公开(公告)号：US20240206728A1

公开(公告)日：2024-06-27

申请号：US18022758

申请日：2022-06-28

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Xiao LI ,  Qingqing CHEN ,  Jianxi ZHANG ,  Aiguo SONG

IPC: A61B3/113 ,  A63B22/00 ,  G16H20/30

CPC classification number: A61B3/113 ,  A63B22/00 ,  G16H20/30 ,  A63B2022/0092

Abstract: A robot-assisted hand-eye coordination training system based on a smooth pursuit eye movement and a guidance force field includes a virtual interactive scene module, a smooth pursuit eye movement detection module, a robot-assisted interception module and an impact force rendering module. The virtual interactive scene module can generate a virtual interactive scene having a virtual moving object and a virtual handle agent. The smooth pursuit eye movement detection module collects an eye movement signal of a user when the user performs pursuit eye movements on the virtual moving object to detect a smooth pursuit eye movement event. The robot-assisted interception module estimates a movement direction of the virtual moving object, generates an interception and guidance force field, and therefore generates assisting force to assist the user in interception. The impact force rendering module generates impact force according to an impact force computation model after collision is detected.

公开(公告)号：US20240177291A1

公开(公告)日：2024-05-30

申请号：US17785909

申请日：2021-11-15

Applicant: SOUTHEAST UNIVERSITY

Inventor： Wen XIONG ,  Chang XU ,  Yanjie ZHU

IPC: G06T7/00 ,  G06T3/60

CPC classification number: G06T7/0006 ,  G06T3/60 ,  G06T2207/10028 ,  G06T2207/30132

Abstract: The present invention discloses a method for detecting surface flatness of a precast beam based on a three-dimensional point cloud model, including the following steps: (1) performing, according to a specific geometry of a three-dimensional point cloud model of a target component in a three-dimensional coordinate system, coarse calibration and fine calibration on the model sequentially to determine a spatial rotation matrix and perform point cloud coordinate calibration; (2) determining normal vectors at positions of points of the three-dimensional point cloud model of the component according to a principal component analysis method and a K-nearest-neighbor principle, so that a to-be-detected surface is segmented and extracted by defining a normal vector direction and a coordinate interval; and (3) iteratively searching for an optimal reference plane according to a form relationship between the to-be-detected surface and the three-dimensional coordinate system and calculating flatness of the surface.

公开(公告)号：US11965620B2

公开(公告)日：2024-04-23

申请号：US17635967

申请日：2021-01-04

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Tianyuan Miao ,  Bincheng Shao ,  Baoguo Xu ,  Guangming Song ,  Bo Xu ,  Shuang Liu ,  Jihai Min

IPC: F16L55/28 ,  B25J11/00 ,  F16L101/30

CPC classification number: F16L55/28 ,  B25J11/008 ,  F16L2101/30

Abstract: The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.

公开(公告)号：US20240096483A1

公开(公告)日：2024-03-21

申请号：US18031152

申请日：2022-07-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Hong ZENG ,  Qingqing CHEN ,  Xiao LI ,  Yinxin DUAN ,  Jianxi ZHANG ,  Aiguo SONG

IPC: G16H40/63 ,  A61H1/02 ,  G05B13/02

CPC classification number: G16H40/63 ,  A61H1/0274 ,  G05B13/027 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2230/605

Abstract: An adaptive control method and system for an upper limb rehabilitation robot based on a game theory and surface Electromyography (sEMG) is disclosed. A movement trajectory that a robot is controlled to run within a training time is designed during subject operation. An sEMG-based Back Propagation Neural Network (BPNN) muscle force estimation model establishes a nonlinear dynamic relationship between an sEMG signal and end force by constructing a three-layer neural network. A human-computer interaction system is analyzed by the game theory principle, and a role of the robot is deduced. The control rate between the robot and a subject is updated by Nash equilibrium, and adaptive weight factors of the robot and the subject are determined. The robot adaptively adjusts the training mode thereof according to a movement intention of the subject during operation and a weight coefficient obtained by the game theory principle.

公开(公告)号：US11920993B1

公开(公告)日：2024-03-05

申请号：US18025186

申请日：2022-05-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Jingjing Xu ,  Shuyan Yang ,  Baoguo Xu ,  Huijun Li ,  Ruqi Ma

IPC: G01L1/18 ,  G01L5/1627

CPC classification number: G01L1/18 ,  G01L5/1627

Abstract: A miniature combined multi-axis force sensor structure includes a sensor body, a first shell and a second shell, two horizontal main beams and two vertical main beams are arranged on the periphery of an inner round platform in a cross shape, tail ends of the horizontal main beams and the vertical main beams are each connected to a vertical floating beam, and the horizontal floating beams consist of two thin-walled cambered beams; two ends of the horizontal floating beam are each connected to an outer round platform by means of an annular platform; the sensor body is arranged between the first shell and the second shell; strain gauges are stuck on the horizontal main beams and the vertical main beams to form two Wheatstone bridges; and when force/torque acts on the cross beam, the sensor deforms, and the resistance value of strain gauge at corresponding position changes.

