39results about How to "Implementation description" patented technology

The invention discloses a foot device with ankle joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The foot device is characterized in that plane hooke two-DOF (Degree Of Freedom) structures of ankle joints are realized due to the matching of upper supports, lower supports, two rotating shafts and four bearings, wherein the lower supports are arranged on soles, the lower supports are provided with angular displacement sensors, thus rotating angles of the ankle joints can be measured, and the measuring requirement of a robot on angular displacements of the ankle joints can be met; shank telescopic rods are inserted into the upper supports, front and rear rotating shafts, bearing end covers and bearings are fixedly arranged in lugs of the upper supports, the front and rear rotating DOF of ankles can be realized, and the angle measuring can be realized through the angular displacement sensors which are arranged on the front and rear rotating shafts; left and right rotating shafts are inserted into the lower supports for being fixed, the axes of the front and rear rotating shafts are maintained to be vertical to the axes of the left and right rotating shafts, and the left and right swinging DOF of the ankles can be realized; pressure sensors are arranged among front feet, rear feet and the soles, the front feet and the rear feet are fixedly connected with the soles, the soles are in contact with the ground, plantar pressure is changed when a person walks, a walking intention of the person can be judged through the detecting of the pressure sensors, and the good control of the exoskeleton auxiliary supporting robot can be realized.

The invention discloses a method for compensating a system in real time by using a hysteresis inversion model in the technical field of control, which comprises the following steps: acquiring input and output signals of a hysteresis system in real time, establishing a hysteresis model for one-to-one mapping between the input and output of the hysteresis system and determining parameters of the established hysteresis model; establishing the hysteresis inversion model of the system according to the input and output signals and the established hysteresis model, obtaining an analytical expressionof the hysteresis inversion model and determining the parameters of the hysteresis inversion model; and designing a hysteresis inversion model compensation controller according to the analytical expression of the established hysteresis inversion model and realizing the real-time compensation of the system by using the hysteresis inversion model so as to fulfill the aim of eliminating hysteresis nonlinearity and realize the linearity of the input and output signals. The method has the advantages of simple form, fewer required parameters and favorableness for the real-time design of the hysteresis compensation controller; and a practicable compensation scheme is provided for the high-speed and high-bandwidth positioning and tracking application of the hysteresis system comprising an intelligent material driver.

The invention discloses an image sorting method based on local colors and distribution characteristics of characteristic points, which mainly solves the problem of the poor effectiveness of image characteristic description and the ambiguity in image understanding in the prior art. The method comprises the following steps of: firstly, performing scale normalization and rotation normalization on the image, and detecting characteristic points; then, dividing the normalized image into a series of fan-shaped sub-regions with unequal acreage according to the distribution of the characteristic points, and extracting the local colors and the space distribution characteristics of the characteristic points in each sub-region, generating a characteristic vector, measuring the similarity and orderingthe sub-regions; taking the image as a multi-instance package to obtaining characteristics of a target image through a multi-instance learning method; and finally, recalculating the similarity, and outputting the sorting result. The method not only improves the effectiveness of the image characteristic description, but also reduces the ambiguity in the process of sorting out the images, so that the method can sort out internet images more accurately, and can be used for searching image information in the internet.

The invention discloses an animation data organization method based on sketch interaction. The method comprises the steps of (1) establishing a sketch cognitive model for animation data sketch representation and building a sketch user interface for animation data management based on the sketch cognitive model, (2) defining the relationship between animation data based on a semantic net model and aresource description framework RDF by the sketch user interface and establishing an interaction primitive describing the relationship of the animation data, (3) establishing a context model of the animation data based on the semantic relationship between the context-awareness technology and the animation data, (4) editing the context model of the animation data by the sketch user interface to realize the organization of the animation data. The animation data is efficiently described and organized, an efficient interaction mode is provided for the retrieval and reuse of the animation data during animation creation, and the process of interactive animation generation is accelerated.

