4848 results about "Relative motion" patented technology

The invention discloses an ultra-wideband laser radar inertial navigation cooperative SLAM (Simultaneous Localization and Mapping) method and system, which are suitable for robot positioning and mapping tasks in a GPS (Global Positioning System)-free environment. According to the method, high-frequency motion priori of an IMU, relative pose constraint of LiDAR and absolute ranging information of UWB are fused, a unified factor graph optimization model is constructed, and multi-sensor cooperative positioning is realized; in the system initialization stage, IMU bias calibration, UWB base station coordinate configuration and LiDAR initial attitude estimation are completed; in the operation process, IMU pre-integration is utilized to predict the pose, LiDAR point cloud registration is utilized to obtain the relative motion between key frames, UWB ranging is combined to construct a residual item, a self-adaptive weight mechanism is introduced to suppress ranging abnormity, and the fusion robustness is improved; the system supports geometric feature loopback detection, cross-frame constraints are constructed in combination with UWB to carry out closed-loop optimization, and an optimization result is used for real-time incremental updating of a global map; the method has the advantages of high positioning precision, strong anti-interference capability, wide application scene and the like.

A seating unit includes: a frame having a pair of arms, wherein each of the arms includes a cutaway portion in a lower rear area thereof, the cutaway portion configured to receive a tread and a riser of a riser arrangement; a backrest; a seat; a first footrest; a reclining mechanism; and a linear actuator. The reclining mechanism is connected between the backrest, seat, and first footrest, the reclining mechanism comprising a series of pivotally interconnected links and configured to move the seating unit between: (a) an upright position, in which the backrest is disposed at a first generally upright backrest angle relative to the seat, the seat is disposed at a first generally horizontal seat angle and at a first longitudinal position, and the first footrest is retracted below a forward portion of the seat; and (b) a fully reclined position, in which the backrest is disposed at a second backrest angle relative to horizontal that is shallower than the first backrest angle, the first footrest is extended in front of the seat, the seat has a second seat angle that is deeper relative to horizontal than the first seat angle, and the seat has a second longitudinal position that is rearward of the first longitudinal position. The reclining mechanism includes a footrest mechanism attached to the first footrest, the footrest mechanism configured to control relative movement of the first footrest relative to the seat. The linear actuator is attached to the reclining mechanism and the footrest linkage and configured to move the backrest, seat and first footrest between the upright and fully reclined positions. The linear actuator and the footrest linkage reside entirely below a front portion of the seat and in front of the cutaway portion of the arms.

The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle flight path positioning method and system based on multi-source information fusion. The method comprises the following steps: acquiring an original observation data stream of an unmanned aerial vehicle in real time through a sensor array, and preprocessing to output a multi-source data sample set; calculating relative motion increment between adjacent key frames through an IMU pre-integration model, and extracting local pose estimation through a visual geometric calculation method; evaluating the confidence of each sensor in real time to dynamically generate an adaptive weight coefficient; and constructing a tight coupling fusion filter taking position, speed and attitude errors as core state quantities, and outputting a global optimal trajectory of the unmanned aerial vehicle. According to the invention, the weight is dynamically distributed through the real-time confidence of the sensor, the multi-source data association is fully mined, and the flight path positioning precision and environmental adaptability of the unmanned aerial vehicle are improved.

The invention relates to an autonomous navigation method for lunar satellite formation and a second-order filtering navigation architecture, and the autonomous navigation method comprises the steps: obtaining orbit prediction information based on a kinetic model of the lunar satellite formation, and obtaining collaborative theory observation information based on a collaborative observation model, carrying out fusion processing on orbit prediction information, collaborative theory observation information and multi-source observation data of in-orbit observation by using an extended Kalman filtering algorithm, and estimating an absolute orbit state of the lunar satellite formation; establishing a relative motion model of the slave satellite under the local coordinate system of the master satellite, and establishing a relative measurement model; and taking the absolute orbit state of the master satellite as a reference datum, obtaining a preliminary prediction relative orbit state based on the relative motion model of the slave satellite, and obtaining relative measurement data including distance measurement and angle measurement based on the relative measurement model, and fusing the relative measurement data and the preliminarily predicted relative orbit state through an extended Kalman filtering algorithm to estimate the relative orbit state of the slave satellite. Navigation may be independent of ground support.

