Abstract: A normal-temperature heat engine power generation device based on a drinking bird is provided. The device includes a drinking bird body, a piezoelectric module and an electromagnetic module. The piezoelectric module includes a cantilever beam, a piezoelectric sheet arranged on the cantilever beam and working loads arranged at an end of the cantilever beam. when a head of the drinking bird body swings downwards, a tip of a beak can impact the working loads. The electromagnetic module includes magnets, coils and coil magnet conducting columns. The magnets are arranged at a bottom of a spherical bottom of the drinking bird body, and the coil magnet conducting columns sleeving the coils are arranged on a base of the drinking bird body.

Abstract: The present invention discloses a quasi-zero-stiffness (QZS) based six-degree-of-freedom (6-DOF) absolute displacement and attitude measurement device. A lower end coil and an upper end coil are respectively charged with currents in the opposite directions; The electromagnetic field and the magnetic fields of an upper magnet and a lower magnet per se are mutually acted to produce an electromagnetic stiffness opposite to the stiffness of a spring. The stiffness of the whole leg is close to zero stiffness. When the to-be-measured platform generates space motion, the reference platform is in the stationary state. At this point, the deformation amounts of the six legs can be measured by laser displacement sensors. The six deformation amounts are respectively inputted into the displacement and attitude resolver, and by forward kinematic solution of the 6-DOF device, the displacement and the attitude of the to-be-measured platform can be obtained.

Abstract: A method, system, electronic device and storage medium for constructing locally convex feasible space are provided. The method includes acquiring a plurality of initial motion trajectory points, size information and surrounding obstacle information of a target vehicle; generating a quadtree map according to the above information; determining a target distance corresponding to each initial motion trajectory point according to the quadtree map; allocating locally convex feasible space to a first-type initial motion trajectory point by using the quadtree map, and allocating locally convex feasible space to a second-type initial motion trajectory point by using an improved convex feasible set algorithm. The first-type initial motion trajectory point is an initial motion trajectory point with the target distance greater than or equal to a set threshold; and the second-type initial motion trajectory point is an initial motion trajectory point with the target distance less than the set threshold.

Abstract: A method and system for decomposing cross-domain path planning of an amphibious vehicle.

Abstract: Disclosed is an active control Stewart vibration damping platform, including a load-bearing platform, a base, and six telescopic rods. Each telescopic rod includes a driving motor, a rotating shaft, a sleeve, and a moving rod. One end, away from the driving motor, of the rotating shaft is provided with a cylindrical cavity, one end of the moving rod penetrates through the cylindrical cavity, and the sleeve is sleeved outside the rotating shaft. The rotating shaft is in running fit with the sleeve through a first bearing, and the moving rod is in sliding fit with the sleeve through a second bearing. The moving rod and the rotating shaft are respectively provided with a spiral permanent magnet. The spiral permanent magnet on the rotating shaft can drive the moving rod to move in an axial direction of the rotating shaft through the spiral permanent magnet on the moving rod when rotating.

Abstract: A control method and system for collaborative interception by multiple unmanned surface vessels are provided. The method includes obtaining task environment information of each unmanned surface vessel in an unmanned surface vessel group at a current moment, estimating interception point information of the intruding target at the current moment by using a Kalman filter according to the task environment information of the unmanned surface vessels at the current moment, determining process state information of each unmanned surface vessel at the current moment, inputting the process state information of each unmanned surface vessel at the current moment into a corresponding intruding target interception policy output model respectively to obtain an execution action of each unmanned surface vessel at a next moment to intercept the intruding target. The application can intercept the intruding target accurately.

Abstract: A squeeze mode giant electrorheological fluid damper is disclosed. The squeeze mode giant electrorheological fluid damper comprises a support, a container and a connecting structure, wherein the support comprises a bottom plate, guide shafts and a top plate, the guide shaft is vertically fixed on the bottom plate, and the top plate is slidably arranged on the guide shaft; the container comprises a container body and two spiral spring pieces coaxially arranged in the container body, the container body is fixed on the bottom plate, the bottoms of the two spiral spring pieces are fixed to the bottom of the container, the two spiral spring pieces are not in contact with each other and are spaced by 180°; the top of the connecting structure is fixedly connected with the top plate, and the bottom of the connecting structure is fixedly connected with the tops of the two spiral spring pieces.

