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159 results about "Doppler flow" patented technology

Doppler Flow Studies. Doppler flow is a type of ultrasound that uses sound waves to measure the flow of blood through a blood vessel.

High frame rate quantitative doppler flow imaging using unfocused transmit beams

ActiveUS20090326379A1Enhanced acoustic informationImprovement of contrast resolutionBlood flow measurement devicesInfrasonic diagnosticsUltrasound imagingHigh frame rate
An ultrasound imaging system with pixel oriented processing is provided in which a method of producing a Doppler velocity image is accomplished by emitting unfocused acoustic signals into a medium over substantially an entire field; receiving scattered and reflected ultrasonic signals on a transducer array in response to the emission; processing the received ultrasonic signals to extract information to construct a Doppler velocity signal corresponding to at least one point in the medium; and generating on a display device the Doppler velocity image from the processed Doppler velocity signal. Acquisition sequences and signal processing algorithms are described that provide improved quantification of fluid flow parameters, including improved discrimination between regions of blood flow and tissue. Very high frame rate Spectral Doppler and Vector Doppler acquisition modes for real-time and post-acquisition visualization over a large field of view are described.
Owner:VERASONICS

Ultrasound imaging system with pixel oriented processing

An ultrasound imaging system with pixel oriented processing is provided in which an acoustic signal is generated, echoes from the acoustic signal are received at a plurality of receiving elements to obtain echo signals that are then stored, a given pixel is mapped into a region of the stored signals, the mapped region of the stored echo signals is organized into array for the given pixel after which the array is processed to generate a signal response for the given pixel to obtain acoustic information for the given pixel. The system can be implemented entirely on plug-in cards for a commercial PC motherboard. The system and method can be implemented for pixel-oriented or voxel-oriented image processing and display, eliminating intermediate data computations and enabling extensive use of software processing methods. Advantages include improved acquisition of signal dynamic range, flexible acquisition modes for high frame rate 2D, 3D, and Doppler blood flow imaging.
Owner:VERASONICS

Multifrequency phased array ultrasonic Doppler flow detection system and method

The invention discloses a multifrequency phased array ultrasonic Doppler flow detection system and a multifrequency phased array ultrasonic Doppler flow detection method. The system comprises a central control processor, a frequency synthesizer, a transmitting part, a receiving part and a display, wherein the transmitting part comprises a transmitter, a power distribution network, a beam control network, a first beam subarray and a second beam subarray; the receiving part comprises a first beam receiver, a second beam receiver, a multi-beam forming network and a signal processor. The system is characterized in that the central control processor is respectively connected with the frequency synthesizer, the transmitter, the power distribution network, the beam control network, the first beam receiver, the second beam receiver, the multi-beam forming network and the signal processor. In the detection method of the system, beam deflection and dynamic focusing are realized through the phased array technology, multi-directional and multi-depth positions can be measured on the cross section of an integral pipeline, and by a mode of adjusting beam scanning dynamically, the processing timeof the beam scanning is reduced, and the measuring accuracy is improved.
Owner:SOUTH CHINA UNIV OF TECH

Method and apparatus for detecting blood dynamics of brain blood vessel

A hemodynamic method and instrument for early diagnosis of cerebrovascular diseases features that the Doppler probe and ultrasonography B are used to detect the blood flowing speed, the ultrasonography B is used to detect the physical characteristics of blood vassel, the diameter and wall thickness of blood vessel are measured to obtain the flow of blood in the vessel, and a pressure probe is used to detect blood pressure.
Owner:无锡贝尔森影像技术有限公司

Flow field data correction method for acoustic Doppler flow velocity profiler

The invention relates to a flow field data correction method for an acoustic Doppler flow velocity profiler. The acoustic Doppler flow velocity profiler adopts an acoustic transducer serving as a transducer, acoustic pulses emitted by the acoustic transducer generate scatter echoes through scatterers in unit layers in different water depths, and the scatter echoes are received by the acoustic transducer and analyzed and processed to obtain a radial water velocity. The flow field data correction method for the acoustic Doppler flow velocity profiler is characterized in that the multilayer flow velocity fitting type flow field data correction method is adopted for wild value elimination of radial flow velocity data of each wave beam to realize polynomial fitting, abnormal values of the radial flow velocity are eliminated while changing curves of the radial flow velocity along with depth are smoothened, and accurate flow velocity information under an instrument coordinate system is further acquired.
Owner:NANJING SHIHAI ACOUSTIC TECH CO LTD