The invention discloses a columnar transparent part defect detection method, and relates to the technical field of optical detection and machine vision, and the detection method comprises a detection preparation stage, a detection pose configuration stage, a structured light stripe excitation stage, a machine vision detection stage, a model optimization evaluation stage, and a detection post-processing stage. According to the defect detection method for the columnar transparent part, the comprehensive performance of defect detection of the columnar transparent part is remarkably improved through the synergistic effect of coaxial pose optimization, composite structure light source design and improved YOLOv8 deep learning model; various common surface and subsurface defects in production are covered; the real-time detection requirement of an industrial production line is met through relative movement of the part and the light source and high-speed image acquisition and processing; the system has strong anti-interference capability, and can adapt to detection scenes of different materials, sizes and environmental conditions.

The invention discloses a graph optimization-based UWB / IMU / GNSS multi-unmanned vehicle cooperative positioning method, which comprises a global satellite navigation system GNSS, an ultra wide band (UWB) system, an inertial measurement unit IMU and a robot motion control system, and is characterized in that the UWB system comprises a UWB label and three UWB base stations, the UWB label is deployed on a target unmanned vehicle to be positioned, and the UWB label is deployed on the target unmanned vehicle to be positioned; and the three UWB base stations are respectively arranged on the other three unmanned vehicles as mobile base station unmanned vehicles. The GNSS module and the IMU module are deployed on the unmanned vehicle to serve as a movable UWB base station, and GNSS absolute position information and IMU relative motion information are fused by adopting an extended Kalman filtering algorithm; and according to the determined position of the unmanned vehicle in the movable base station, a distance observation value between the label and the base station is obtained based on a single-side bidirectional distance measurement method, a factor graph model fusing UWB distance measurement constraint and IMU motion constraint is constructed, and a factor graph optimization algorithm is adopted to optimize the position of the target unmanned vehicle. According to the method, the cost of a traditional fixed base station is reduced through the deployment of a mobile base station unmanned vehicle, and the precision and robustness of UWB system positioning in a complex environment are improved in combination with a multi-source sensor data fusion strategy.

The screen display glass film tearing equipment comprises a screen display glass loading unit, a film tearing unit and an adhesive supply unit, the screen display glass loading unit comprises a carrying table and a moving mechanism, the carrying table is used for positioning screen display glass downwards from a to-be-torn film, the film tearing unit is located below the to-be-torn film and comprises a film tearing head and a power device, and the film tearing head comprises a film tearing seat, a clamping jaw and a roller; the power device comprises a first power piece and a second power piece. On one hand, on the basis of movement cooperation of the clamping jaw and the rolling wheel, aligned gradual stripping of the rolling position and the stripping position of the to-be-torn film is kept, and on the other hand, the overturning angle is increased based on follow-up overturning of the extending section, so that the success rate of forming the stripping angle by inward overturning of the to-be-torn film is greatly increased; the probability that the glue is separated from the to-be-torn film or the corner of the to-be-torn film is torn is effectively reduced; on the other hand, diagonal film tearing is formed based on the relative movement of the screen display glass and the clamping jaw, the risk that the protective film is torn or falls off is reduced, and the whole film is torn off more efficiently in a more labor-saving mode.

The invention relates to a protective film uncovering process based on corner lifting and rolling cooperation type screen display glass. The protective film uncovering process comprises the following steps: S1, corner lifting; s2, tearing off; and S3, collecting the film. On one hand, through cooperation of the film tearing clamping jaw and the rolling wheel, step-by-step peeling with the rolling position and the peeling position aligned is kept, meanwhile, the angle between the connecting section and the screen display glass is gradually increased on the basis that the connecting section is turned inwards under the condition that the adhesion section is not stressed, the success rate of forming an inwards-turned peeling angle is greatly increased, and the production efficiency is improved. The probability that the film-tearing adhesive tape is separated from the protective film or the corner of the protective film is torn is reduced; on the other hand, the complete tearing rate of the protective film is increased based on the relative movement of the glass and the film tearing clamping jaw, the tearing risk of the protective film is reduced, more labor-saving and faster diagonal tearing is achieved, meanwhile, based on pulling formed by the film collecting clamping jaw and the film tearing clamping jaw and airflow blowing cooperation formed by the film collecting clamping jaw and the film tearing clamping jaw, the completeness of film collecting is improved, and the production efficiency is improved. And the problem that the film tearing adhesive tape is adhered to the film tearing clamping jaw is solved, so that the continuity of peeling off the protective film is improved.