Abstract: A horizontally arranged six-degree-of-freedom constant-stiffness mechanism is provided, and includes an upper platform, a bottom plate, three composite spherical hinges, spherical hinges, support rods, guide rail slider assemblies, and six electromagnetic adjustable stiffness units. Two ends of a shaft on which a permanent magnet is fixed in each electromagnetic adjustable stiffness unit are fixed to the bottom plate via shaft supports. Axially moving housings of electromagnetic adjustable stiffness units are fixed on sliders of the guide rail slider assemblies via slider backing plates respectively. Guide rail slider assembles are fixed on the bottom plate. Tops of the housings are mounted with the spherical hinges respectively. A bottom of the upper platform is uniformly mounted with the composite spherical hinges. One end of each support rod is threadedly connected to a corresponding one of the spherical hinges, and another end is connected with a corresponding one of composite spherical hinges.

Abstract: The present disclosure provides a method and system for path planning of an unmanned vehicle in a three-dimensional terrain and relates to the technical field of path planning. The method includes building a random tree with an initial point of a to-be-planned path as a node; generating a random node based on a goal bias strategy and a multi-sampling strategy; determining a node in the random tree and with a minimum two-dimensional distance from the random node as a nearest node; determining a direction from the nearest node to the random node as an extension direction; determining a point corresponding to a preset step length as a to-be-determined node in the extension direction with the nearest node as a starting point; and updating the random tree or determining a path cut-off random tree through elevation detection and path search cut-off detection, so as to determine the to-be-planned path.

Abstract: Disclosed is an active control Stewart vibration damping platform, including a load-bearing platform, a base, and six telescopic rods. Each telescopic rod includes a driving motor, a rotating shall, a sleeve, and a moving rod. One end, away from the driving motor, of the rotating shaft is provided with a cylindrical cavity, one end of the moving rod penetrates through the cylindrical cavity, and the sleeve is sleeved outside the rotating shall. The rotating shaft is in running lit with the sleeve through a first bearing, and the moving rod is in sliding fit with the sleeve through a second bearing. The moving rod and the rotating shaft are respectively provided with a spiral permanent magnet. The spiral permanent magnet on the rotating shaft can drive the moving rod to move in an axial direction of the rotating shaft through the spiral permanent magnet on the moving rod when rotating.

Abstract: A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.

Abstract: The present disclosure relates to a signal conditioning system for improving low-frequency measurement performance of an acceleration sensor. The signal conditioning system includes: a charge integration circuit, a high-pass filter circuit, a lead-lag network, an anti-aliasing filter circuit, and a gain adjustment circuit. An input terminal of the charge integration circuit is connected to the acceleration sensor, an output terminal of the charge integration circuit is connected to an input terminal of the high-pass filter circuit, an output terminal of the high-pass filter circuit is connected to an input terminal of the lead-lag network, an output terminal of the lead-lag network is connected to an input terminal of the anti-aliasing filter circuit, and an output terminal of the anti-aliasing filter circuit is connected to an input terminal of the gain adjustment circuit.

Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.

Abstract: The present disclosure provides a method for predicting a remaining useful life (RUL) of an aero-engine, specifically including: acquiring multidimensional degradation parameters of an aero-engine to be predicted to obtain acquired data; segmenting the acquired data by a sliding window (SW) to obtain preprocessed data; constructing a RUL prediction model of the aero-engine including a multibranch convolutional neural network (MBCNN) model, a multicellular bidirectional long short-term memory (MCBLSTM) model, a fully connected (FC) layer FC1, and a regression layer; taking the preprocessed data as input data of the MBCNN model, extracting an output of the MBCNN model, taking the output of the MBCNN model and recursive data as input data of the MCBLSTM model, and extracting an output of the MCBLSTM model; obtaining an output of the FC layer FC1, and inputting the output of the FC layer FC1 to the regression layer to predict a RUL.

