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36results about How to "In line with biological characteristics" patented technology

Redundant robot inverse kinematics solving method and device and redundant robot

The embodiment of the invention discloses a redundant robot inverse kinematics solving method and device and a redundant robot. The method comprises the steps of obtaining an expression of a Jacobianmatrix null space, meeting a tail end pose, of the redundant robot under a current configuration according to the pre-planned tail end pose, so as to obtain a relational expression among angular velocities of joints in the null space of the current configuration; and constructing an energy function of the redundant robot based on a positive kinematics algorithm, carrying out energy optimal solution on the energy function according to a relational expression between joint angular velocities to obtain a target joint angle, taking the target joint angle as a kinematics inverse solution meeting the tail end pose, and sending the kinematics inverse solution to a corresponding joint motor. According to the technical scheme, redundant robot inverse kinematics is optimally solved based on energy,the joint angle kinematics inverse solution obtained through calculation of the method conforms to organism characteristics and is visual in understanding, and when a tail end track passes through different quadrants, all joint angles can be kept continuous and smooth.
Owner:UBTECH ROBOTICS CORP LTD

Bionic soft dexterous hand

The invention relates to a bionic soft dexterous hand. The bionic soft dexterous hand comprises a palm and five fingers. A plurality of palm side oval groove openings are arranged on the palm sides ofa forefinger, a middle finger, a ring finger and a small finger. A lateral oval groove opening is evenly arranged on the heels of the forefinger, the ring finger and the small finger facing the middle finger. The palm side oval groove opening is arranged on the side of a tiger mouth, and a lateral oval groove opening is arranged on the heel of a big toe. The palm side oval groove openings and thelateral oval groove openings are evenly flexible hinges and provided with threading holes. The threading holes penetrate traction lines. One end of the traction lines are fixed at a fingertip, the other end of the traction lines are gathered in a palm center and are led out from a wrist after bypassing a threading block set in the palm center. The flexure hinges are deformed by the stretching ofthe traction lines to achieve the bending movement of five fingers laterally or toward the palm center. Compared with the prior art, the bionic soft dexterous hand achieves manipulation actions and releases of hand objects such as grasping, holding, pinching and clamping by means of the coordination between fingers, has a rigid and soft combination, and is simple and convenient to control
Owner:TONGJI UNIV

Constraining knowledge and elite individual strategy genetic algorithm fusion-based crop growth period model variety parameter optimization method

The invention brings forward a constraining knowledge and elite individual strategy genetic algorithm fusion-based crop growth period model variety parameter optimization method and belongs to the field of crop model variety parameter optimization methods. The method comprises the following steps: data preparation is made for crop growth period model variety parameter optimization; an initial range of crop growth period model variety parameters is graded; a phonological period which has key constraints for the model variety parameters are determined, a measured data range of the phonological period having key constraints is estimated, an improved genetic algorithm is set to control initial parameter value, an initial species population is generated, a fitness function is built, gene direction factors of individuals are built, a selection operator is built via a roulette method, a direction guide crossover operator is built, a direction and elite individual guide mutation operator is built, and elite individual-based local search is conducted. The constraining knowledge and elite individual strategy genetic algorithm fusion-based crop growth period model variety parameter optimization method can help address problems of low efficiency, inconsistency between optimization results and variety biology, and the like; parameter optimization accuracy and parameter optimization efficiency are improved, and the method has scientific significance and practical value.
Owner:NANJING AGRICULTURAL UNIVERSITY

Multi-layer overlaying circular frameless apis cerana cerana beehive

InactiveCN102613110BSurvival does not affectPrevent flightBeehivesApis ceranaEngineering
A multi-layer overlaying circular frameless apis cerana cerana beehive capable of greatly reducing labor capacity and producing pure primitive ecological apis cerana cerana honey is an integral beehive formed by overlaying a plurality of circular following beehives on a circular base plate machined with a concave natural deslagging slope surface, a deslagging hole, a nest entrance and a feeding hole, placing four metal pads of the following beehives on each following beehive, covering the top following beehive with a circular beehive cover with a vent hole, and vertically penetrating and connecting the base plate and connection holes of a four-corner connection clamp on the box cover through four L-shaped reinforcing bars. Therefore, the apis cerana cerana group can naturally form a sphere apis cerana cerana bulk in the beehives, and nests from the top down; and if the stored honey at the uppermost layer is mature, sealed and covered, the four L-shaped reinforcing bars and the corresponding metal pads are detached, the following beehive at the uppermost layer is transversely cut to take out the honey, and then is additionally arranged on the base plate at the bottom layer; and the survival and propagation of the apis cerana cerana after the honey is taken out are not influenced, the output and quality of apis cerana cerana honey are improved, and the multi-layer overlaying circular frameless apis cerana cerana beehive has a vital significance for apis cerana cerana protection.
Owner:张诚

Intelligent honeycomb box monitoring system based on high-precision Beidou positioning system

