421results about How to "High research value" patented technology

The invention discloses an intelligent path planning method for a mobile robot, and the method comprises the steps: building a static two-dimensional grid map, and carrying out the global path planning through an improved ant colony algorithm; enabling the mobile robot sensor module to detect unknown obstacle information, calculating an obstacle motion trail and a robot motion trail, adopts an optimized dynamic window method to carry out local dynamic obstacle avoidance, and taking the current position of the robot as a starting point and a closest key node on a global planning path as a temporary target point to carry out dynamic obstacle avoidance; and enabling the robot to travel along the planned path and safely reach the destination. According to the method, the actual problems of static obstacles and dynamic obstacles in the map environment are comprehensively considered, the heuristic function of the ant colony algorithm is improved, pheromone updating rules are adjusted for global path planning, the optimized dynamic window method is adopted for obstacle avoidance when the robot encounters the dynamic obstacles in the running process, and local path planning is completed; and the robot has higher practicability and research value in actual map operation.

The invention discloses an image identification method of stirring friction welding arc stripe interval. The image identification method is characterized by mainly comprising the steps of: obtaining image, carrying out binarization processing on the image, carrying out post processing on the binary image and detecting and calculating the arc stripe interval, firstly, obtaining a microscopic picture of a stirring friction welding arc stripe tool; and then, performing gray scale, wave filtering and binarization processing on the microscopic picture of the arc stripe tool; removing the isolated points, the interior stripe detects and the incomplete edge stripes of the binary image; and finally, determining the arc stripe interval calculation range, calculating the arc stripe interval and processing the data. The image identification method of stirring friction welding arc stripe distance disclosed by the invention greatly enriches the obtaining method of arc stripe parameters and provides certain foundation for research of the arc stripe parameters in the stirring friction welding.

The invention aims to provide a cylinder series connection elastic driver. The cylinder series connection elastic driver comprises an encoder, a servo motor, a connection cylinder, a coupler, a screw rod, thrust columns, a nut, springs, spring driving plates, a shell, a driving cylinder and a driving output end; the encoder is arranged on the servo motor which is connected with the screw rod through the coupler in the connection cylinder; the circumference of the nut is provided with three threaded holes which form an angle of 120 degrees; each threaded hole is provided with a thrust column; two sides of each of the three thrust columns are provided with spring driving plates; a spring is arranged outside two spring driving plates respectively; and the driving cylinder is connected with the driving output end. The new, efficient, miniaturized and modularized elastic driver which has the bionic characteristic provides technical basis for a walking robot which has high degree of adaptability to complex terrain, reliable performance, a small volume, and joint buffer capacity when walking at high speed, and has high research value and wide application prospect.

The invention discloses macrocyclic and cage-like molecules based on biphenylarene and derivatives of the macrocyclic and cage-like molecules as well as synthetic methods and applications of the macrocyclic and cage-like molecules and the derivatives. A series of novel macrocycles are obtained mainly by performing a reaction on bis(2,4-dialkoxyphenyl)arenes (naphthalene, anthracene, pyrene, porphyrin and the like) or tris(2,4-dialkoxyphenyl)arenes (benzene, sym-tribenzobenzene) and paraformaldehyde under the catalysis of a Lewis acid in high yield. In addition, perhydroxybiphenylarenes (quaterphenyl trimer, naphthalene dimer and the like) can be obtained by performing demethylation, a plurality of water-soluble derivatives can be obtained by performing further modification, and the derivatives show good bonding ability to guest molecules (viologen and the like); and moreover, functional groups introduced into the framework make the biphenylarene have excellent adsorption and separationability and photophysical properties. The compounds, derivatives and methods provided by the invention have the following advantages: raw materials of the biphenylarene are commercially available, the synthesis is simple and convenient, the yield is high, and the modification is convenient, so that the compounds and the derivatives have broad application prospects in gas adsorption and separation, performance improvement of light-emitting materials, and adsorption of water-soluble toxic substances.

