Abstract: A deformable segment with combined motion includes a flexible center backbone, the tendons of deformable segment with combined motion, a connecting piece, a proximal disk and a distal disk. The proximal end of the flexible center backbone and the proximal ends of the tendons of deformable segment with combined motion are fixedly connected to the proximal disk. The distal ends of the tendons of deformable segment with combined motion are fixedly connected to the distal disk. The distal end of the flexible center backbone penetrates through the distal disk and then extends into the distal execution segment, and is connected with the end-effector. The deformable segment with combined motion is provided with the connecting piece. The proximal driving segment is provided with proximal driving tendons. The proximal driving tendons penetrate through the proximal disk, and then are fixedly connected with the connecting piece.

Abstract: A resource allocation method for coexistence of multiple line topological industrial wireless networks is provided. It pertains to the coexistence problem of multiple TDMA-based line topological industrial wireless networks, including three parts: lower bound analysis of scheduling delay, allocation algorithm of inter-network resources and allocation algorithm of intra-network resources. The method uses overall scheduling delay and resource utilization ratio as measurement indexes when analyzing the lower bound of delay and designing resource allocation algorithms, and selects a best node combination in each time slot to occupy as many channel resources as possible to improve the resource utilization ratio and reduce the overall scheduling delay.

Abstract: A robot multi-degree-of-freedom clamper has a short stroke biaxial cylinder installed on the clamping jaw supporting frame and an output end connected with a pneumatic clamping jaw A. In addition, a clamping jaw finger A is connected with an output end of the pneumatic clamping jaw A. A long stroke biaxial cylinder is connected with a pneumatic clamping jaw B. A clamping jaw finger B is connected with the output end of the pneumatic clamping jaw B. A pneumatic clamping jaw C is positioned between the pneumatic clamping jaw A and the pneumatic clamping jaw B. A clamping jaw finger C is connected with the output end of the pneumatic clamping jaw C. The clamping jaw finger A and the pneumatic clamping jaw A are driven by the short stroke biaxial cylinder to move back and forth on the clamping jaw supporting frame.

Abstract: The present invention relates to a quick clamping device.

Abstract: The present invention discloses a data forwarding unit based on a Handle identifier, comprising a dynamic configuration module, a Handle identifier data identification module and a matching-forwarding module. The system of the present invention is applied to network devices such as switches and routers, and supports dynamic configuration of data packet analysis, matching and forwarding rules through data interaction with network systems such as SDN managers, so that the network devices can identify data packets based on the Handle identifier and perform the specified operation on the designated data packets with the Handle identifier according to the rules of dynamic configuration.

Abstract: The present invention relates to a rotating self-drilling device for extraterrestrial objects.

Abstract: The present invention belongs to the field of robots, and relates to a soft ground crawling robot. Front wheels are connected on both sides of the front end of a body shell; a universal wheel is arranged on the rear end; rotary stepping motors are installed on both sides of a supporting assembly; an output shaft of the rotary stepping motor on each side passes through the body shell and then is connected with the front wheel on the same side; a swinging stepping motor is installed on the supporting assembly; the output shaft is connected with a connecting plate; the connecting plate is connected with the body shell through a connecting shaft; the body shell is driven to swing by the swinging stepping motor; lower end covers are rotatably connected on both sides of the body shell; a wheel bracket is connected to the rotary stepping motor on each side; and the wheel bracket on each side is connected with the lower end cover on the same side.

Abstract: A robot for testing lower limb performance of a spacesuit includes a pressure maintaining box, an air circulation component, an air cooling unit, heat radiating hose components, and two mechanical legs. The air cooling unit is connected with the pressure maintaining box; the air circulation component is arranged in the pressure maintaining box; the mechanical legs are installed on the pressure maintaining box, and the heat radiating hose components are arranged in the mechanical legs; air in the pressure maintaining box is cooled through the air cooling unit and delivered into the heat radiating hose components through the air circulation component; each mechanical leg comprises a thigh, a knee joint component, a shank, an ankle joint component and a foot; the thigh is connected with the shank through the knee joint component; the shank is connected with the foot through the ankle joint component.

Abstract: A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

Abstract: The present invention relates to a trusted measurement and control network authentication method based on double cryptographic values and chaotic encryption. The specific method comprises realizing identity authentication and key negotiation processes through double cryptographic values and chaotic public key ciphers and realizing secure transmission and verification of user identity credentials on the basis of building a trust chain through trusted computation for realizing a secure and trusted operating environment, thereby building a secure and trusted data transmission channel. The identity authentication method in the present invention comprises multiple links such as secure generation of user identity identifiers, read protection encapsulation, secure transmission and key negotiation. Each link adopts a unique and confidential cryptographic function for secure data generation, thereby ensuring the security of the authentication device access in an industrial measurement and control network.