Near-infrared imaging ultrasonic vascular therapeutic apparatus

InactiveCN102871645AReal-time display of flow rateReal-time display of flow directionUltrasound therapyBlood flow measurement devicesDisplay deviceThrombus
The invention discloses a near-infrared imaging ultrasonic vascular therapeutic apparatus. A near-infrared surface vessel detection subsystem is used for detecting the surface vessels, and is connected with a near-infrared vessel detection operating interface; the near-infrared vessel detection operating interface is used for controlling focus, thereby achieving the inspection of vessels; according to the set, the surface veins or arteries are likely to be displaced below a projecting device; a color Doppler flowing imaging subsystem is used for detecting the flowing information and is connected with a diagnosis probe; an ultrasonic treatment subsystem is used for treating shallow-layer vascular diseases and is connected with a treatment probe; a keyboard is used for inputting information of patients, achieving switch and control of the color Doppler flowing imaging and the ultrasonic treatment, and respectively displaying on a display; and the display is used for displaying the information of the patients, the color Doppler flowing information and a thrombectomy situation. With the adoption of the near-infrared imaging ultrasonic vascular therapeutic apparatus, the surface veins or arteries distribution can be displayed in real time, the flowing parameters are obtained fast, the focus of infection is located exactly, the ultrasonic density is selected to perform an targeted treatment according to the flowing situation, thereby achieving the best treatment effect.
Owner:ZHEJIANG UNIV

Flow field intelligent calculation method and system based on acoustic Doppler flow measurer

The invention discloses a flow field intelligent calculation method and system based on an acoustic Doppler flow measurer, and relates to the technical field of flow field calculation. The flow fieldintelligent calculation method comprises the following steps that, a velocity vector of a cross section of a river to be measured is detected; a river profile model is established to enable velocity space distribution and a real river way to be mutually mapped; feature extraction is carried out on velocity distribution data of an actual measured area; overall cross section velocity distribution isspeculated by taking the data of a real measuring area as a definite condition; and a flow rate is calculated through a flow field. According to the flow field intelligent calculation method and system based on the acoustic Doppler flow measurer, an intelligence artificial algorithm is adopted to replace the work of manual calibration, the flow field intelligent calculation method and system based on the acoustic Doppler flow measurer has the characteristics of high accuracy and high efficiency, and full automation in the whole process is achieved.
Owner:HANGZHOU KAIHONG FLUID TECH CO LTD

Ultrasound imaging system with pixel oriented processing

An ultrasound imaging system with pixel oriented processing is provided in which an acoustic signal is generated, echoes from the acoustic signal are received at a plurality of receiving elements to obtain echo signals that are then stored, a given pixel is mapped into a region of the stored signals, the mapped region of the stored echo signals is organized into array for the given pixel after which the array is processed to generate a signal response for the given pixel to obtain acoustic information for the given pixel. The system can be implemented entirely on plug-in cards for a commercial PC motherboard. The system and method can be implemented for pixel-oriented or voxel-oriented image processing and display, eliminating intermediate data computations and enabling extensive use of software processing methods. Advantages include improved acquisition of signal dynamic range, flexible acquisition modes for high frame rate 2D, 3D, and Doppler blood flow imaging.
Owner:VERASONICS

Low-complexity velocity estimating method of acoustic Doppler flow measurement system

The invention relates to a low-complexity velocity estimating method of an acoustic Doppler flow measurement system. According to the conventional complex-autocorrelation-based velocity estimating method, the velocity estimating effect is good, but heavy computation is required in the processing flow of the method, the method is complex to implement, and a large number of hardware resources are consumed. By the low-complexity velocity estimating method of the acoustic Doppler flow measurement system based on the delay conjugation product technology, on the premise of guaranteeing the measurement performance, the computation for signal processing is greatly reduced, the complexity of the system is reduced, and the cost of the hardware resources is saved.
Owner:杭州矢志信息科技有限公司

Online monitoring and measurement system for river flow, and flow calculation method

