I-V characteristic circuit, wherein a capacitor in the battery I-V characteristic circuit is a variable fractional order capacitor. A second order RC circuit model is generalized to a non-integer order, and the model parameters and the number of fractional order of different SOC are identified based on a least square method, so that the fractional order and equivalent circuit varying order according to the SOC is obtained. The instruction of fractional order realizes the continuous change of the order number of the model, so that the model is relatively stable, good in dynamic property and high in precision. The variation of fractional order realizes more freedom and more flexibility and innovation of the model. As the number of RC networks is not increased, the fractional order model effectively solves the contradiction between the accuracy and practicality of the model, is suitable for various working conditions of batteries, and has high practical value. The invention provides a precise battery model easy to realize for precise estimation of SOC.

A method for processing at least one polarization type of at least one wireless signal by a communication unit operably couplable to an antenna arrangement that comprises at least two orthogonally polarized antenna elements. The method comprises processing at least one signal radiated by at least one first antenna element of the antenna arrangement; and processing the at least one signal where processing comprises at least applying at least one digital complex scaling operation on the at least one signal radiated by at least one second antenna element of orthogonal polarization to the at least one first antenna element of the antenna arrangement thereby radiating at least one wireless signal of at least one non-native polarization type.

The invention discloses a microwave photon MIMO radar detection method comprising modulating M intermediate-frequency linear frequency-modulated signals with the same bandwidth and chirp rate and non-overlapped frequency on M optical carriers with different wavelengths to generate M optical signals where only the positive and negative second-order sidebands are retained; merging the M optical signals by an optical wavelength division multiplexer and then dividing a combined optical signal into two channels; dividing the optical signal in one channel into N reference light beams; subjecting theoptical signal in the other channel to photoelectric conversion and separating and transmitting M orthogonal linear frequency-modulated signals therein; receiving, by N receiving antennas, the targetreflected signals, performing de-chirp processing and wavelength demultiplexing, and subjecting the obtained M optical signals to photoelectric conversion, low-pass filtering and analog-to-digital conversion to obtain M*N digital signals, processing the digital signals to obtain a target detection result. The invention also discloses a microwave photon MIMO radar system. The method can greatly improve the range resolution and azimuth resolution of the radar system.

The invention discloses a coil wrapping machine. The wrapping machine comprises a pedestal, a coil fixing device, a rotary working platform and a machine head; the rotary working platform can be driven to move by a transverse servo motor and a vertical servo motor; the machine head is arranged on the rotary working platform; in the machine head, a machine head servo motor drives two synchronizing gears through a reduction gear; two synchronizing gears are engaged with gap gear rings; a gap gear ring sleeves on a small circular protrusion of in a gap circular seat and is limited by a gap circular retaining plate; and the outer side of the gap gear ring is provided with two adhesive tape clamping discs. The machine can realize the control of wrapping operation by a program through a computer and has the advantages of simple structure, high automation degree, convenient operation, good wrapping and binding quality and the like.

The invention relates to a laparoscopic surgery instrument with multiple degrees of freedom. The laparoscopic surgery instrument comprises a handle, an instrument casing pipe and a tong head, wherein the handle is arranged at the near end of the instrument casing pipe; the motion between the tong head and a spanner is realized by a push rod; a section of bendable flexible transmission component is arranged at the front end of the push rod and used for transmitting force and torque; a rotary knob is arranged at the handle; the near end of the push rod penetrates through the center of the rotary knob and moves relative to the axial line of the rotary knob, but the rotary motion is restricted; when the rotary knob is rotated, the rotary knob can drive the push rod to rotate relative to the outer casing pipe, and further drive the tong head to rotate relative to the outer casing pipe through transmission of the flexible transmission component; a bending unit is arranged on the corresponding periphery of the flexible transmission component and controlled by a mechanism at the handle part to be bended and deformed. Compared with the conventional instrument, the laparoscopic surgery instrument disclosed by the invention has more degrees of freedom and flexibility, and can be suitable for the latest single-port laparoscopic technology; the handle of the instrument is designed to conform to human factor engineering, and can be operated by one hand to finish all actions of the instrument.