The invention discloses a clustering map creating method and a repositioning method based on matching of a clustering map and a position descriptor. The invention provides a three-dimensional visual laser SLAM system with a complete system structure and a cluster map creating method. The repositioning method of the unmanned vehicle is designed based on the clustering map and the position descriptor. A clustering map consistent with the scale of a real scene is created for an urban dynamic environment. A position descriptor used for describing point cloud clustering position characteristics isdesigned, and reliable repositioning of the unmanned vehicle in the urban environment is achieved through matching and screening of the position descriptor. By ignoring the change of the shape of a single object and focusing on the mutual position relation between different objects, the repositioning method provided by the invention can effectively cope with the adverse change of various scene conditions, realizes higher repositioning success rate, and has wider application prospect and higher research value.

The invention relates to a nitrogen-doped porous hollow carbon sphere carbon dioxide adsorption material as well as a preparation method and application thereof. The preparation method comprises the following steps: adding SiO2 sphere flowers into mixed liquid of deionized water, absolute ethyl alcohol and ammonia water, and carrying out ultrasonic oscillation until the SiO2 sphere flowers are completely dispersed; and then adding a dopamine hydrochloride water solution, uniformly stirring at the room temperature, filtering, washing, drying, and processing at 700-900 DEG C for 2-4 hours in a N2 atmosphere so as to obtain nano-composite spheres; and finally impregnating the nano-composite spheres in hydrofluoric acid to remove the SiO2 sphere flowers, filtering, washing, and drying, so as to obtain the nitrogen-doped porous hollow carbon sphere CO2 adsorption material. The adsorption material is a porous hollow carbon sphere, the particle sizes of porous hollow nano-carbon spheres are about 400nm, the porous hollow nano-carbon spheres are uniform and regular, and the adsorption material has high nitrogen content, adsorptive property, specific surface area and pore volume and high-dispersed regular appearance, the surface of the adsorption material contains rich amino active sites, and the adsorption material can be applied to efficient adsorption of industrial CO2.

The invention discloses a preparing method of a potassium sodium niobate (KNN) piezoelectric nanofiber flexible electricity generating element. According to the method, the preparation of a KNN precursor is provided; KNN nanofiber is prepared in a large area by an electrostatic spinning method; and the KNN nanofiber transfer and the device assembly are carried out, and the KNN piezoelectric nanofiber flexible electricity generating element is obtained. The preparing method has the advantages that excellent lead-free piezoelectric materials are adopted; the KNN nanofiber is used for forming the flexible piezoelectric electricity generating element; the element can be enabled to have high electric output; the length-diameter ratio of the nanofiber prepared by the electrostatic spinning method is high; the nanofiber crystallization can be realized through sintering treatment; equipment and preparation processes are simple; the cost is low; the preparing method can be used for batch production of the elements; the mechanical deformation of the nanofiber under the specific external force effect can be improved through good flexibility of the element; and the collection efficient of the element on mechanical energy is improved.

The invention provides bacillus amyloliquefaciens HAB-2, which has the collection number of CCTCC M 2015070. Although the key lipopeptide synthetase gene sfp gene is deleted, the surfactin substances can still be generated, indicating that the strain has a specific and distinctive biosynthetic pathway and has a remarkably high research value. The bacillus amyloliquefaciens HAB-2 has very strong ability of inhibiting pathogenic fungi, has a wide antibacterial spectrum and can inhibit multiple kinds of pathogenic fungi while the antibacterial effect is good and the antibacterial rate is high. Further research finds that the active ingredient can be directly obtained through simple treatment on the fermentation broth of the strain, and the antibacterial active ingredient is stable and has very high activity in strong acid and strong alkaline environments; the antibacterial activity is not changed after 24 hours of ultraviolet irradiation, and high temperature does not influence the antibacterial active ingredient; and the fermentation broth of the biocontrol bacteria realizes certain growth promoting effect on a plant.