The invention discloses an online monitoring and measurement system for a river flow. The system consists of a flow calculation system, a flow measuring instrument and an installation platform, wherein the flow calculation system is installed in a monitoring room and is positioned above a water surface for controlling the flow measuring instrument to work, meanwhile, data measured by the flow measuring instrument is processed and calculated to obtain flow data; the flow measuring instrument is installed on the installation platform and is positioned in the riverway of the river for measuring the flow velocity and the flow direction of the water flow; and the installation platform is used for installing and fixing the flow measuring instrument, and the bottom of the installation platform ispositioned in the riverway. The system has the advantages of simple structure, accuracy in data measurement, high efficiency, simpleness in installation and the like, and does not affect a flow fieldor a course, and an acoustic Doppler flow measuring instrument can be used for monitoring the flow velocity and the flow direction in real time.
Owner:宁波市海洋环境监测中心

Acoustoelectric bimodal fusion measuring method of two-phase flow process parameters

The invention relates to an acoustoelectric bimodal fusion measuring method of two-phase flow process parameters. The method includes: arranging a conductivity sensor and a capacitance sensor on a measuring pipeline, and arranging an ultrasonic sensor on the measuring pipeline; extracting flow rate characteristic quantity from data measured by the conductivity sensor as related flow rate; acquiring Doppler flow rate from data measured by the ultrasonic sensor; respectively performing state estimation on water content acquired by utilizing the capacitance sensor for measuring and water content acquired by the conductivity sensor; fusing the capacitance water content and the conductivity water content; respectively performing state estimation on the Doppler flow rate and the related flow rate; respectively performing Kalman estimation on the flow rates acquired by measuring based on two principles, and calculating flow rate state estimation at all moments; fusing the Doppler flow rate and the related flow rate.
Owner:TIANJIN UNIV

Single transponder slope distance underwater sound positioning method and system based on adaptive Kalman filtering (AKF)

The invention belongs to the field of underwater sound communication and navigation, and relates to a single transponder slope distance underwater sound positioning method and system based on adaptiveKalman filtering (AKF). The single transponder slope distance underwater sound positioning system based on the adaptive Kalman filtering (AKF) is composed of a transponder, a sound signal transceiver, a Doppler flow meter, an attitude sensor, a depth sensor and an adaptive Kalman filtering controller. Based on an adaptive Kalman filtering (AKF) algorithm, single slope distance information, depthmeasuring information, speed information and attitude information of an underwater vehicle are integrated, noise of the sensors, time delay, update frequency and multi-sensor information fusion are considered, a single slope distance positioning method of the single transponder of the underwater vehicle is established, three-dimensional coordinates of the underwater vehicle are calculated, and accurate positioning is realized. According to the single transponder slope distance underwater sound positioning method based on the AKF, arrangement and positioning work costs of the transponder can besaved, the problems that speed and distance are limited by a sound signal propagating underwater, the slope distance measuring updating frequency is slower, and updating with depth and attitude measuring information is not synchronous can be solved, and thus, the positioning efficiency and precision are improved.
Owner:OCEANOGRAPHIC INSTR RES INST SHANDONG ACAD OF SCI

Composite energy Doppler blood flow imaging method and system

The invention provides a composite energy Doppler blood flow imaging method and system. The method comprises the following steps that a plurality of scanning lines are configurated in the same frame of scanning, and a certain scanning direction is configurated for each scanning line, wherein the number N of the scanning directions is equal to or larger than two; scanning line wave beams are emitted to a blood flow to be imaged; a plurality of echo data for blood flow imaging are received, and the data are processed so as to obtain and display a corresponding energy Doppler blood flow image. According to the composite energy Doppler blood flow imaging method and system, the scanning directions are configurated for the scanning lines in the same frame of scanning so as to guarantee the effect that at least one scanning line in the scanning lines is not perpendicular to the current blood flow direction, therefore, the sensitivity of blood flow imaging is guaranteed, and the image effect of ultrasonic imaging is improved accordingly.
Owner:VINNO TECH (SUZHOU) CO LTD

Vector measurement method of Doppler blood flow velocity by utilizing apparent displacement

The invention relates to a vector measurement method of Doppler blood flow velocity by utilizing apparent displacement. The invention measures the components of the velocity vector of a moving target by utilizing apparent displacement, thereby realizing vector measurement of the Doppler blood flow velocity. For each receiving array element, the linear relationship expression between the velocity components and the receiving signal phase is established according to the apparent displacement; and when signals received by all the receiving array elements are taken into consideration, the linear relationship constitutes an overdetermined linear equation in multiple unknowns, and the equation is solved by a least square method, thereby obtaining a high-precision measurement result.
Owner:UNIV OF SCI & TECH OF CHINA

