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81.发明授权公开(公告)号：US10962976B1
公开(公告)日：2021-03-30
申请号：US17094820
申请日：2020-11-11
Inventor： Zhengxing Wu , Junzhi Yu , Shuaizheng Yan , Jian Wang , Min Tan
Abstract: A motion control method and system for a biomimetic robotic fish based on an adversarial structured control, includes: taking the accuracy and speed of motion to the target point as a reward term, and taking a power sum of servomotors as a loss term to construct an optimization objective function; optimizing parameters of a central pattern generator model that generates a global control quantity of a servomotor, after curing its parameters, optimizing the parameters of the servomotor compensation control model; iteratively optimizing the parameters of the model; obtaining the global control signal and compensation control signal of the biomimetic robotic fish through the trained model, and using the linear combination of the two sets of output signals as the control signal of the servomotor of the robotic fish to realize the motion control of the fish.
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公开(公告)号：US10935986B1
公开(公告)日：2021-03-02
申请号：US17069868
申请日：2020-10-14
Inventor： Junzhi Yu , Zhengxing Wu , Jian Wang , Shuaizheng Yan , Min Tan
Abstract: A gliding depth control method for a biomimetic gliding robotic dolphin includes: obtaining a preset gliding depth and a preset yaw angle; obtaining an estimated velocity by a sliding mode observer based on depth information and inertial navigation information, and obtaining a control quantity of pectoral fins on both sides of the biomimetic gliding robotic dolphin by a yaw controller in combination with the preset yaw angle; obtaining a segmented diving velocity reference trajectory by constructing and segmenting a Bézier curve; obtaining a diving control quantity by a model predictive control method in combination with the estimated velocity; obtaining a target position of a piston through a buoyancy principle, and obtaining a control quantity of the piston according to a current position of the piston; and controlling the biomimetic gliding robotic dolphin to glide based on the control quantity of the piston and the control quantity of the pectoral fins.
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83.发明授权公开(公告)号：US10923136B2
公开(公告)日：2021-02-16
申请号：US16645447
申请日：2019-04-19
Inventor： Jiaming Xu , Yating Huang , Bo Xu
IPC: G10L25/30 , G10L21/0208
Abstract: A speech extraction method based on the supervised learning auditory attention includes: converting an original overlapping speech signal into a two-dimensional time-frequency signal representation by a short-time Fourier transform to obtain a first overlapping speech signal; performing a first sparsification on the first overlapping speech signal, mapping intensity information of a time-frequency unit of the first overlapping speech signal to preset D intensity levels, and performing a second sparsification on the first overlapping speech signal based on information of the preset D intensity levels to obtain a second overlapping speech signal; converting the second overlapping speech signal into a pulse signal by a time coding method; extracting a target pulse from the pulse signal by a trained target pulse extraction network; converting the target pulse into a time-frequency representation of the target speech to obtain the target speech by an inverse short-time Fourier transform.
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84.发明申请公开(公告)号：US20210042929A1
公开(公告)日：2021-02-11
申请号：US16968573
申请日：2019-04-19
Inventor： Xin ZHAO , Kaiqi HUANG , Zhe LIU
Abstract: A three-dimensional object detection method includes: extracting a target in a two-dimensional image by a pre-trained deep convolutional neural network to obtain a plurality of target objects; determining a point cloud frustum in a corresponding three-dimensional point cloud space based on each target object; segmenting the point cloud in the frustum based on a point cloud segmentation network to obtain a point cloud of interest; and estimating parameters of a 3D box in the point cloud of interest based on a network with the weighted channel features to obtain the parameters of the 3D box for three-dimensional object detection. According to the present invention, the features of the image can be learned more accurately by the deep convolutional neural network and the parameters of the 3D box in the point cloud of interest are estimated based on the network with the weighted channel features.
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公开(公告)号：US20210027094A1
公开(公告)日：2021-01-28
申请号：US17039544
申请日：2020-09-30
Inventor： Bailan FENG , Chunfeng YAO , Kaiqi HUANG , Zhang ZHANG , Xiaotang CHEN , Houjing HUANG , Dangwei LI
Abstract: Embodiments of the present invention disclose an image processing method, a related device, and a computer storage medium. The method includes: obtaining a feature intensity image corresponding to a training image, where an intensity value of a pixel in the feature intensity image is used to indicate importance of the pixel for recognizing the training image, and resolution of the training image is the same as resolution of the feature intensity image; and occluding, based on the feature intensity image, a to-be-occluded region in the training image by using a preset window, to obtain a new image, where the to-be-occluded region includes a to-be-occluded pixel, and the new image is used to update an image recognition model. According to the embodiments of the present invention, a prior-art problem that a model has low accuracy and relatively poor generalization performance because of limited training data can be resolved.
