-
公开(公告)号：US20220409305A1
公开(公告)日：2022-12-29
申请号：US17383498
申请日：2021-07-23
Applicant: Harbin Institute of Technology
Inventor： Longqiu Li , Dekai Zhou , Yongchang Zhang , Pengchun Li , Jiale Quan , Xiaocong Chang , Guangbin Shao
Abstract: The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. Wherein the robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The front end of each microfluid channels is a sealed end, a rear end of each of the microfluid channels is an open end. The open end of each microfluid channels communicates with an end opening of a flow channel of one air cylinder. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.
-
42.发明授权公开(公告)号：US11539309B2
公开(公告)日：2022-12-27
申请号：US17079432
申请日：2020-10-24
Applicant: HARBIN INSTITUTE OF TECHNOLOGY
Inventor： Weijia Shi , Xuyang Yu , Bo Zhao , Jiubin Tan
Abstract: A zero-voltage zero-current soft switching type driving method for an ultrasonic motor is provided, relating to the technical field of driving of a two-phase actuator. The disclosure solves the problems of high loss, high heat amount and the like in a traditional ultrasonic motor driving circuit. The method provided realizes resonance between series inductors and buffer capacitors by means of an optimal design of the inductance of matching inductors, the capacitance of buffer capacitors, a dead time value and a delay time value, thereby causing a power tube to realize zero-voltage and zero-current switching. Two signal input ends of a two-phase pseudo full bridge inverter are connected to a power grid, and two signal output ends of the two-phase pseudo full bridge inverter are respectively connected to two signal input ends of a matching circuit; and the output ends of the matching circuit are respectively connected to a two-phase ultrasonic motor.
-
公开(公告)号：US11521777B2
公开(公告)日：2022-12-06
申请号：US17699240
申请日：2022-03-21
Applicant: HARBIN INSTITUTE OF TECHNOLOGY
Inventor： Zhiyin Sun , Liyi Li , Donghua Pan , Kai Song , Yuxi Liu , Yinxi Jin , Zhilong Zou
IPC: H01F13/00
Abstract: A demagnetization method for a multilayer shielding apparatus is provided. In the demagnetization method, the demagnetization is realized on the basis of a demagnetization coil system. The demagnetization coil system includes a plurality of turns of demagnetization coils (2), a plurality of connection wires and a power supply module. The multilayer shielding apparatus includes at least two layers of shielding bodies (1); all the layers of shielding bodies (1) are sleeved layer by layer from inside to outside; a plurality of turns of demagnetization coils (2) are wound on each layer of shielding bodies (1) at intervals; and one half of each turn of demagnetization coils (2) is located inside the wound shielding bodies (1), and the other half is located outside the wound shielding bodies (1). Each demagnetization coil (2) is connected to the power supply module through the corresponding connection wire.
-
44.发明授权公开(公告)号：US11512976B2
公开(公告)日：2022-11-29
申请号：US17236237
申请日：2021-04-21
Applicant: Harbin Institute of Technology
Inventor： Ya Zhang , Qian Sun , Wei Gao , Fei Yu , Yanyan Wang , Xiuwei Xia , Jianxiong Wei , Weiqi Miao
Abstract: The disclosure discloses a latitude-free initial alignment method under a swaying base based on gradient descent optimization. Firstly, swaying base latitude-free alignment is regarded as a Wahba attitude determination problem to inhibit device noise interference, and an objective function is established based on a gravitational acceleration vector under an earth system; then an exact solution of the objective function is obtained through a gradient descent optimization method, and inertial system conversion quaternion estimation is achieved under the latitude-free condition; and finally, an attitude quaternion is determined by only using information of an accelerometer and a gyroscope of a strapdown attitude heading reference system, and therefore latitude-free initial alignment under the swaying base is achieved. The disclosure can solve the problem that initial alignment cannot be accomplished with unknown latitude under the swaying base, and thus the application range of the strapdown attitude heading reference system is ensured.
-
公开(公告)号：US20220350341A1
公开(公告)日：2022-11-03
申请号：US17026342
申请日：2020-07-10
Applicant: Harbin Institute of Technology
Inventor： liang Ding , haibo Gao , ye Yuan , yan Liu , zongquan Deng , shu Li , zhen Liu
Abstract: A three-layer intelligence system architecture and an exploration robot are provided. The three-layer intelligence system architecture includes: a digital twin module for creating a virtual exploration environment and a virtual robot according to explored environment data acquired in real time by the exploration robot and robot data of the exploration robot; a virtual reality module for generating a process and a result of the virtual robot executing the control commands in the virtual exploration environment according to the virtual exploration environment, the virtual robot, and control commands of a control personnel for the exploration robot; and a man-machine fusion module for transmitting the control commands and showing the control personnel the process and the result of the virtual robot executing the control commands in the virtual exploration environment, and causing the exploration robot to execute the control commands after acquiring a feedback indicating that the control personnel confirms the control commands.
