公开(公告)号：US20240380389A1

公开(公告)日：2024-11-14

申请号：US18249500

申请日：2022-06-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Guanghui WEN ,  Han SHEN ,  Jun ZHOU ,  Linan WANG ,  Mengfei NIU

IPC: H03H21/00

Abstract: An adaptive robust estimation method and system for parameters of an unmanned surface vessel belongs to the field of automatic control. First, an augmented state estimation problem considering an external disturbance for the unmanned surface vessel is constructed; augmented state vectors include a state vector of the unmanned surface vessel, a parameter vector, and an unknown input vector; and then, depending on a real-time input vector and a measurement vector of a system, a designed adaptive robust unscented Kalman filtering method is employed to obtain model parameters of the unmanned surface vessel.

公开(公告)号：US20250073911A1

公开(公告)日：2025-03-06

申请号：US18896856

申请日：2024-09-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Guangming SONG ,  Feng XIE ,  Juzheng MAO ,  Fei WANG ,  Jun ZHOU ,  Aiguo SONG ,  Gang WU

IPC: B25J11/00 ,  B25J5/00 ,  B25J9/16

Abstract: Disclosed are an embracing crawling robot for detecting an underwater pier of a highway bridge and a detection method therefor. The robot includes a main body, underwater lighting systems, tool compartments, depth metering modules, servo driving wheels, inclination measurement modules, underwater manipulator arms, vision array modules, synchronized stretching and fixing systems, and driven wheels. The robot is capable of crawling around an underwater pier of a highway bridge and operating stably in an underwater environment. After cleaning surface attachments on the underwater pier, the robot performs visual detection of a disease; and after determining type and location information of the disease, the robot will transmit disease information back. The robot is capable of crawling around the underwater pier of the highway bridge stably at any depths, perceiving depth and visual information under high-speed and turbid water conditions, thereby realizing detection of the disease on the underwater pier.