The invention discloses a test method of the microcosmic creep rupture process of rock. The test method includes the steps of firstly, manufacturing standard samples for rock creep tests, and selecting the samples with close wave velocity through sound wave detection; secondly, selecting two of the samples, manufacturing into sections, and scanning with an electron microscope to obtain the initial fracture distribution conditions of the samples; thirdly, using a circulation loading and unloading manner to perform the creep tests under multiple levels of stresses, manufacturing each sample after each level of loaded stress is stabilized into a section, and scanning with the electron microscope to obtain the fracture distribution conditions and expansion rules under different loaded stresses; fourthly, statistically counting the obtained fracture images to obtain the fracture distribution conditions and the expansion rules. The test method has the advantages that the fracture distribution conditions and the expansion rules in the creep process can be reflected, the creep mechanism of the rock is researched in a microcosmic manner, and clear guiding significance is provided.

The invention provides a testing device and testing method for coupling relationship between loss factors of a damping material and energy as well as temperature. The testing device comprises a viscoelastometer, an energy measuring device and a thermocouple device for measuring temperature. The testing method comprises the following steps: firstly, measuring the change of the loss factors of the damping material by using the viscoelastometer along with the temperature under a certain frequency and in the temperature range needing to be researched, then measuring energy difference of input and output by using a method for measuring power flow of energy, meanwhile measuring transient temperature by using the thermocouple buried in the damping material to obtain the energy consumption of the damping material, and further researching the relationship between the loss factors and the energy as well as temperature. According to the method, the method for measuring the power flow is used for calculating vibration energy, an experimental device is simple, and engineering is easily realized. The method can quantitatively describe the loss factors of the damping material, the temperature and the vibration energy. According to the method, measurement is carried out from the standpoint of energy, assumption is not needed for facilitating mathematical calculation, and therefore errors are reduced.

The invention discloses a large and small leg device with knee joint parameter measurement suitable for an exoskeleton auxiliary support robot. The device uses a hydraulic cylinder to drive the knee joint, which improves the response speed and bearing capacity of the exoskeleton auxiliary support robot; The rod is connected with the thigh, and the lower leg is connected with the foot through the telescopic rod. One end of the hydraulic cylinder is connected to the thigh through a bracket, a pin shaft and a joint bearing, and the piston rod end is connected to the lower leg through a hydraulic cylinder connector. The knee joint is the connecting part between the thigh and the lower leg. The sensor is used to measure the angular displacement of the knee joint to realize the exoskeleton. Follow the motion control of the human knee joint. In the robot designed by the present invention, only the knee joint is controlled by the hydraulic cylinder, and the rest of the joints are used to adapt to the requirements of human leg joint movement, including the hip joint, ankle joint and plantar structure where sensors are installed, and also include the side swing of the waist, thigh ball joints etc. The robot of the present invention simulates the structural characteristics of the human body, is suitable for wearing by the human body, maintains flexible movement, has a simple structure, and can help users support the load weight.

A method for organizing object data, classifying objects to be described into corresponding categories according to their natural attributes, so as to assign predefined category attributes corresponding to related categories to data records, and associating the data records with the natural attributes of objects to be described And complete the instantiation, implement data update on the data record of the object to be described after the instantiation is completed, define the unstructured data related to the object to be described in the form of a measurement point as the member information of the object to be described, and set The member information containing the unstructured data is stored in the database where the corresponding data records are based on time attributes and / or spatial attributes. By enriching the data of data members, users can realize various complex Function is a technical solution that perfectly integrates structured and unstructured data, and this technical solution is realized through configuration, rather than using high-level language programming to integrate various professional products.

The present invention discloses a sending / receiving method used for gaining relationship between channel and medium in a session description protocol SDP, wherein the method comprises the steps as follows: the receiver receives the message which contains the channel information and is sent by a sender; the message describes the channel information by attribute lines; the receiver gains the relationship between the channel and the medium according to the message. The method and the equipment achieve the description on the channel information and the correlation between the BC service channel and the medium in an IMS-based IPTV system in a way of extending the attribute.