The invention discloses a satellite formation autonomous control method based on relative motion fitting, belongs to the technical field of spacecraft control, and aims to solve the problem that a traditional formation control method cannot meet formation control requirements in an environment with navigation signal deficiency. The method comprises the following steps: step 1, when a main satellite passes through an ascending node, performing relative motion fitting by utilizing inter-satellite spacing and direction of a plurality of discretely distributed sub-satellites relative to the main satellite observed in a previous orbital period so as to obtain coefficients of relative motion functions of the sub-satellites; step 2, obtaining orbit parameter deviation of the child satellites relative to the primary satellite according to the coefficient of the relative motion function of the child satellites; step 3, acquiring a control vector and a control duration required by the formation adjustment of the child satellites according to the orbit parameter deviation; and step 4, each sub-satellite performs autonomous control according to the control vector and the control duration obtained in the step 3. The method is used for satellite formation autonomous control.

The double-sided film tearing equipment for the screen display glass comprises a lower film tearing system and an upper film tearing system. On one hand, on the basis of multi-motion cooperation of the clamping jaw and the roller, the corner of the to-be-torn film is gradually torn off by keeping the rolling position and the stripping position aligned under blowing of airflow, the probability that the adhesive tape is separated from the to-be-torn film or the corner of the to-be-torn film is torn off is greatly reduced, and the success rate that the to-be-torn film forms the tearing angle is effectively increased; meanwhile, diagonal film tearing is formed based on relative movement of the glass and the clamping jaws, the risk that the protective film is torn or falls off is reduced, and more labor-saving and efficient film tearing is achieved; on the other hand, a torn film is clamped based on a film stripping chuck and cooperates with airflow blowing to separate an adhesive self-clamping jaw so as to improve the film stripping success rate, and in combination with butt joint of upper and lower film stripping system self-carrying tables which are reversely arranged, the direction of the film to be torn is switched in a turnover-free manner, so that the glass pollution or collision risk is remarkably reduced, the product yield is improved, and the production cost is reduced. Moreover, stable and continuous implementation of double-sided film tearing of multiple pieces of glass is ensured, and the film tearing efficiency is greatly improved.

The invention discloses an aircraft intelligent trajectory planning and cooperative control method based on offline optimization-intelligent learning-online guidance, and the method comprises the steps: firstly building an aircraft motion model and an aircraft-target relative motion model, and constructing a full-airspace and full-feature-point optimal trajectory data set; secondly, parameterized representation is carried out on the three-dimensional optimal trajectory, and a proportional guidance coefficient data set is constructed; then neural network training fitting is carried out on the proportional guidance coefficient data set, and a multi-constraint guidance method based on a neural network is designed; and finally, designing a three-dimensional collaborative guidance law by combining a multi-constraint guidance method and a residual time accurate estimation technology. According to the invention, the problems of insufficient real-time performance, incapability of meeting index optimality, incapability of coping with multiple constraints, difficulty in realizing multiple flight modes and the like of the existing trajectory planning and collaborative guidance technology are solved; the multi-constraint and optimality of the trajectory are realized through offline optimization, the global adaptability and small calculation amount of the trajectory are realized through intelligent learning, and a multi-cooperative flight mode is realized through online cooperative guidance.