A supercavitating navigation body model with an internal steering gear comprises a head cone section with a cavitation device and a cabin with an empennage. The cabin comprises a pressure measuring cabin section, a motor cabin section, a feedback cabin section and an empennage cabin section, the adjacent cabin sections are fixedly connected and sealed, the steering gear is arranged in the cabin and comprises a transmission shaft driven by a motor and a speed reducer, the transmission shaft is provided with a rotary encoder, one shaft end of the transmission shaft is fixedly connected with a driving bevel gear, the two ends of a hollow shaft are respectively and fixedly connected with a rudder spindle, the axis of the hollow shaft is perpendicular to the axis of the transmission shaft, the hollow shaft is provided with a driven bevel gear meshed with the driving bevel gear for transmission, the motor and the speed reducer are fixedly installed in the motor cabin section, the rotary encoder is located in the feedback cabin section, the transmission shaft penetrates through the feedback cabin section and stretches into the empennage cabin section, and the two rudder spindles are rotataby supported against the empennage cabin section and form the empennage. The steering gear can be arranged in the supercavitating navigation body model in an integrated mode, and active control and angle feedback for the two rudder spindles can be achieved.

The invention relates to a dual clutch transmission having a first input shaft (10) and a second input shaft (30), comprising a first drive shaft (50), a second drive shaft (70) and a third drive shaft (90), an output shaft (110) connected with the drive shafts (50,70,90) without relative rotating, a plurality of gears, wherein each gear corresponds with the gear connection comprising an idler gear and a fixed gear. An operated multi-level gear (74) comprising a first gear (74a) and a second gear (74b) is mounted on the second drive shaft (70) and the idler gear (92) of the reverse gear on the third drive shaft (90) is engaged with the first gear (74a) of the multi-level gear (74) and the fixed gear (34) of a second advancing gear (II) on the input shaft (30) is engaged with the second gear (74b) of the multi-level gear (74). The multi-level gear (74) is operated by a gear shift clutch (75) on the second drive shaft (70) and the gear shift clutch is used as the single-function gear shift clutch and the multi-level gear (74) is connected with the second drive shaft (70) without relative rotating.

The invention relates to an exoskeleton finger function rehabilitation device based on a multi-section continuous structure. The exoskeleton finger function rehabilitation device comprises a finger driving mechanism pasted on a glove module through a hook-and-loop fastener, the finger driving mechanism is connected with a linear push rod motor, the linear push rod motor is fixed to a loading platform, and the loading platform is connected to the sleeve module and located at the forearm position of the injured hand; the finger driving mechanism comprises an exoskeleton index finger driving mechanism, an exoskeleton middle finger driving mechanism, an exoskeleton ring finger driving mechanism and an exoskeleton little finger driving mechanism covering the metacarpophalangeal joint end, the proximal finger joint end and the distal finger joint end of all exoskeleton fingers; the linear push rod motor drives spring sheets to move forward to cause the spring sheets to deform and bend and drive the fingers to bend, and when moving backwards, the linear push rod motor drives the fingers to stretch. The exoskeleton finger function rehabilitation device is capable of providing CPM rehabilitation training on a patient and is simple and compact in structure and adaptive to fingers of different patients in size.

The invention relates to a robust fuzzy predictive fault-tolerant control method for an interval time-varying-delaying system. The robust fuzzy predictive fault-tolerant control method includes the following steps that firstly, a T-S fuzzy model of a nonlinear system is constructed; secondly, the constructed T-S fuzzy model is converted into an expanded T-S fuzzy model; thirdly, according to the constructed expanded T-S fuzzy model, a fault-tolerant controller that satisfies a control law is designed; and fourthly, a gain of the fault-tolerant controller is solved in a form of linear matrix inequality and the robust fuzzy predictive fault-tolerant control law is calculated. According to the robust fuzzy predictive fault-tolerant control method for the interval time-varying-delaying system,the robust fuzzy predictive fault-tolerant control method with time-delay dependence is provided according to the fact that a type of the industrial process has the characteristics such as nonlinearity, uncertainty, unknown disturbance, interval time-varying-delaying and partial actuator failure, thus the industrial process operates more smoothly and efficiently, the performance of a system is improved, and the fault tolerance of the system is increased.

A voltage controlled variable capacitor, formed of a larger number of fixed capacitor segments and a corresponding number of switching elements, uses translinear amplifiers to control each switching element. Each translinear amplifier linearly switches from the fully off to the fully on state; a minimum number of switching stages (ideally only one) is in the mode-of-change at any one time with a minimum overlap. The arrangement achieves a nearly linear change of capacitance at linear tuning voltage change, while resulting in high Q-factor due to the low RDSon and high RDSoff of the fully switched stages. The invention eliminates temperature and voltage dependencies of other solutions like varactor diodes.

