Abstract: A diffusion model receives as inputs an image of a background, first text describing the background, and second text describing an object to be added to the background. Using these inputs, the diffusion model generates an output image depicting the object within the background. To improve fidelity to the background image, the diffusion model uses the inputs associated with the background and the input associated with the object as separate conditions and determines a weight parameter that controls the probability of characteristics of each input occurring in the output image. Noise is added to the background image to create an initial image for the diffusion model. The first text and the second text are both used, in conjunction with the weight parameter, to determine a prompt to cause the diffusion model to generate an image of the object included in the background, while retaining the characteristics of the background image.

Abstract: A three-degree-of-freedom parallel electromagnetic variable stiffness actuator as an end effector for robotic grinding and polishing, comprising: non-stiffness electromagnetic drive branches, an electromagnetic spring drive branch, structural components, and peripheral sensor systems. There are three non-stiffness electromagnetic drive branches; three-degree-of-freedom motion can be generated through these three non-stiffness electromagnetic drive branches. For the electromagnetic spring drive branch, its driving component is an electromagnetic spring, which is responsible for providing adjustable stiffness. The actuator achieves a high-precision, high-flexibility control of the grinding and polishing end through a unique three-degree-of-freedom parallel structure.

Abstract: A three-degree-of-freedom parallel electromagnetic variable stiffness actuator as an end effector for robotic grinding and polishing, comprising: non-stiffness electromagnetic drive branches, an electromagnetic spring drive branch, structural components, and peripheral sensor systems. There are three non-stiffness electromagnetic drive branches; three-degree-of-freedom motion can be generated through these three non-stiffness electromagnetic drive branches. For the electromagnetic spring drive branch, its driving component is an electromagnetic spring, which is responsible for providing adjustable stiffness. The actuator achieves a high-precision, high-flexibility control of the grinding and polishing end through a unique three-degree-of-freedom parallel structure.

Abstract: The present disclosure provides a heparin neutralizing peptide, a heparin neutralizer, and use thereof, and belongs to the technical field of biomedicine. The heparin neutralizing peptide includes tandem repeating units. The repeating units each have an amino acid sequence shown in SEQ ID NO: 1, specifically VPGKG, where lysine (K) has a positive charge, the repeating units each have a positive charge, and the heparin neutralizing peptide has a plurality of positive charges. The heparin neutralizing peptide with positive charges can bind to a heparin with negative charges through electrostatic interaction to form macromolecular substances, and the macromolecular substances are eliminated from the body by liver metabolism, so that the anticoagulation of the heparin is shielded. Furthermore, the heparin neutralizing peptide provided in the present disclosure can significantly reduce toxic and side effects of neutralizing heparin and reduce hemolysis compared with protamine sulfate in the prior art.

Abstract: A complex surface three-coordinate measuring device includes a three-degree-of-freedom motion platform and a force control probe, the force control probe is fixedly mounted on the Z-axis sliding block, which is in the same direction as the X-axis direction and used to contact with the workpiece surface with constant force. A six-axis force sensor is used to collect the contact force between the stylus and the workpiece surface. In this method, the force control is realized in the measurement to make the stylus in constant force contact with the workpiece surface. The error compensation direction is determined according to the direction of the contact force, and then the effective radius of the stylus spherical head is compensated in this direction, thus the actual contact point of stylus and workpiece can be obtained.

Abstract: The disclosure discloses a method for constructing actual processing curve of part with small curvature based on a point cloud boundary. The method includes: (a) encrypting a three-dimensional ordered boundary curve of a part to be processed; (b) fitting encrypted boundary points into a plane, and projecting each boundary point into the plane to obtain a projection point; (c) performing Euclidean cluster within the plane to obtain point sets, and fitting the obtained point sets into a straight line; (d) performing the Euclidean cluster on projection points that are not fitted into the straight line to obtain corner point sets, and fitting a sharp corner or a rounded corner of the corner point sets to obtain a fitted boundary curve within the plane; (e) mapping the fitted boundary curve to a curved surface of the three-dimensional ordered boundary curve to obtain an actual processing curve of the part to be processed.

Abstract: The disclosure discloses a method for extracting a boundary of a thin-walled part with small curvature based on three-dimensional point cloud. The method includes: collecting point cloud data of a part to reduce density of the point cloud data, performing Euclidean cluster to divide into point cloud pieces, obtaining triangular mesh surfaces for each point cloud triangulation; extracting a boundary vertex of each triangular mesh surface to obtain a contour thereof, selecting a contour of the part among all contours; searching with each point on the contour as a center to form a three-dimensional boundary point cloud band; projecting the three-dimensional boundary point cloud band to a plane, orderly extracting two-dimensional boundary points within the plane, and arranging corresponding points in the three-dimensional boundary point cloud band according to an order of ordered boundary points within the plane to obtain ordered boundary points in the three-dimensional boundary point cloud band.

Abstract: The disclosure discloses a method for constructing actual processing curve of part with small curvature based on a point cloud boundary. The method includes: (a) encrypting a three-dimensional ordered boundary curve of a part to be processed; (b) fitting encrypted boundary points into a plane, and projecting each boundary point into the plane to obtain a projection point; (c) performing Euclidean cluster within the plane to obtain point sets, and fitting the obtained point sets into a straight line; (d) performing the Euclidean cluster on projection points that are not fitted into the straight line to obtain corner point sets, and fitting a sharp corner or a rounded corner of the corner point sets to obtain a fitted boundary curve within the plane; (e) mapping the fitted boundary curve to a curved surface of the three-dimensional ordered boundary curve to obtain an actual processing curve of the part to be processed.

Abstract: The disclosure discloses a method for extracting a boundary of a thin-walled part with small curvature based on three-dimensional point cloud. The method includes: collecting point cloud data of a part to reduce density of the point cloud data, performing Euclidean cluster to divide into point cloud pieces, obtaining triangular mesh surfaces for each point cloud triangulation; extracting a boundary vertex of each triangular mesh surface to obtain a contour thereof, selecting a contour of the part among all contours; searching with each point on the contour as a center to form a three-dimensional boundary point cloud band; projecting the three-dimensional boundary point cloud band to a plane, orderly extracting two-dimensional boundary points within the plane, and arranging corresponding points in the three-dimensional boundary point cloud band according to an order of ordered boundary points within the plane to obtain ordered boundary points in the three-dimensional boundary point cloud band.

Abstract: A complex surface three-coordinate measuring device includes a three-degree-of-freedom motion platform and a force control probe, the force control probe is fixedly mounted on the Z-axis sliding block, which is in the same direction as the X-axis direction and used to contact with the workpiece surface with constant force. A six-axis force sensor is used to collect the contact force between the stylus and the workpiece surface. In this method, the force control is realized in the measurement to make the stylus in constant force contact with the workpiece surface. The error compensation direction is determined according to the direction of the contact force, and then the effective radius of the stylus spherical head is compensated in this direction, thus the actual contact point of stylus and workpiece can be obtained.