Method and device for repelling aliasing of doppler bloodstream aural signal

A Doppler blood flow sound signal anti-aliasing method and device are used for ultrasonic diagnose system, to process anti-aliasing treatment to orthogonal Doppler signal x (t)=I (t)+iQ (t) obtained by processed radio-frequency ultrasonic echo signal. The method comprises steps: setting four FIR filter units HFor_IE, HFor_IO, HRev_IE, and HRev_IO, and receiving the I (t) signals to process filter treatment separately; setting four FIR filter units HFor_QE, HFor_QO, HRev_QE, and HRev_QO, and receiving the Q (t) signals to process filter treatment separately; processing combination treatment and accumulation treatment to the filter treatment eight circuit signals in order, to obtain forward / reverse blood flow sound outputting signals F (t) and R (t). Using the present invention, it can greatly predigest anti-aliasing treatment tache and account amount, leading the system to have lower cost and high real-time advantage.
Owner:SHENZHEN MINDRAY BIO MEDICAL ELECTRONICS CO LTD

Ultrasound Imaging Method of Extracting a Flow Signal

The present invention relates to a method of extracting a flow signal from echographic signals received from a region of interest comprising moving tissues and flowing fluids. The method comprises a step of calculating Doppler signals from said echographic signals within a small number of time samples, a step of separating first and second estimated Doppler signals from said calculated Doppler signals, a step of calculating a linear combination of said first and second estimated Doppler signals which locally maximizes a temporal coherence, a step of deriving a third and fourth estimated Doppler signals from first and second maxima of said temporal coherence, a step of classifying said third and fourth estimated Doppler signals into an estimated Doppler clutter and flow components. The method finally comprises a step of forming a motion image of the flowing fluids from said estimated Doppler flow component.
Owner:KONINKLIJKE PHILIPS ELECTRONICS NV

Implantable doppler blood flow monitor and doppler probe

A Doppler blood flow monitoring system comprises a sensor cuff capable of being secured around an exterior surface of a patient's vessel, at least one transducer attached to the sensor cuff for generating signals into the vessel and for receiving said signals, and a transmitter in communication with the at least one transducer and capable of wirelessly transmitting an RF signal external to the patient's body. The system also comprises a receiver capable of receiving the RF signal from the transmitter and being capable of generating an audible sound or signal commensurate with detected flow. The system can take advantage of pulse wave or continuous wave Doppler technology.
Owner:UNIVERSITY OF PITTSBURGH

Underground flow collection type ultrasonic wave Doppler flow-moisture content meter

The invention relates to an underground flow collection type ultrasonic wave Doppler flow-moisture content meter. The problem that the fluid flow cannot be measured by the existing flowmeter under two phase and three phase conditions is mainly solved. The underground flow collection type ultrasonic wave Doppler flow-moisture content meter is characterized in that an ultrasonic probe (1) is mounted on the upper end of a liquid outlet (4); the end faces of the ultrasonic probe (1) are respectively a receiving face (2) and an emitting face (3); the axial included angle a<o> between the emitting face and the ultrasonic probe (1) is 70 degrees and 80 degrees; the axial included angle b<o> between the receiving face and the ultrasonic probe (1) is 80 degrees and 90 degrees. The underground flow collection type ultrasonic wave Doppler flow-moisture content meter is capable of measuring the fluid flow under the two phase and three phase conditions.
Owner:PETROCHINA CO LTD +1

Method and device for intelligent operation of rainwater storage tank

The invention belongs to the field of municipal administration, and particularly relates to a method and device for intelligent operation of a rainwater storage tank. The intelligence of the storage tank is achieved by monitoring a certain index of initial rainwater of a pipe network on line, and the water quality index TSS which can represent the initial rainwater is screened out mainly based onthe correlation coefficients of the concentrations of pollutants in the initial rainwater. The system and the device comprise a TSS online detector, an electric valve and an acoustic Doppler flow-meter. After the TSS online detector monitors the peak value change trend of the concentration of TSS in the initial rainwater, the electric valve is automatically switched on, and the real-time dynamic balance of inflowing water and the water capacity of a tank body is maintained. The system and the device can directly identify the initial rainwater with the scouring effect, automatically bring the initial rainwater into the storage tank, prevent later rainwater with low pollution load from entering the storage tank, greatly reduce the possibility of overflow pollution, and achieve the intelligence of the storage tank.
Owner:叶建锋 +2