Abstract: A negative stiffness generating mechanism and a quasi-zero stiffness vibration isolator are provided. A housing is mounted on a base, and the axial relative positions of the housing and the base can be adjusted; a negative stiffness unit comprises inner-ring magnets, outer-ring magnets and a supporting shaft, the supporting shaft axially slides on the base and passes through the housing, the inner-ring magnets fixedly sleeve the supporting shaft, and the outer-ring magnets sleeve outside the inner-ring magnets and are divided into upper and lower groups of outer-ring magnets; the upper and lower groups of outer-ring magnets can synchronously move through a negative stiffness adjusting device; and the axial relative positions of the middle planes of the outer-ring and inner-ring magnets can be adjusted by adjusting the axial relative positions of the housing and the base. The isolator comprises a negative stiffness generating mechanism and a positive stiffness unit.

Abstract: The present invention discloses an afterload device for ex situ heart perfusion, which includes an afterload energy storage module, a pressure regulation module and two flow rate regulators that are connected through a conduit. The afterload energy storage module includes a rigid closed container and a flexible container. The perfusion fluid flows into the flexible container from one side thereof through the conduit, and the perfusion fluid flows out from the flexible container at another side thereof as the flexible container is subjected to the action of the medium pressure in the rigid hermetic container. The pressure regulation module includes two pressure regulation valves and a compressible-medium source, for regulating the pressure range within the rigid hermetic container to be always maintained between the set diastolic pressure and the set systolic pressure.

Abstract: A triboelectric nanogeneration module, and a combined wind turbine and a method thereof. The triboelectric nanogeneration module includes a rotating disc, and moving friction plates and fixed friction plates that are oppositely arranged outside the radial direction of the rotating disc. A nano-friction material layer is arranged on the surface of each of the moving friction plates and the fixed friction plates. Driving devices are arranged on the rotating disc in the circumferential direction at intervals. The driving devices are used for extruding the moving friction plates to move to the positions at which the moving friction plates are in contact with the fixed friction plates. The moving friction plates are connected to reset devices used for separating the moving friction plates from the fixed friction plates. The moving friction plates perform straight reciprocating movement under the action of the driving devices and the reset devices.

Abstract: A squeeze mode giant electrorheological fluid damper is disclosed. The squeeze mode giant electrorheological fluid damper comprises a support, a container and a connecting structure, wherein the support comprises a bottom plate, guide shafts and a top plate, the guide shaft is vertically fixed on the bottom plate, and the top plate is slidably arranged on the guide shaft; the container comprises a container body and two spiral spring pieces coaxially arranged in the container body, the container body is fixed on the bottom plate, the bottoms of the two spiral spring pieces are fixed to the bottom of the container, the two spiral spring pieces are not in contact with each other and are spaced by 180°; the top of the connecting structure is fixedly connected with the top plate, and the bottom of the connecting structure is fixedly connected with the tops of the two spiral spring pieces.

Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.

Abstract: Disclosed is a quasi-zero stiffness absolute displacement sensor based on electromagnetic positive stiffness, and relates to the technical field of vibration measurement. The quasi-zero stiffness absolute displacement sensor comprises an eddy current displacement sensor unit, a negative stiffness unit, an intermediate connector, a positive stiffness unit, a bottom shell and a motion axis. The damping of the mechanism can be effectively reduced, the service life of the system is prolonged, and the mechanism size is reduced. By adjusting the number of layers of permanent magnets and coils in the electromagnetic positive stiffness unit and the electromagnetic negative stiffness unit and controlling the magnitude of current in the coils, electromagnetic force between the permanent magnets and the electromagnetic coils can be changed, the magnitude of positive stiffness and the magnitude of negative stiffness are adjusted, and control over the stiffness of the whole system is achieved.