The invention provides a force feedback rehabilitation robot of shoulder joint and elbow joint with three degrees of freedom. The rehabilitation robot comprises a base, a straight motor arranged on the base, a rotary motor support base arranged on the straight motor, a rotary motor arranged in the rotary motor support base, a V-range motor support base connected with the rotary motor and a V-range motor arranged on the V-range motor support base; the V-range motor is connected with a cantilever rotating shaft by a small gear and a big gear; cantilevers are arranged on the cantilever rotating shaft; a linear guide track, a rolling ball screw rod, a cantilever motor, a screw rod nut and a handle are arranged on the cantilever arranged at one side of the cantilever rotating shaft, and a balance weight is arranged on the cantilever arranged at the other side of the cantilever rotating shaft. The rehabilitation robot is mainly characterized in that the rehabilitation robot can respectively carry out the single-joint motion training of the shoulder joint and the elbow joint and can also carry out the dual-joint complex motion training; the motion training space of the shoulder joint is increased, the number of the training freedom degree is increased, the control algorithm is simple, the force feedback leads the motion to be more accurate and reliable, and the rehabilitation robot can simultaneously provide the detection for the end mechanical information.

The invention relates to a power transmission line icing prediction method based on a quantum particle swarm and a wavelet nerve network. The power transmission line icing prediction method based on the quantum particle swarm and a wavelet nerve network comprises the following steps of acquiring historical icing meteorological data, namely an ambient temperature, a humidity, a wind speed, a wind direction, an air pressure, a lead temperature and an icing thickness; establishing an icing thickness prediction model by means of the wavelet nerve network; performing initial parameter optimization on the model through adding a quantum particle swarm algorithm of interference factors; and inputting the historical icing data for obtaining a predicated power transmission line icing thickness. The power transmission line icing prediction method has advantages of high prediction precision, high convergence speed, etc. The power transmission line icing prediction method can effectively predicate a line icing change rule and can be applied for power transmission line icing disaster early warning and treatment.

The present invention provides an electromagnetic wave shielding material including a three dimensionally knitted base material and a conductive metal layer formed on the three dimensionally knitted base material, which shielding material is characterized in that it comprises: a heat-fusing thread used at at least a portion of the three dimensionally knitted base material; and a portion in which connection thread is not present, wherein the amount of cutting debris generated at the time of cutting is decreased. According to the present invention, an electromagnetic wave shielding material, which is used for an electromagnetic wave shielding gasket for shielding electromagnetic wave, exhibits good workability if the thickness of the product is relatively thin, suppresses the metal separation and reduces the amount of cutting debris generated at the time of cutting, is obtained.

An automobile vibration test device mainly comprises an environmental cabin, an installation floor, Stewart parallel mechanisms, a control system and a hydraulic drive system; the installation floor and the Stewart parallel mechanisms are arranged inside the environmental cabin; four Stewart parallel mechanisms are symmetrically mounted on the installation floor, and an automobile to be tested isplaced on the four Stewart parallel mechanisms; all the tires of the automobile are in contact with moving platforms of the Stewart parallel mechanisms; the control system controls the hydraulic drivesystem to drive the Stewart parallel mechanisms to act to simulate vibration of the automobile during road driving. The automobile vibration test device can simulate a collision relationship betweenthe entire automobile and a road surface, can realistically reflect the vibration state of the automobile with road surface fluctuation, can perform relevant tests including vibration test, noise test, and fatigue endurance test on the entire automobile according to the temperature, the humidity and a lighting condition provided by the environment cabin. The automobile vibration test device can reduce the test time of the automobile and improve the test effect.

There are provided a hydrogen cartridge for a fuel cell for supplying hydrogen to a fuel cell body comprising a hydrogen storage chamber for storing hydrogen, a movable part which is movably connected to the hydrogen storage chamber and has a hydrogen flow path for allowing hydrogen to flow therethrough, and a hydrogen supply port which is formed integrally with the movable part and communicates with the hydrogen flow path, wherein the cartridge takes an open state in which the hydrogen storage chamber, the hydrogen flow path and the hydrogen supply port are connected to each other, or a closed state in which the hydrogen storage chamber, the hydrogen flow path and the hydrogen supply port are not connected to each other, by movement of the movable part or the hydrogen storage chamber, and a fuel cell system having the hydrogen cartridge incorporated therein, whereby it is possible to prevent leakage of hydrogen due to unstable connection between the hydrogen cartridge and a fuel cell body and to assure safety in handling.