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.

Abstract: The present invention relates to a network guard unit for an industrial embedded system and a guard method. The specific method is to form the network guard unit (NGU) through security technologies, such as integrated access control, identity authentication and communication data encryption, to provide active guard for a site control device. The NGU comprises an access control module, an identity authentication module, a data encryption module, a key negotiation module and a PCIE communication module, and supports the communication modes of dual network cards and PCIE bus. The present invention builds a secure and trusted operating environment for industrial control systems in combination with an active guard technical means in the field of information security on the basis of ensuring the correctness and the feasibility of security of various terminal devices in the industrial control systems.

Abstract: The present invention relates to a dynamic security method and system based on multi-fusion linkage response. In the method, a site control device conducts active response and passive response through identity authentication and key management to give an alarm for abnormal behaviors. The system comprises an access authentication active response module, an access control active response module, an access control passive response module, an abnormal pretending passive response module, a key vulnerability passive response module and an abnormal state passive response mechanism module. On the basis of ensuring validity and feasibility for the security of a terminal device, the present invention can build a secure and trusted industrial control system operating environment.

Abstract: The present invention discloses a method for trusted booting of PLC based on a measurement mechanism, comprising the following steps: a step of initializing self firmware verification; a step of reading and computing firmware information about a PLC; a step of checking and storing one by one; and a step of verifying at the operation start stage. In the method of the present invention, a chip with a trusted function is used as a core of hardware computation. The PLC extends a Flash bus for loading by hardware of the method of the present invention. The hardware of the method of the present invention recognizes necessary boot information, verifies the integrity of the boot loader necessary for the PLC system through the integrity check method and ensures that the booted PLC system is in a trusted state. On the basis of ensuring validity and feasibility for the safety of a terminal device, the present invention can build a safe and trusted industrial control system operating environment.

Abstract: A folding space shelf has a lower backplane and an upper backplane that are connected by one or more hinges, and a pair of top crossbeams and a pair of upper stringers. Each top crossbeam has a first end hinged to an upper portion of the upper backplane and a second end rotatably connected to one of the pair of upper stringers. It further contains a pair of bottom crossbeams and a pair of bottom stringers. Each bottom crossbeam has a first end hinged to a lower portion of the lower backplane and a second end rotatably connected to one of the pair of bottom stringers. The folding space shelf also contains a pair of middle stringers, each having a first end connected to one of the pair of upper stringers and a second end hinged to one of the pair of the bottom stringers.

Abstract: The present invention discloses a data forwarding unit based on a Handle identifier, comprising a dynamic configuration module, a Handle identifier data identification module and a matching-forwarding module. The system of the present invention is applied to network devices such as switches and routers, and supports dynamic configuration of data packet analysis, matching and forwarding rules through data interaction with network systems such as SDN managers, so that the network devices can identify data packets based on the Handle identifier and perform the specified operation on the designated data packets with the Handle identifier according to the rules of dynamic configuration.

Abstract: The present invention relates to a working condition state modeling and model correcting method, comprising collecting data, and arranging the data in a chronological order to form a time sequence data set; preprocessing the time sequence data set; clustering the preprocessed time sequence data set, computing a central point data set of the duster, and generating a working condition data set and a working condition process data set; counting a working condition transition probability for the working condition process data set to form a working condition transition probability model data set; collecting the data, and detecting and processing the data; computing a working condition state transition mode phase by phase and processing.

Abstract: A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

Abstract: The present invention relates to a rotating self-drilling device for extraterrestrial objects.

Abstract: The present invention relates to cognitive wireless sensor network technologies, and in particular to a medium access control method for a cognitive sensor network based on broadcast preamble sampling. A cognitive node in the cognitive sensor network adopts a periodical dormancy-awakening mechanism. Firstly, a state of a primary user is judged by using a spectrum sensing technology. If the primary user is not active, a data sending node establishes a communication link by using a broadcast preamble code. Each neighbor node simultaneously considers information of hops from a gateway according to an awakening order, and independently determines to serve as a relay node for forwarding data. Furthermore, a transmission conflict between the cognitive node and the primary user may be caused due to return or missed alarm of the primary user. The present invention adopts a retransmission mechanism based on confirmation to ensure transmission reliability of data packets.