-
Patent Agency Ranking
公开(公告)号：US20220349934A1
公开(公告)日：2022-11-03
申请号：US17626820
申请日：2021-07-27
Applicant: Harbin Institute of Technology
Inventor： Xingji Li , Jianqun Yang , Gang Lv , Yadong Wei , Xiaodong Xu , Tao Ying , Xiuhai Cui
IPC: G01R31/265 , G01R31/26
Abstract: The present invention provides a detection method for sensitive parts of ionization damage in a bipolar transistor, which includes the following steps: selecting an irradiation source, and carrying out irradiation test on the bipolar transistor to be tested; installing the irradiated bipolar transistor on a test bench of a deep level transient spectroscopy system, and setting test parameters; selecting at least two different bias voltages, and testing the bipolar transistor to obtain a deep level transient spectrum; determining whether a defect is an ionization defect according to a peak position of the defect signal in the deep level transient spectrum; determining the defect type as oxidation trapped charges or an interface state according to the level of the defect signal in the deep level transient spectrum; and determining the sensitive area of ionization damage in the bipolar transistor according to the determination result of the defect signal type.
-
公开(公告)号：US20220349843A1
公开(公告)日：2022-11-03
申请号：US17626819
申请日：2021-07-27
Applicant: Harbin Institute of Technology
Inventor： Xingji Li , Jianqun Yang , Xiaodong Xu , Gang Lv , Xiuhai Cui , Tao Ying , Yadong Wei
IPC: G01N23/18
Abstract: The present invention provides a detection method for radiation-induced defects of an oxide layer in electronic devices. The detection method includes the following steps: selecting a semiconductor material to be prepared into a substrate; preparing a back electrode on an upper surface of the substrate; growing an oxide layer on the back electrode; etching one side of the oxide layer, and exposing an etched part out of the back electrode; preparing a front electrode on an upper surface of the oxide layer; forming a plurality of grooves in the front electrode, and distributing the plurality of grooves in a grid shape to prepare a test sample; and performing a radiation test on the test sample, and detecting radiation-induced defects. By using the detection method provided by the present invention, rapid identification and detection of electrons and holes are achieved.
-
公开(公告)号：US20220334287A1
公开(公告)日：2022-10-20
申请号：US17238447
申请日：2021-04-23
Applicant: Harbin Institute of Technology
Inventor： Kai Song , Ying Sun , Tian Zhou , Guo Wei , Chunbo Zhu
Abstract: The disclosure discloses a detection coil structure based on interlayer coupling and a metal object detection system. The detection coil structure includes: a top sub-detection coil and a bottom sub-detection coil, wherein the top and bottom sub-detection coils are the same in structure and similar or same in size and are orthogonal to each other, and both the outer boundaries and geometric symmetry centers of the detection coils are completely coincident; the top sub-detection coil includes a first terminal, a second terminal, a third terminal and a fourth terminal, and the bottom sub-detection coil includes a fifth terminal, a sixth terminal, a seventh terminal and an eighth terminal; and the first terminal is connected to the second terminal, the seventh terminal is connected to the eighth terminal, and the third terminal and the fourth terminal are respectively connected to the fifth terminal and the sixth terminal. When there is no metal object near the coil, the top and bottom sub-detection coils are completely decoupled, and the mutual inductance is zero. When there is a metal object near the coil, the detection coil structure can significantly amplify the impedance variation of the metal object to the entire detection coil to improve the detection effect by means of the mutual inductance coupling effect between the top and bottom sub-detection coils, and at the same time, a staggered arrangement structure can further eliminate non-detection blind zones.
-
公开(公告)号：US20220331739A1
公开(公告)日：2022-10-20
申请号：US17809902
申请日：2022-06-30
Applicant: HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN
Inventor： Rongshu ZHU , Qitong ZHAO , Manyu ZHU
IPC: B01D53/86
Abstract: A device for gas purification treatment may include: a light oxidation reactor, a light source being disposed in the light oxidation reactor, the light source being configured to emit first light and second light, the light oxidation reactor being configured to perform a first-stage purification treatment on a gas under irradiation of the first light; a catalytic ozone oxidation reactor configured for second-stage purification treatment of the gas; a photocatalytic reactor configured to perform a third-stage purification treatment on the gas under irradiation of the second light; wherein, the photocatalytic reactor is adjacent to the light oxide reactor, and the photocatalytic reactor and the light oxide reactor are separated by a light transmittance component, so that the second light passes through the light transmittance component into the photocatalytic reactor.
-
公开(公告)号：US20220309835A1
公开(公告)日：2022-09-29
申请号：US17516725
申请日：2021-11-02
Applicant: Harbin Institute of Technology, Weihai
Inventor： Xin HU , Deqiong DING , Zhengzuo LI , Zhiyuan ZHOU , Dianhui CHU
Abstract: In the multi-target detection and tracking method, lidar (2D laser scanner) scans point cloud data of surroundings and transfers the collected data to the edge server. Then, the edge server uploads the data to the cloud. After obtaining the lidar data, point clouds of footsteps are extracted through dynamic point extraction, point clustering, and random forest model, respectively. Footsteps are matched to form human tracking trajectory by using trajectory matching. After the tracking process, the walking information is published to the users, in a visual form. Meanwhile, the gait parameters are saved into files, including walking speed and step length, when human is detected. Comparing to the visual sensor based human tracking methods, the present invention employs lidar to avoid the interference of ambient light, which leads to easier implementation and larger universality, especially for multi-target scenarios.
-
-
-
-
-
-
-
-
-
Search Results
427
records
(took 0.026 seconds)