Method for ultrafast ultrasonic Doppler blood flow estimation by multi-angle plane wave repeated combination

ActiveCN110811688AImprove the detectable range of the maximum blood flow velocityHigh pulse repetition frequencyBlood flow measurement devicesInfrasonic diagnosticsControl ultrasoundContinuous signal
The invention discloses a method for ultrafast ultrasonic Doppler blood flow estimation by multi-angle plane wave repeated combination. The method comprises the following steps: controlling an ultrasonic transducer to circularly emit plane waves with deflection angles being {0, -beta, beta, -beta} in sequence; receiving echo signals of plane waves reflected by a to-be-scanned area; searching threeframes of continuous signals of which the deflection angles are sequentially {0, -beta, beta} and the deflection angles are sequentially {beta, -beta, 0} in the echo signals so as to obtain a plurality of frame groups; superposing three frames of continuous signals in each frame group so as to obtain a combined radio frequency signal; calculating a blood flow velocity according to the combined radio frequency signal; and performing color coding on the blood flow velocity so as to generate a two-dimensional blood flow velocity image. In coherent combination, the last radio frequency echo signal is repeatedly used for next combination; and compared with a traditional coherent combination technology in which all radio frequency echo signals are only combined once, the method provided by theinvention improves the pulse repetition frequency by 50%, so the maximum blood flow velocity detectable range of the ultrafast ultrasonic Doppler technology is improved.
Owner:YUNNAN UNIV

Color ultrasonic Doppler blood flow speed estimation arc tangent optimization algorithm

The invention belongs to the technical field of ultrasonic inspection. The invention aims at providing a color ultrasonic Doppler blood flow speed estimation method which has less resource consumption and is accurate and reliable. The color ultrasonic Doppler blood flow speed estimation arc tangent optimization algorithm is characterized by comprising the following steps of: making an LUT (look-up table) table in an LUT method; looking up the LUT table as 0<=c<1; firstly calculating and then looking up the LUT table and finally outputting as 1<=c< infinity; and in a similar way, transforming arc tangent operation in a value range of -pi to pi of a blood flow mean velocity arc tangent function, wherein V is average blood flow speed; A is an imaginary part of a self correlation function; and B is a real part of the self correlation function. The invention is mainly applied to ultrasonic inspection blood flow speed estimation.
Owner:INST OF BIOMEDICAL ENG CHINESE ACAD OF MEDICAL SCI

Blood pressure monitor and method

InactiveUS20150230774A1Blood flow measurement devicesOrgan movement/changes detectionBlood pressure cuffsDiastolic blood pressure measurement
A method is provided for noninvasive, continuous, real-time monitoring of a patient's arterial blood pressure using Doppler probes and a blood pressure cuff for measurement of a patient's systolic and diastolic blood pressures at a major distal artery. A continuous Doppler blood flow velocity measurement is used to generate a waveform signal correlating to a cuff's measurements of systolic and diastolic pressures. In addition, a method determines cerebral blood perfusion by providing at least two Doppler probes, one of which is placed at a distal artery with a blood pressure cuff and another of which is placed over the carotid artery or the middle cerebral artery. An algorithm calculates systolic and diastolic pressures at the distal artery and at the carotid artery or the middle cerebral artery as a function of the continuously measured Doppler blood flow velocities.
Owner:HADECO

Flow velocity measuring unit

A Doppler flow velocity measuring unit wherein an optical unit including a laser and a photodetector is removably mounted on a pipeline is disclosed. The optical unit is attached to a pipe that is affixed to the pipeline at right angles to the flow in the pipeline. The pipe includes a shutoff valve that closes the pipe, permitting the optical unit to be removed from the pipeline.
Owner:DEREVYAGIN ALEXANDR MIKHAILOVICH

Single-channel multiplier demodulation ultrasonic Doppler blood flow velocity measurement method