The invention discloses deep ploughing and soil crushing equipment for agricultural soil, and relates to the technical field of deep ploughing and soil crushing equipment. Comprising a cylinder, the cylinder is rotationally connected with a connecting assembly, an arc plate is fixedly connected to the outer side of the cylinder, a circular groove is formed in the outer side of the arc plate, a conical block is fixedly connected to the bottom of the arc plate, a fixing strip is fixedly connected to the inner wall of the cylinder, a circular rod is fixedly connected to the bottom of the conical block, and a sleeve is slidably connected to the outer side of the circular rod; the bottom of the round rod is fixedly connected with a reset spring, and the end, away from the round rod, of the reset spring is fixedly connected with a scraper. According to the deep ploughing and soil crushing equipment for agricultural soil, soil is dug up through an outer side arc plate and conveyed to the position near an inner fixing cylinder, the inner fixing cylinder rotates in the opposite direction, relative movement is formed between the inner fixing cylinder and the inner fixing cylinder, the shearing and kneading effects are generated, and then connection between soil particles is further damaged through crushing blocks on the outer side of the fixing cylinder; and therefore, the soil is crushed more finely.

The invention discloses a three-dimensional human body posture estimation method and system, and relates to the technical field of computer vision, and the method comprises the steps: extracting two-dimensional human body posture key points from a monocular video picture sequence, and generating a two-dimensional human body posture key point sequence; projecting the two-dimensional key point sequence to a feature space through nonlinear high-dimensional mapping to generate a high-dimensional feature space matrix; and inputting the high-dimensional feature matrix into a three-dimensional human body posture recognition model fusing motion constraints and frequency division spatial-temporal features to obtain a three-dimensional human body posture key point sequence, and realizing three-dimensional human body posture estimation through three-dimensional coordinates. According to the method, the robustness and the detection precision of the monocular three-dimensional human body posture estimation method are improved. Error values of relative movement speed, skeleton length and skeleton direction of the key points are calculated, so that training is easier to converge, and the training process is more stable.

A robotic gripper including one or more fingers and at least one actuator for acting on the fingers in order to grip an object, the gripper including at least one sensor sensitive to a relative movement between the object manipulated by the gripper and the latter, this sensor delivering an output signal, a control system configured to execute at least one machine-learning algorithm trained to deliver, based on the one or more output signals generated by the one or more sensors, at least one slippage-detection score representative of the confidence of the algorithm in the presence of slippage, and to transmit control data to the actuators controlling the one or more fingers, the control data being generated so as to relate the strength of the forces applied by the one or more fingers to said score.

The invention provides a potential field-based ship navigation early warning method and device, a medium and a product. The method comprises the steps of obtaining a ship state, a static obstacle set, a navigation rule set and environment disturbance and uncertainty information; carrying out dimensionless scale unification and risk mapping normalization on the information; obtaining a static environment potential field of the ship at the current track point based on the difference between the shortest distance from the track point to the static obstacle set and the safety redundancy; constructing a dynamic interaction potential field based on the target ship state and the relative motion urgency; triggering a navigation rule based on an encounter state identification result, generating a rule constraint and constructing a rule constraint potential field; expansion correction is carried out on the security redundancy based on the uncertainty information to construct an uncertainty correction potential field; fusing to obtain a total potential field; and obtaining a risk index and an early warning level according to the total potential field. According to the technical scheme, risk early warning is achieved based on the computable multi-dimensional safety potential field, and compliance, stability and robustness are improved under the conditions of complex water areas and multi-ship encounter.

The invention provides a bridge anti-collision early warning method and device, and relates to the field of bridge anti-collision early warning. The method comprises the following steps: acquiring visual perception data corresponding to a target ship, and acquiring bridge structure data corresponding to a target bridge; constructing multi-source analysis data according to the visual perception data and the bridge structure data; according to the multi-source analysis data, obtaining a ship response lag factor set and a bridge structure risk constraint set through preprocessing operation; inputting the multi-source analysis data into a ship trajectory prediction model, and outputting a predicted trajectory path corresponding to the target ship; according to the predicted trajectory path and the ship response lag factor set, constructing a dynamic safety envelope area between the target bridge and the target ship; obtaining a dynamic safety envelope area, a bridge structure risk constraint set and a target intersection in the relative movement process of the target ship and the target bridge; and based on the target intersection, calculating a risk level of collision between the target ship and the target bridge, and sending an anti-collision early warning prompt to the target ship according to the risk level. According to the method, the problems of frequent occurrence of false alarm or missing report and remarkable early warning hysteresis caused by difficulty in effective modeling of ship nonlinear trajectory offset in a strong wind current environment in a traditional bridge anti-collision technology are solved.