The invention discloses a novel cable-driven three-fingered dexterous hand, solving the problems that conventional manipulators are poor in flexibility and universality. The dexterous hand is characterized by comprising a fixed base used for mounting palms, fixed fingers and moving bases and connected with a rotating finger rotating mechanism; two moving bases, fixed fingers and palms are arranged on the upper surface of the fixed base, and the upper surface of each of the two moving bases is provided with a rotating finger; the rotating finger rotating mechanism is arranged at the lower part of the fixed base, one end of the rotating finger rotating mechanism is connected with two moving bases, and the other end of the rotating finger rotating mechanism is connected with a rotating motor coupling; and the two rotating fingers and the fixed fingers are positioned on a concentric circle, and the base knuckles of the two rotating fingers and the fixed fingers envelope the circular palm. The dexterous hand can be used for replacing manual work to achieve flexible, accurate and quick grabbing operation on a flexible production line or a harmful environment, and has a wide application prospect and important social significance in the field of industrial robots.

The invention relates to a crawler type six-freedom-degree mobile robot which comprises a frame, main motion modules, swing arm motion modules, a control box and sensors. The whole robot has six freedom degrees, two main crawlers can move independently, through the design of a crawler type structure, the robot has high ground passage capacity and can run, steer and the like on a complex road surface, four swing arms can also move independently, and therefore the robot has excellent performance on climbing stairs, crossing obstacles and obstacle avoidance and other tasks.

The invention discloses a double-image encryption and decryption method which comprises: an image combination step of combing original images; a chaotic scrambling step of scrambling and expanding a combined image by using Logistic chaotic mapping; an image decomposition step of decomposing the chaotically-scrambled image; a modulation phase mask generating step of generating a phase mask based on a chaotic random sequence generated by the chaotic mapping and the decomposed image; a temporary image generating step of generating a temporary image according to the image obtained by decomposition and the phase mask; multi-parameter discrete fraction angle transformation steps of performing two-dimensional DMPFAT transformation on the temporary image and truncating a transformed phase part to obtain a final ciphertext image; an initial value of the chaotic mapping in chaotic scrambling and / or a parameter value of multi-parameter discrete fraction angle transformation are used as private secrete keys. The method disclosed by the invention is convenient for the storage, the transmission and the management of the secrete keys; the secret key space of a cryptographic system is enlarged, and the safety and the effectiveness of the method are improved.

Sheet material multistation stamping automated feeding feed equipment capable of being assembled in finite space comprises a machine base, a telescopic manipulator unit and a swing telescopic manipulator unit. The telescopic manipulator unit has three degrees of freedom of vertical rising and falling, longitudinal stretching out and drawing back, and palm rotation. The swing telescopic manipulator unit has four degrees of freedom of vertical rising and falling, longitudinal stretching out and drawing back, forearm rotation and palm rotation. After being assembled with the machine base, both the telescopic manipulator unit and the swing telescopic manipulator unit have transverse feed degrees of freedom. The equipment is flexible in operating, a user can decide the number and positional relation of manipulators and the number of the degrees of freedom of the started manipulators according to actual production requirements, universality is strong, operating space is minimized through the telescopic technology adopted in big arms, the big arms cannot stretch out and influence logistics channels, and working space occupied by the equipment can be saved; a power mode applied to the manipulators is of a fully-pneumatic type, movement is rapid, response is quick, work efficiency is high, and working media are clean and easy to maintain.

The invention provides a low-complexity receiving and transmitting angle joint estimation method for non-circular signal double-base MIMO radar. Firstly, observation data are extended according to the non-circular characteristic of received signals of the MIMO radar, and a virtual array element of the MIMO radar is amplified by one time. Secondarily, the observation data are divided into two orthogonal portions according to the front-to-back recursion formula of multi-stage Wiener filtering, the two orthogonal portions serve as desired signals of a next stage of multi-stage Wiener filtering and observation data vectors respectively, and then a new signal subspace and a new noise space are formed through pre-filtering matrixes. Finally, the target transmission angle DOD is estimated according to the extended ESPRIT, the target reception angle DOA is estimated according to the estimated value of the DOD and the non-circular ROOTMUSIC technology, and two-dimension parameters of the DOD and two-dimension parameters of the DOA are automatically paired to obtain the target transmission angles, relative to the transmission end, of many targets and target reception angles, relative to the reception end, of the targets. According to the method, the virtual aperture of the MIMO radar is increased according to the non-circular signal characteristic, maximization of the recognized targets is achieved, the algorithm complexity is low, and additional pairing processes are not needed.