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Patent Agency Ranking
公开(公告)号：US20200369469A1
公开(公告)日：2020-11-26
申请号：US16957721
申请日：2018-12-20
Inventor： Jinguo LIU , Keli CHEN
Abstract: The present invention relates to a space shelf, and particularly to a folding and unfolding space shelf. The lower side of an upper backplane is hinged with the upper side of a lower backplane; one side of a top crossbeam is hinged with the upper side of the upper backplane; the other side of the top crossbeam is rotatably connected with one side of an upper stringer; one side of a bottom crossbeam is hinged with the lower side of the lower backplane; the other side of the bottom crossbeam is rotatably connected with one side of a bottom stringer; both ends of one side of the bottom stringer are hinged with middle stringers; both ends of the lower side of the lower backplane are respectively hinged with a backplane bottom stringer; and a backplane bolt assembly for realizing the relative angle fixation of the upper backplane and the lower backplane is installed on one surface of the upper backplane which faces each crossbeam and stringer. The present invention has the characteristics of novel structure, easy implementation of folding and unfolding processes, easy storage in a folding state and high stability after unfolding, and is suitable for occasions having high requirements for storage and folding-unfolding ratio in the aerospace field.
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公开(公告)号：US20200339399A1
公开(公告)日：2020-10-29
申请号：US16960301
申请日：2018-12-19
Inventor： Jinguo LIU , Yuanzheng TIAN , Zhenxin LI , Hongye HAN
Abstract: The present invention relates to ground support equipment for aerospace engineering, and particularly relates to an assembly and test operation robot for a space station experimental cabinet. The assembly and test operation robot comprises a mobile lifting platform, a comprehensive monitoring system, a rotating clamping mechanism, a multifunctional adapter and a science experimental cabinetet, wherein the mobile lifting platform is used for regulating the horizontal position and the height position of the science experimental cabinetet to realize assembly and transportation functions of the experimental cabinet; the rotating clamping mechanism is installed on the mobile lifting platform to realize clamping and rotation functions of the science experimental cabinet; the multifunctional adapter is installed on the rotating clamping mechanism to carry the science experimental cabinet; and the comprehensive monitoring system is used to monitor the assembly state of the science experimental cabinet in real time. The present invention realizes integrated operation functions of transportation, flipping, assembly and parking in the ground assembly and test process of the space station experimental cabinet, so as to achieve the purpose of safe, efficient and accurate assembly and test of the space station experimental cabinet.
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88.发明申请公开(公告)号：US20200272902A1
公开(公告)日：2020-08-27
申请号：US16809270
申请日：2020-03-04
Inventor： Bailan FENG , Chunfeng YAO , Kaiqi HUANG , Zhang ZHANG , Yang ZHOU
Abstract: The method includes: performing feature extraction on a to-be-detected image at a plurality of different abstraction degrees, to obtain a plurality of first feature maps of a pedestrian attribute; performing convolution on the plurality of first feature maps, to obtain a plurality of second feature maps; mapping each second feature map to a plurality of areas (bins) that overlap each other, and performing max pooling on each bin, to obtain a plurality of high-dimensional feature vectors, where the plurality of bins that overlap each other evenly cover each second feature map; processing the plurality of high-dimensional feature vectors into a low-dimensional vector, to obtain an identification result of the pedestrian attribute; and further obtaining a positioning result of the pedestrian attribute based on the plurality of second feature maps and the plurality of high-dimensional feature vectors.
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公开(公告)号：US20200042747A1
公开(公告)日：2020-02-06
申请号：US16316205
申请日：2018-06-07
Inventor： Haibin YU , Peng ZENG , Wenli SHANG , Xianda LIU , Jianming ZHAO , Long YIN , Chunyu CHEN
Abstract: The present invention relates to a security processing unit of PLC and a bus arbitration method thereof, to provide PLC with an active defense means to build a PLC hardware and software security layer. On a hardware security layer, a part of hardware processing mechanism is added to support trusted measurement, encryption algorithms and signature algorithms, and a virtual isolation technology is used; and on a software security layer, transparent encryption and decryption, integrity verification, backup recovery and virtual isolation security mechanism are provided. The security processing aspect is improved to achieve the purpose of security and reliability. The present invention can correctly establish a trusted environment of PLC to ensure that PLC is guided by a strictly verified path. A new star type trusted structure is designed to reduce loss during information transmission and increase information transmission efficiency.
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90.发明授权公开(公告)号：US10447655B2
公开(公告)日：2019-10-15
申请号：US15525667
申请日：2015-12-25
Inventor： Peng Zeng , Wenli Shang , Dong Li , Ming Wan , Jianming Zhao , Jindi Liu , Ming Yang
IPC: H04L29/06 , G05B19/418 , H04L12/741 , H04L12/937 , H04L12/851 , H04L12/931 , H04L29/08
Abstract: The present invention discloses a method for controlling transmission security of an industrial communication flow based on an SDN architecture. The method comprises: designing a flow security control module in a management controller, performing in-depth parsing on industrial communication flow data, matching the parsing result with each preset industrial rule policy, and executing a control processing operation of the industrial rule policy, to implement transmission control of an industrial communication flow. The management controller comprises an industrial rule policy database used for storing all industrial rule policies set by a user. An SDN switch maintains a structure of a flow table, and an industrial communication flow is forwarded according to the flow table. The flow table comprises a security control identifier used for indicating whether security transmission of this communication flow needs to be controlled. The present invention can detect the legality of an industrial communication data flow, to control access of industrial communication that does not conform to an industrial rule policy, so that the security and reliability of industrial control systems based on an SDN architecture are guaranteed.
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