A hinge device of a portable terminal having a foldable structure, according to the present invention, comprises: a housing positioned between one-end portions of a first body and a second body; a first hinge blade and a second hinge blade fixed to the first body and the second body and rotationally supported on the housing to perform rotation movement as much as a predetermined angle between an ‘unfolded position’ at which the first body and the second body are placed on the same horizontal line and a ‘folded position’ at which the first body and the second body are facing and in contact with each other; and a slide member for interlocking the first hinge blade and the second hinge blade to perform a relative motion, wherein a first inclined guide protrusion and a second inclined guide protrusion are formed on bottom surfaces of the first hinge blade and the second hinge blade, a first inclined guide groove and a second inclined guide groove are formed on a top surface of the slide member in correspondence thereto, and the slide member is installed in the housing to reciprocate a predetermined distance in a direction of hinge axis line.

The invention discloses a precision aspheric part profile measurement method. The method comprises the following steps: constructing a measurement system; point cloud data acquisition: controlling relative movement of a spectrum confocal sensor and a rotatable workpiece table in the measurement system, and acquiring three-dimensional point cloud data of the surface of the aspheric part in a spiral scanning mode or a layered annular scanning mode; performing fusion processing on the collected point cloud data, and preliminarily estimating the optical axis direction based on principal component analysis (PCA); and based on the fused point cloud data, calculating parameters such as an optical axis position and an attitude of the aspheric part, determining a curved surface equation of the optical element, calculating a transformation matrix, and performing point cloud coordinate transformation. According to the method, the spectrum confocal measurement technology is utilized, the high-precision position information aspheric part appearance measurement technology is fused, the three-dimensional appearance data of the whole surface of the aspheric part can be obtained in a non-contact and high-precision mode, and key parameters such as the optical axis of the aspheric part can be determined.

The invention relates to the technical field of grinding machines, and discloses a surface grinding machine which comprises a rotary type grinding mechanism and a linkage type pressure applying mechanism. A hollow rotating column which can rotate along with the second butt-joint plate and is in a hollow state, a fifth butt-joint plate which can axially move along the hollow rotating column and rotate along with the hollow rotating column, and a spiral spring which generates downward elastic pressure on the fifth butt-joint plate are arranged in the second butt-joint plate. According to the surface grinding machine, the basic circular motion type grinding effect of the plane grinding disc on the surface of an object is utilized, and the relative motion of the built-in grinding block around the petal-shaped closed sliding groove is combined, so that the grinding block can generate radial reciprocating motion relative to the rotating axis on the surface of the object, and the grinding efficiency of the object is improved; the two kinds of grinding movement are from the same driving motor, and therefore the effective utilization rate of the driving motor can be effectively increased.

The invention relates to the technical field of automobile active obstacle avoidance, and provides an electric automobile obstacle avoidance control method and system, and the method comprises the steps: obtaining obstacle data, and generating a vector model of an obstacle; projecting the obstacle to the relative motion direction of the current vehicle based on the vector model, and judging whether scraping and collision occur relative to the operation parameters of the current vehicle; when the scraping and collision probability exceeds a preset risk value, generating an obstacle avoidance control instruction deviating from obstacle projection; wherein the obstacle avoidance control instruction comprises a steering angle automatic response instruction of the current vehicle under the current path curvature and a self-feedback torque enhancement instruction based on road surface friction. Through vector model projection and relative motion direction analysis, dynamic evaluation of obstacle collision probability and cooperative control of steering angle automatic response and torque enhancement, path correction and power output are considered, different road conditions (such as ice and snow / wet and slippery road surfaces) are automatically adapted, and active intervention is performed before a preset risk threshold value is triggered.