The invention discloses an intelligent honeycomb box monitoring system based on a high-precision Beidou positioning system. The intelligent honeycomb box monitoring system comprises a main control module, a positioning module used for positioning a honeycomb box, a temperature and humidity detection module which is arranged inside the honeycomb box and used for detecting temperature and humidity conditions and a temperature and humidity actuating mechanism which is used for performing automatic adjustment on the temperature and humidity inside the honeycomb box, wherein the positioning module, the temperature and humidity detection module and the temperature and humidity executing mechanism are connected with the main control module. The intelligent honeycomb box monitoring system not only can acquire the position of the honeycomb box in real time, but also can detect the temperature and humidity inside the honeycomb box in real time, thereby being capable of compensating the temperature and humidity inside the honeycomb box, not only ensuring healthy growth of bee swarms, but also being capable of ensuring high yield of bee products, and greatly reducing the management difficulty of the honeycomb box.
Owner:SHENZHEN SHENGDA TECH

Facility crop honeybee pollination box

The invention relates to a facility crop honeybee pollination box which comprises a box body and a box cover, wherein a feeding machine is arranged inside a front panel of the box body; a front panel of the feeding machine is closely combined with the front panel of the box body; two clamps for fixing the direction of the feeding machine are arranged inside the box body; a breathing screen window with a sliding panel is arranged at the bottom of a beehive; the sliding panel is arranged at the bottom of the breathing screen window and is closely combined with a base plate of the box body; an opening is formed in a front panel of the beehive and is used as a hive entrance; a rotating shaft is arranged at the middle part of the hive entrance; two ends of the rotating shaft are cut obliquely. The facility crop honeybee pollination box has the advantages that the beehive is portable, conforms to the biological characteristics of honeybees and is suitable for commercial honeybee pollination operation; by change of a beehive cover, material use is reduced, and the volume of the beehive is decreased; the transparent screen window is ventilating, so that the overheating death rate of the honeybees in a transportation process is reduced; the height of the hive entrance is increased, materials are saved, and transportation is facilitated; the beehive is lower than the feeding machine, so that the facility crop honeybee pollination box is convenient to use, and unprofessional people can supplement feeds easily; the lives of pollination bees are effectively prolonged.
Owner:BEE RES INST CHINESE ACAD OF AGRI SCI

Split-combined type honeybee nest box with arc-shaped bottom

InactiveCN102805043AQuick Check ProcessingIn line with biological characteristicsBeehivesNest boxFishery
The invention provides a split-combined type honeybee nest box with an arc-shaped bottom, which can quickly check and process abnormal conditions at the lower part of each nest comb in the nest box and naturally discharge wastes in the box, and a use method. The split-combined type honeybee nest box is characterized in that a long-strip-shaped residue discharge hole is formed on a longitudinal central line of a bottom plate of a bottom box of the nest box, wherein, the bottom box is one half of the nest box in height; two arc-shaped plates are mounted in the box; an upper frame of the nest box, which is one half of the nest box in height, is overlapped on the upper surface of the box, and a nest door hole is formed in front of the upper frame; overlapped parts of the upper frame of the nest box and the nest box are connected by using two hinges in the rear, and fixed by using two fasteners in the front; and a semi-circular honeybee movement nest frame with a steel and wood structure, which is invented by the same inventor, is fixed in the nest box. When the split-combined type honeybee nest box is used, the upper frame of the nest box is overturned backwards, and all semi-circular nest combs in the nest box can be overturned at the same time, so that the abnormal conditions at the lower part of each nest comb in the nest box can be quickly checked and processed. The split-combined type honeybee nest box with the arc-shaped bottom accords with biological characteristics of the honeybees, cannot influence normal production and usual migratory raising of the honeybees, is convenient to use and has a simple structure; and numerous honeybees can be raised by one person.
Owner:张诚

Nest frame and beehive

PendingCN108142325AEasy to viewIt is convenient to divide the spleenBeehivesBiological propertyEngineering
Provided is a nest frame. The nest frame comprises side beams and a fixing beam, and further comprises an upper beam, a lower beam I and a lower beam II; fixing grooves and clamping grooves I are formed above the side beams, clamping grooves II are formed below the side beams, the fixing grooves are located above the clamping grooves I and communicated with the clamping grooves I; the fixing beamis fixedly connected to the two side beams through the fixing grooves; the clamping grooves I are matched with the ends of the upper beam, and the ends of the lower beam I and the lower beam II are all disposed in the clamping grooves II; the center lines of the fixing beam, the upper beam, the lower beam I and the lower beam II are on the same plane; a beehive is further provided, a limiting platform is arranged on the inner wall of the beehive, a plurality of nest frames are arranged in parallel inside the beehive, and a protruding portion can be directly stuck in the limiting platform; multiple beehives can be correspondingly connected up and down. The frame and the beehive have the advantages of conveniently viewing the condition of bees and separating the spleen and removing the bees;the structure is also in conformity with the biological characteristics of the bees to facilitate free longitudinal nesting, the honey production rate is improved, and the operation of the beehive issimple and convenient.
Owner:石柱土家族自治县蜂启科技有限公司