公开(公告)号：US11914100B2

公开(公告)日：2024-02-27

申请号：US17421245

申请日：2020-06-04

Applicant: SOUTHEAST UNIVERSITY

Inventor： Tijing Cai

IPC: G01V7/06 ,  G01V7/00 ,  G01V7/16

CPC classification number: G01V7/06 ,  G01V7/00 ,  G01V7/16

Abstract: The present invention discloses a method for determining an inverse of gravity correlation time. During data processing on gravity measurement of moving bases, a gravity anomaly is considered as a stationary random process in a time domain, and is described with a second-order Gauss Markov model, a third-order Gauss Markov model or an mth-order Gauss Markov model, and the inverse of gravity correlation time is an important parameter of the gravity-anomaly model, and according to a gravity sensor root mean square error, a Global Navigation Satellite System (GNSS) height root mean square error, an a priori gravity root mean square, and a gravity filter cutoff frequency during the gravity measurement of the moving bases, an inverse of gravity correlation time of the second-order, third-order or mth-order Gauss Markov model is determined. According to the method for determining an inverse of gravity correlation time provided in the present invention, a forward and backward Kalman filter during data processing on gravity measurement of moving bases can be adjusted, to obtain a high-precision and high-wavelength-resolution gravity anomaly value.

公开(公告)号：US11912433B2

公开(公告)日：2024-02-27

申请号：US17275506

申请日：2020-04-15

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan Chen ,  Ping Yang ,  Lin Fang ,  Junwei Wang

IPC: B64D45/00 ,  G01C21/16

CPC classification number: B64D45/00 ,  G01C21/16 ,  B64D2045/0085

Abstract: A dual-filter-based transfer alignment method under dynamic deformation. A dynamic deformation angle generated under dynamic deformation and a coupling angle between dynamic deformation and body motion will reduce the accuracy of transfer alignment; and a transfer alignment filter is divided into two parts, the first part estimates a bending deformation angle and the coupling angle, and uses an attitude matching method, and the second part estimates a dynamic lever arm, and uses a “speed plus angular speed” matching method.

公开(公告)号：US20240062085A1

公开(公告)日：2024-02-22

申请号：US18470416

申请日：2023-09-19

Applicant: SOUTHEAST UNIVERSITY

Inventor： Yuchen HAN ,  Dongqing HAN ,  Yacheng SONG ,  Chuncheng ZHANG

IPC: G06N7/00

CPC classification number: G06N7/00

Abstract: The present invention discloses a method, system, storage medium and device for evaluating adaptive reuse of existing residential buildings. The method includes: substituting the research data of a to-be-evaluated residential building into an adaptability evaluation system to obtain an evaluation result, and determining a reuse mode of the to-be-evaluated residential building at a region position of a reuse mode decision-making matrix according to the evaluation result; the research data includes current quality data and reuse value data; each region of the reuse mode decision-making matrix corresponds to one reuse mode for existing residential buildings. According to the present invention, adaptability index data of the existing residential buildings are extracted through sample analysis based on a mathematical model, so that the evaluation value of the adaptability is obtained, and the most suitable reuse mode is determined by means of the reuse mode matrix.

公开(公告)号：US11909297B2

公开(公告)日：2024-02-20

申请号：US17771495

申请日：2021-11-29

Applicant: SOUTHEAST UNIVERSITY

Inventor： Wei Hua ,  Zhiheng Zhang ,  Qifan Xu

IPC: H02K7/09 ,  F16C32/04

CPC classification number: H02K7/09 ,  F16C32/0465

Abstract: A force-balancing magnetic bearing with an adjustable bias magnetic field for a stator permanent magnet motor is provided. The force-balancing magnetic bearing includes four permanent magnetic poles and four electromagnetic poles, wherein a magnetic field energy of the four permanent magnetic poles is sourced from a stator permanent magnet of the stator permanent magnet motor, each permanent magnetic pole is formed by a left permanent-magnet magnetic bridge, a right permanent-magnet magnetic bridge, a magnetic adjusting section, an electromagnetic pole stator, an electromagnetic pole and permanent magnetic pole isolation plate, a permanent-magnet two-side magnetic pole connection section, a left permanent-magnet magnetic pole and a right permanent-magnet magnetic pole, a magnetic flux of each permanent magnetic pole is adjusted by the magnetic adjusting section, and the four electromagnetic poles are adjusted by currents introduced into electromagnetic pole winding coils.

公开(公告)号：US11909214B2

公开(公告)日：2024-02-20

申请号：US17640603

申请日：2021-05-07

Applicant: SOUTHEAST UNIVERSITY

Inventor： Wu Chen ,  Liangcai Shu ,  Haozhe Jin ,  Xiaokun He

IPC: H02J3/38 ,  H02M1/00 ,  H02M7/483 ,  H02M7/487

CPC classification number: H02J3/38 ,  H02M1/0074 ,  H02M7/487 ,  H02M7/4835

Abstract: The present disclosure relates to the field of electric power system, and more particularly to a topology of a series-connected MMC with a small number of modules, where the topology is composed of a three-phase bridge circuit, half-bridge valve strings, a three-phase filter inductor, and a three-phase grid frequency transformer. The topology of a series-connected MMC with a small number of modules in the present disclosure needs only two half-bridge valve strings, thus greatly reducing the number of the submodules as compared with the conventional MMC structure. When achieving the same high DC voltage output, the present disclosure can improve the power density of the MMC, realize stable three-phase AC output voltage, and further achieve balance of capacitor voltages in the two half-bridge valve strings. Compared to the conventional MMC topology, the topology in the present disclosure can reduce the number of submodules by nearly ⅔, and has a greater AC-DC voltage transfer ratio, thus reducing the cost of the MMC converter, reducing the device size, and improving the power density.