The invention discloses a power electronic networking equipment stability analysis method, system, equipment and medium, and the method comprises the following steps: building a full-system state space model, carrying out the cross validation of the full-system state space model through employing a modal analysis method, an impedance analysis method and a complex torque analysis method, and obtaining the stability of the full-system state space model; obtaining a multi-mode coupling stability analysis result; according to the multi-mode coupling stability analysis result, constructing a power grid s domain node admittance matrix; establishing a virtual power angle dynamic equation of the network-forming converter, and optimizing control parameters according to an evaluation result; an inertia center reference system is adopted, a dynamic interaction model of the synchronous machine and the network-forming converter is established, and dynamic coupling characteristics between devices are analyzed through a relative motion equation. According to the method, the comprehensiveness, the precision and the engineering applicability of dynamic stability analysis of the novel power system are improved through fusion of a multi-dimensional collaborative evaluation framework and an innovative technical system.

The invention discloses a reverse anti-blocking check valve, and relates to the technical field of valve bodies, the reverse anti-blocking check valve comprises a check valve body, and an expansion part is arranged on the surface of a valve plate, facing the fluid direction, of the check valve body; the expansion component comprises a bearing column fixed to the center axis of the surface of the valve plate, and a limiting ring is fixed to the axial top end of the bearing column. The expansion part is arranged on the incident flow side of the valve plate, the dynamic response function in the valve opening and closing process is achieved, when fluid is impacted in the forward direction, the expansion part is unfolded under the fluid pressure effect, the contact arc plate is automatically attached to the inner wall of a pipeline, an auxiliary sealing ring is formed, and the sealing performance is effectively improved; when the fluid pressure is weakened, the expansion component retracts by means of the spring, so that the contact arc plate is separated from the inner wall of the pipeline and generates relative motion, the cleaning effect similar to that of a scraper is achieved, dirt attached to the pipe wall and the surface of a key structure can be effectively peeled off, and the self-cleaning capacity and the anti-blocking effect of the valve are improved.

An expandable introducer sheath with an interlock dilator. The present technology provides an expandable sheath with a step feature inside its distal opening, and a dilator with an interlock that includes a catch surface configured to engage with the step feature and resist further relative movement so that the body of the dilator is prevented from exiting the distal end of the expandable sheath. This interlocking engagement may allow the dilator to be used to extend and maintain tension on the expandable sheath during insertion into a patient, and then to be retracted from the expandable sheath by pulling the dilator in the opposite direction. The present technology also provides a dilator hub with a spring mechanism configured to achieve and maintain a desired tension on the expandable sheath and to prevent overextension of the expandable sheath when the dilator is being inserted into the expandable sheath.

The invention relates to the technical field of stackers, in particular to a rigid anti-swing device of a stacker for an automatic stereoscopic warehouse, which comprises the stacker, a first-stage moving platform and a second-stage moving platform arranged on one side of the stacker, an objective table arranged above the second-stage moving platform, a scissor-fork type connecting rod mechanism, a buffer mechanism and a protection mechanism, the scissors fork type connecting rod mechanism is connected between the first-stage moving platform and the second-stage moving platform of the stacking machine. The shear fork type connecting rod mechanism is additionally arranged between the first-stage moving platform and the second-stage moving platform, the relative motion between the two platforms is forced to be single and determined linear motion, the connecting rigidity in the transverse direction and the vertical direction is greatly enhanced, and therefore basic shaking caused by sudden acceleration change and structural elastic deformation is restrained.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the inner rim. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. Each of the gas springs may have a controllable gas pressure. The wheel assembly also includes a wheel rotational position sensor, a vehicle operator control input interface, and a controller configured to control the gas pressure in each of the gas springs in a pattern in response to the wheel rotational position sensor and vehicle operator control input interface to assist in one of overcoming a rolling resistance of the wheel and a braking of the wheel.

The invention discloses an anti-blocking peek extruder, and belongs to the technical field of plastic processing, the anti-blocking peek extruder comprises an extrusion cylinder, a main shaft and a driving mechanism, the right side of the extrusion cylinder is provided with an extrusion nozzle, the left side of the extrusion cylinder is provided with a linkage mechanism, and the extrusion cylinder is internally provided with a centrifugal mechanism and an electromagnetic heating mechanism. Through the synergistic effect of the linkage mechanism and the driving mechanism, dynamic sensing and self-adaptive adjustment of resistance in the extrusion process are achieved, the technical problem that a high-viscosity PEEK material is prone to blockage is effectively solved, the driving mechanism transmits power through meshing of a limiting groove and a limiting strip, heating power is automatically triggered to be increased when the resistance is increased, and the heating efficiency is improved. The melt flowability is ensured; the electromagnetic heating mechanism generates eddy current heating through relative movement of a permanent magnet and a coil, and the heating effect during high-speed extrusion is remarkably improved; the homogenizing mechanism monitors the material compaction degree in real time through a pressure sensor, the feeding speed is intelligently adjusted, and hollowing or overpressure blockage is avoided.