The invention discloses a single-channel multiplier demodulation ultrasonic Doppler blood flow velocity measurement method. An existing Doppler blood flow measurement system often uses an orthogonal demodulation scheme which uses a double-channel multiplier as a core to demodulate Doppler signals in ultrasonic echo signals, and the measurement circuit is complex. According to the single-channel multiplier demodulation ultrasonic Doppler blood flow velocity measurement method, a simple single-channel multiplier can extract the frequency spectra of Doppler blood flow signals through selecting proper sine wave demodulation signals and frequency shaft coordinate conversion; the scheme has low demand on the circuit, the complexity of the circuit can be effectively lowered, the data measurement speed is improved, and the measurement precision is high.
Owner:HEFEI UNIV OF TECH

Doppler flow rate meter data processing method and system, medium and computer equipment

The invention relates to a Doppler flow rate meter data processing method and system, a medium and computer equipment. The method comprises a step of acquiring frequency spectrum data of a water areameasured by a Doppler flow rate meter, a step of judging the type of a flow field in the water area according to spectrogram characteristics of the frequency spectrum data of the water area, and a step of selecting a corresponding flow rate signal identification algorithm to calculate a flow rate value according to the type of the flow field. Aiming at different spectrogram characteristics of frequency spectrum data obtained in different scenes and different flow places, the type of the flow field in the water area detected by the flow rate meter at a moment is effectively recognized, different flow rate signal recognition algorithms are automatically switched, an accurate and stable flow rate value is obtained, the repeated measurement is not needed, and the power consumption is low.
Owner:BEIJING TENGINE INNOVATION INSTR

Gas spray pipe flow measuring device capable of online calibration

The invention relates to a gas spray pipe flow measuring device capable of online calibration, comprising: a pipe segment for passage of gas; a spray pipe mounted in the pipe segment and having a first port and a second port; a differential pressure transmitter measuring a pressure difference between the first port and second port of the spray pipe; the device is characterized in that the pipe segment is provided with a transparent window, projection of the transparent window on a pipe wall covers projection of the second port of the spray pipe on the pipe wall; a laser Doppler flow rate meter is disposed outside the pipe segment, and laser emitted by the Doppler flow rate meter passes through the transparent window and measures flow rate at the second port of the spray pipe. The spray pipe flow measuring device can run reliably and measure accurately, and a calibration method has a clear process and is convenient to operate.
Owner:NAT INST OF METROLOGY CHINA

Method for combined pulse speed measurement for acoustic Doppler flow rate section plotter

ActiveCN103728464ASuitable for measurement requirementsGuaranteed Frequency ResolutionFluid speed measurementFrequency spectrumLow-pass filter
The invention discloses a method for combined pulse speed measurement for an acoustic Doppler flow rate section plotter. An acoustic wave energy exchanger is adopted by the acoustic Doppler flow rate section plotter to serve as a sensor, scattering echoes are generated by sound wave pulses transmitted by the acoustic Doppler flow rate section plotter through an irregular scattering body in water, and after the scattering echoes are received by the acoustic wave energy exchanger, the radial water flow speed is obtained through analysis and processing. The method is characterized in that combined pulses serve as transmitting signals of the acoustic wave energy exchanger; after echo signals are received by the acoustic wave energy exchanger, the echo signals are multiplied by transmitted combined pulse signals; a result is analyzed through a low-pass filter wave and a following frequency spectrum, and therefore the radial flow speed needing to be measured is obtained.
Owner:NANJING SHIHAI ACOUSTIC TECH CO LTD

Medium-sized modular autonomous underwater vehicle (AUV)

The invention provides a medium-sized modular autonomous underwater vehicle (AUV). Underwater robots are defined as the application target of the medium-sized modular AUV. Modules can be increased ordecreased at random according to the requirements; the wireless communication function is achieved, and wireless on-line programming is supported; an AUV main carrier is designed to be the streamline-shape longitudinal section, and a stern is designed in the mode that four propellers are uniformly distributed, and the four propellers conduct combined control; a bow module is provided with wall touching sonar and a rope-throwing device; an inertial navigation system, a Doppler flow speed meter and a positioning system are matched for use; and a throwing-loading system is mounted under a main control module. The medium-sized modular AUV has the beneficial effects that the advantages that the different modules can be quickly recombined, mounting is convenient, performance is reliable, the navigational resistance is small, and design is reasonable can be achieved, the AUV is conveniently and quickly recycled, and thus the standardization and marketization of the medium-sized AUV become possible.
Owner:天津瀚海蓝帆海洋科技有限公司
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