The invention belongs to the control field and relates to an intelligent artificial limb movement system based on idiodynamics and control methods thereof. The problems of single recognition mode and low universality of an existing artificial limb system in the prior art are solved. The system comprises an electroencephalogram acquisition module, an electroencephalogram analysis module, a drive control module and a joint angle feedback module. The control methods include the control method in a training mode and the control method in a using mode. The training mode and the using mode are switched through a key. In the training mode, other electroencephalograms are selectively entered as required except a quiescent state, and the quiescent state is a necessary enter item to ensure accurate control of the system. When a user completes electroencephalogram entering in the training mode, a system state is switched to the using mode, and the user can send corresponding electroencephalograms to control the arms to execute corresponding actions.

The invention belongs to the technical field of preparation of selenium-containing polymers, and discloses a method for preparing polyselenourea/polyselenoamide through multi-component polymerizationof elemental selenium, isonitrile/alkyne and amine. The method comprises: carrying out a reaction on elemental selenium, a binary triple bond compound and a diamine in an organic solvent under an inert atmosphere, and subsequently treating to obtain a selenium-containing polymer, wherein the binary triple bond compound is binary isonitrile or binary alkyne, and the selenium-containing polymer is polyselenourea or polyselenoamide. According to the present invention, the method has characteristics of mild reaction conditions, high efficiency, energy saving, no catalyst, no by-product generation,atomic economy, green chemistry, low monomer toxicity, high atom utilization rate and high yield (more than or equal to 90%); the group has strong tolerance, and a variety of functional groups can beintroduced into the monomer; and the polyselenourea/polyselenoamide is stable, and can be degraded under specific conditions.

The invention discloses a vascular stenosis detection method and device. The method comprises the steps of acquiring a computed tomography angiography (CTA) image for a blood vessel to be detected; straightening and imaging the CTA image at a plurality of set angles to obtain a plurality of straightened images at a plurality of set angles; carrying out width measurement on the straightened imagesone by one, and outputting a width curve corresponding to the straightened image with the set angle; and performing plaque positioning screening on the width curve one by one, and determining a narrowarea of the blood vessel to be detected according to a plaque positioning screening result. By implementing the method and the equipment provided by the invention, the accuracy of vascular stenosis detection can be improved.

Belonging to the technical field of low temperature SCR denitration, the invention discloses an active carbon loaded iron-based low temperature SCR denitration catalyst, a preparation method and application method thereof. The preparation method includes: taking grinded activated carbon as the carrier, using an Fe oxide as the main active component, adding trace Mn or Co as the active assistant respectively, loading the active component on the carrier by impregnation method, then conducting magnetic stirring and drying treatment, and finally performing roasting in air atmosphere, thus obtaining the low temperature SCR denitration catalyst. The low temperature SCR denitration catalyst provided by the invention has the characteristics of convenient production, simple use, and good denitration effect at low temperature, can well solve the problems of low denitration efficiency and slightly high use temperature section in existing denitration catalysts, thus being conducive to prolonging the service life of the catalyst, and saving cost.

The invention discloses an in-situ device for small-angle X-ray scattering experiment. The in-situ device comprises a vacuum and atmosphere protection system, a stress load and measurement system and a temperature load and measurement system. Self-alignment of samples during stress load is realized in the stress load system by adopting design of pull-press stress transformation. Special design is adopted in the temperature load and measurement system, wide X-ray channels are realized while uniform of temperature field is guaranteed, and meanwhile, heating temperature of the samples can reach 1100 DEG C. By the arrangement, the in-situ device is simple in structure, reliable in performance, high in measurement accuracy and capable of loading in temperature and stress simultaneously on the samples under the vacuum or atmosphere protection environment. The in-situ device is used in cooperation with a synchrotron-radiation small-angle X-ray scattering line station, in-situ measurement of to-be-measured samples on microscopic deformation, damage and fracture process under the mechanics use environment can be performed, and an effective and reliable measurement method for discovering changes of deformation and microstructure of brittle material samples under the stress is provided.