Construction method of moso bamboo breast-diameter age joint distribution dynamic model

The invention discloses a construction method of a moso bamboo breast-diameter age joint distribution dynamic model. The construction method comprises the following steps: step 1, collecting moso bamboo continuous checking sample plot data in a research area; 2, summarizing the continuous checking data of the moso bamboo sample plot at each stage in the research area into moso bamboo breast-diameter age two-dimensional statistical data; 3, calculating edge distribution values of the diameter at breast height and the age of the moso bamboo; 4, fitting the two-dimensional statistical data of thebreast-diameter age of the moso bamboos in each stage in the step 2 to obtain a parameter vector of each binary Copula density function of each stage of data; 5, obtaining the optimal binary Copula density function of the DBH age of the moso bamboo continuous checking data in each stage; step 6, establishing a linear regression relationship between the binary Copula density function parameter andthe period number; and step 7, obtaining a moso bamboo breast-diameter age joint distribution dynamic model. The invention has the advantages that the regional scale moso bamboo biomass can be accurately predicted, the dynamic change of the moso bamboo breast-diameter age can be reflected, and a theoretical basis is provided for carbon transaction and scientific operation of a moso bamboo forest.
Owner:ZHEJIANG FORESTRY UNIVERSITY

Zoological-imitated fishway with natural cobble partition plate

The invention discloses a zoological-imitated fishway with a natural cobble partition plate. The zoological-imitated fishway comprises fishway partition plates and a fishway aqueduct body, wherein vertical side walls are arranged on the left sides of the fishway partition plates; inclined side walls are arranged on the right sides of the fishway partition plates; the fishway partition plates comprise cobble partition walls, long partition plates, short partition plates and longitudinal pore plates; the cobble partition walls are connected with one side of the inclined side wall; S-shaped fishthrough holes are formed in different areas at different heights of the cobble partition walls; the long partition plates are connected with the other ends of the cobble partition plates; the longitudinal pore plates are connected with one sides of the long partition plates; the long partition plates and the short partition plates are distributed in a staggered manner to form fish through verticalseams. By adopting the zoological-imitated fishway, harmonies of through fishes and fishway water flows are improved, the fish through efficiency is improved, and a nature-imitated effect is achieved; in addition, due to adoption of the 'S'-shaped fish through holes, a flow field structure similar to a through fish target swimming track line is constructed, biological characteristics of target fishes are met, and furthermore, the purpose that the flow speed of a chamber is reduced and upstream sailing of fish targets is met are achieved.
Owner:FUJIAN PROVINCIAL INVESTIGATION DESIGN & RES INST OF WATER CONSERVANCY & HYDROPOWER +1

A kind of manufacture method of propolis nest base

The invention provides a manufacturing method of a propolis comb foundation. The method comprises the following steps that A, a propolis extract is placed in a refrigerator to be frozen at the temperature of -5--20 DEG C for 24 h, taken out and smashed to be prepared into propolis powder with 50-100 meshes, and the propolis powder is stored at the low temperature for use; B, a substrate is heated and molten, the propolis powder is added into the molten substrate, stirring is carried out to enable the propolis powder and the molten substrate to be mixed to be uniform, and propolis mixed wax liquid is prepared, wherein the adding amount of the propolis powder is 0.2-2% of the weight of the substrate; C, the propolis mixed wax liquid is cooled, tabletted, loaded to a propolis comb machine, drawn, pressed and cut to be propolis comb foundation tablets. The manufacturing method better accords with the natural biological characteristics of bees, can be widely applied to preventing and treating various bee diseases, and has the advantages that production is easy and convenient, the cost is low, use is safe, and environmental protection is achieved; meanwhile, propolis and beewax are both obtained from a swarm and used for the swarm, and can be completely used for comb honey production, which is unparalleled.
Owner:慈溪市亿园蜜蜂授粉专业合作社

Optimization method of crop growth period model variety parameters based on constraint knowledge and elite individual strategy genetic algorithm

The invention brings forward a constraining knowledge and elite individual strategy genetic algorithm fusion-based crop growth period model variety parameter optimization method and belongs to the field of crop model variety parameter optimization methods. The method comprises the following steps: data preparation is made for crop growth period model variety parameter optimization; an initial range of crop growth period model variety parameters is graded; a phonological period which has key constraints for the model variety parameters are determined, a measured data range of the phonological period having key constraints is estimated, an improved genetic algorithm is set to control initial parameter value, an initial species population is generated, a fitness function is built, gene direction factors of individuals are built, a selection operator is built via a roulette method, a direction guide crossover operator is built, a direction and elite individual guide mutation operator is built, and elite individual-based local search is conducted. The constraining knowledge and elite individual strategy genetic algorithm fusion-based crop growth period model variety parameter optimization method can help address problems of low efficiency, inconsistency between optimization results and variety biology, and the like; parameter optimization accuracy and parameter optimization efficiency are improved, and the method has scientific significance and practical value.
Owner:NANJING AGRICULTURAL UNIVERSITY
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