The utility model discloses an ultrasonic composite magnetic field auxiliary polishing device, and belongs to the field of precision machining of curved surfaces of complex structures. The device comprises a six-axis precision machine tool, an electric spindle, an ultrasonic vibration device, a multi-magnetic-pole coupling polishing device, a workpiece, a connecting clamping device and an industrial control host, the electric spindle is clamped on an A-axis indexing table of the machine tool, the ultrasonic vibration device is installed at the tail end of the electric spindle, and the multi-magnetic-pole coupling polishing device is installed at the lower end of the ultrasonic vibration device through a connecting sleeve. According to the types of magnetic poles, the multi-magnetic-pole coupling polishing device is divided into a permanent magnetic pole polishing device, an electromagnetic pole polishing device and a mixed magnetic pole polishing device. The industrial control host controls all the modules to achieve cooperative movement, the multi-magnetic-pole coupling polishing device generates a coupling rotating magnetic field, the ultrasonic vibration device enhances relative movement between the surface of a workpiece and a polishing medium, and the polishing consistency and the machining quality of a complex structure curved surface are improved.

The invention discloses a satellite-borne inverse synthetic aperture radar motion compensation imaging calibration integration method, equipment and a medium, and relates to the technical field of radar signal processing and radar imaging. The objective of the invention is to solve the problems of inaccurate motion compensation and difficult large-rotation-angle imaging in ISAR imaging. According to the method, a particle swarm optimization algorithm is adopted to optimize motion parameters, optimal motion parameters are obtained, and the motion parameters comprise relative translation motion parameters and relative rotation motion parameters of a target and a radar; and obtaining focusing and calibration imaging results based on the optimal motion parameters and echo data reflected by the target. The influence of the translation compensation effect on rotation parameter estimation is reduced, more accurate parameter estimation and better imaging focusing performance are realized, and the ISAR imaging problem under the condition of violent relative movement in the rendezvous scene is solved.

A delivery apparatus including a measurement device to monitor the real-time diameter of a prosthetic heart valve can include a handle, at least one first actuator extending from the handle and being configured to apply a distally directed force to a proximal end portion of a prosthetic heart valve, at least one second actuator extending from the handle and being configured to apply a proximally directed force to a distal end portion of a prosthetic heart valve, a sensor, and first and second motion-transmitting members coupled to the first and second actuators, respectively, and having proximal ends coupled to the sensor, wherein the sensor senses relative movement between the motion-transmitting members upon actuation of the first and second actuators to determine the diameter of the prosthetic heart valve as it expands from a radially compressed configuration to a radially expanded configuration.

The invention relates to the technical field of target simulation, in particular to a dynamic flight target infrared simulation method and system, and the method comprises the steps: firstly calculating a target three-dimensional temperature field, and then generating infrared radiation characteristic diagrams of different attitudes through the rendering of the data of the three-dimensional temperature field, so as to construct a target infrared characteristic diagram data set; during simulation, according to simulation data, the infrared radiation characteristic diagram number of the target under the corresponding attitude is solved, and target imaging parameters are calculated; calling a posture infrared radiation characteristic diagram corresponding to the target by using the number, adjusting the target image according to the target imaging parameter, and fusing the target image with the background to generate an infrared scene diagram; and finally, converting the scene graph into a thermal radiation signal through an infrared target simulator, and simulating a relative visual angle of the target and the aircraft by using a five-axis simulation turntable to realize dynamic target relative motion simulation detection semi-physical simulation. The method solves the problems of poor real-time performance and low fidelity of infrared target simulation in the prior art, and has the advantages of high simulation efficiency and good fidelity.