The invention discloses a gas online quantitative mixed supercharging system for Raman spectrometer and an operation method thereof. The system comprises a gas input module, a supercharging module, and a gas output module. The gas input module comprises a volume transfer device, a vacuum pump, and at least one gas input pipeline. The gas input pipelines are individually connected to the gas inlet of the volume transfer device, the gas outlet of the volume transfer device is connected to the input end of the pressure container of the supercharging module, and the output end of the pressure container is connected to the gas output module. By introducing gas in different pipelines into the volume transfer device in sequence, the quantitative gas can be obtained, the quantitative gas can be evenly mixed and supercharged in the pressure container, and the quantitative mixed gas can be Raman-analyzed by a Raman detection module. The system has the advantages of simple and convenient operation, high safety, and well-sealed gas pipeline, through the system the relationships among the Raman spectrum, pressure and composition of fluids composed of different components can be studied more precisely, and thus the system has a high practical value for scientific research.

The invention provides a system for testing the electromagnetic anti-interference performance of a vehicle-mounted integrated ADAS function. The system comprises a radar target simulator, a video playing device and an EMS antenna which are arranged in an anechoic chamber, a controller and a radio frequency signal source which are arranged outside the anechoic chamber, and a signal transmission module for realizing the information transmission inside and outside the anechoic chamber. A millimeter-wave radar receives the echo signals sent by the radar target simulator under different simulationworking conditions, and an ADAS camera of a tested vehicle collects the road scene images which are played by the video playing device and are synchronous with the simulation working conditions of theecho signals. The system can carry out the electromagnetic anti-interference tests of a whole vehicle ADAS system under various simulation working conditions when the vehicle-mounted millimeter waveradar and the camera are fused, so that the electromagnetic anti-interference test of the automobile ADAS system is more consistent with the actual use conditions, the test result has more reference and research values, and the development and progress of the ADAS system are promoted.

The invention discloses a wearable miniature camera recording device for operation and aims at solving a disadvantage that a lens of an existing device can not be directed at a key region in operation when the existing device records. The device comprises a miniature camera, a wireless transmitter, a wireless receiver and a rechargeable cell, the wireless transmitter is connected with a video and audio output line of the camera, and the device is characterized in that: the miniature camera is assembled on a wearable frame and the lens of the miniature camera is just between the left eye and the right eye of a doctor when the doctor wears the frame; the wearable frame can be an eyeglasses frame or a head band; and the wireless receiver is arranged in an area outside the wearable frame, in which a signal transmitted by the wireless transmitter can be received. The device is used for recording images and sound in operation, and storing, editing, replaying or live broadcasting the images and the sound.

The invention provides a manufacturing method of a tobacco leaf primary color exsiccate. The method comprises the steps of shaping, color fixing, drying and moisturizing again. The shaping step mainly comprises: orderly overlapping absorbing paper, a moisture absorbent, absorbing paper and a specimen in a specimen holder; orderly overlapping the specimens in n layers (preferably 5-8 layers) according to the above form; fixing color for 15-18 hours at the constant temperature of 45-55 DEG C; drying for 3-6 hours at the constant temperature of 55-65 DEG C; and placing the absorbing paper and specimen in a room temperature environment with relative moisture of more than 70%, moisturizing again for 6-12 hours to obtain the primary color exsiccate. The specimen manufacturing is faster by usingthe method provided by the invention, and 6-8 days are shortened in comparison with the general pressing method, the color retention effect is good, and the color keeps the same in the specimen retention period; the water content is controlled in a range of 8-10% so as to prevent the specimen from brittle rupture and maintain the integrity of the specimen. The manufacturing method provided by theinvention is especially suitable for the manufacturing of the tobacco leaf primary color exsiccate, is especially in favor of storing the primary shape and color of the diseased tobacco leaf, and greatly improves the scientific research value and economy of the specimen.