Abstract: A multi-orientation fingertip planar tactile feedback device includes a planar tactile feedback actuator. The planar tactile feedback actuator includes a holder and a feedback mechanism, a holding hole and an accommodating cavity are provided in the holder, one end of the holding hole penetrates through the holder, the other end is communicated with the accommodating cavity, the feedback mechanism includes a plurality of feedback parts that are arranged on cavity walls of the accommodating cavity respectively, and each feedback part includes a base, an air bag block and a baffle which are sequentially connected. A structure is simple; a finger touch force can be adjusted; five pairs of electrified coils are arranged, and force feedback vector synthesis can be performed therebetween; a direction of the force feedback generated by the electrified coil can be consistent with a direction of tactile feedback of the distal finger segment by the baffle.

Abstract: The present invention discloses a path planning method, including the following steps: establishing an empirical map and a corresponding episodic cognitive map using a RatSLAM algorithm based on an episodic memory model; extracting a road edge in a historical memory image with a Canny operator; performing conversion to a world coordinate system from a pixel coordinate system based on the road edge, and preliminarily judging connectivity according to slope of the road edge; continuously injecting energy into the potential path detection network according to continuous observation of a potential path, so as to further judge the road connectivity; fusing the detected potential path and the original episodic cognitive map, and correspondingly updating the empirical map; and planning a path based on the updated episodic cognitive map. The potential safe path in an environment may be detected, and a better path may be planned based on the updated episodic memory model.

Abstract: An embodiment of the present invention discloses a repair system for a planetary exploration parachute. The repair system includes a folding piece and a fuse, the fuse is provided in the folding piece, a sensing signal for reflecting an impact force of dust is received by the fuse, fusing is generated in the fuse when the sensing signal is greater than a preset threshold, and the folding piece is changed from a folded state to an unfolded state after the fusing is generated in the fuse, so as to automatically repair a damaged part of the parachute.

Abstract: A pneumatic soft grabbing sensing device includes a support; a flexible grabbing mechanism including at least two flexible claws, wherein the at least two flexible claws are arranged on the support in a circumferential direction, each flexible claw includes a telescopic air bag, an adapter mechanism and a flexible plate connected with the adapter mechanism, the telescopic air bag is hollow and elongated, the telescopic air bag includes a closed end, an open end and an air bag main body connected between the closed end and the open end, the air bag main body includes at least two air bag bodies and a node portion formed between adjacent air bag bodies, and the adapter mechanism is connected to the node portion, the closed end and open end; and a sensing mechanism including at least two sensing parts, the sensing parts being arranged on inner sides of the corresponding flexible plates.

Abstract: A multi-orientation fingertip planar tactile feedback device includes a planar tactile feedback actuator. The planar tactile feedback actuator includes a holder and a feedback mechanism, a holding hole and an accommodating cavity are provided in the holder, one end of the holding hole penetrates through the holder, the other end is communicated with the accommodating cavity, the feedback mechanism includes a plurality of feedback parts that are arranged on cavity walls of the accommodating cavity respectively, and each feedback part includes a base, an air bag block and a baffle which are sequentially connected. A structure is simple; a finger touch force can be adjusted; five pairs of electrified coils are arranged, and force feedback vector synthesis can be performed therebetween; a direction of the force feedback generated by the electrified coil can be consistent with a direction of tactile feedback of the distal finger segment by the baffle.

Abstract: A method for detecting a surface welding quality of friction stir welding includes: acquiring a continuous surface depth image of a welding seam; intercepting a surface depth image segment of the welding seam with a proper step size, and dividing the intercepted surface depth image segments of the welding seam into a front reference region, a thinned region and a rear reference region; judging whether flatness of the front reference region is less than a threshold, and if yes, taking a height of the front reference region at this point as a latest reference height; if no, judging whether the flatness of the rear reference region is less than the threshold, and if yes, taking a height of the rear reference region at this point as the latest reference height; if no, taking the reference height of previous depth image segment as the latest reference height; and calculating a difference.

Abstract: A method for detecting a surface welding quality of friction stir welding includes: acquiring a continuous surface depth image of a welding seam; intercepting a surface depth image segment of the welding seam with a proper step size, and dividing the intercepted surface depth image segments of the welding seam into a front reference region, a thinned region and a rear reference region; judging whether flatness of the front reference region is less than a threshold, and if yes, taking a height of the front reference region at this point as a latest reference height; if no, judging whether the flatness of the rear reference region is less than the threshold, and if yes, taking a height of the rear reference region at this point as the latest reference height; if no, taking the reference height of previous depth image segment as the latest reference height; and calculating a difference.

Abstract: The invention relates to a sampling method and system for path planning of a mobile robot in a man-machine environment, including: calculating a distance between a node and the closest obstacle on a map, simultaneously detecting a pedestrian in an environment and marking a position of the pedestrian; selecting a starting point position as a root node, and initializing a search tree; choosing a candidate node in a passable region, calculating a cumulative cost from a node to the candidate node, and choosing a node with the lowest cost as a growth node; performing collision detection on a connecting line between the growth and the candidate nodes, and determining whether collision detection succeeds; connecting the candidate node to the growth node, and determining whether the candidate node is a goal; and acquiring a node connecting line set from the root node to the goal to form a final path.

Abstract: A method and device for adjusting the switching speed of a MOSFET are disclosed. The MOSFET is connected to drive switch, the collector of the drive switch is connected to the grid of the MOSFET through the grid resistor, the emitter of the drive switch is grounded through the emitter resistor, and the collector of the drive switch is also connected to the source resistor through the collector resistor, the other end of the source resistor is connected to the source of the MOSFET; the drain of the MOSFET is connected to the current source. The method comprises: obtaining the adjustment target of the switching speed for the MOSFET, determining the first resistance value of the emitter resistor and/or the second resistance value of the collector resistor based on said adjustment target, controlling the operation of the MOSFET according to the adjusted resistance value.

Abstract: An embodiment of the present invention discloses a repair system for a planetary exploration parachute. The repair system includes a folding piece and a fuse, the fuse is provided in the folding piece, a sensing signal for reflecting an impact force of dust is received by the fuse, fusing is generated in the fuse when the sensing signal is greater than a preset threshold, and the folding piece is changed from a folded state to an unfolded state after the fusing is generated in the fuse, so as to automatically repair a damaged part of the parachute.

Abstract: An embodiment of the present invention discloses a monitoring and repair method for a planetary exploration parachute system. The monitoring and repair method includes: sensing an impact force of dust and generating a sensing signal by a sensor; receiving the sensing signal by an electrode in a fuse; and when the sensing signal is greater than a preset threshold, fusing a safety wire in the fuse; after the safety wire is fused, changing a spring in the fuse from a compressed state to a natural state to generate tension; and rotating a repair rod under an action of the tension to drive a folding piece to be changed into an unfolded state from a folded state, thus realizing precise evaluation of impact damage of dust particles to a parachute body, closed-loop control and real-time self-repair.

Abstract: A flexible assembly system includes an industrial personal computer, a data collection card, a motion control card, a six-degree-of-freedom assembly platform, a first visual platform, a second visual platform and a supporting platform. The six-degree-of-freedom assembly platform includes a four-degree-of-freedom motion platform and a two-degree-of-freedom adjustment device, the two-degree-of-freedom adjustment device includes a two-degree-of-freedom motion platform and a clamping mechanism, and the clamping mechanism includes an outer frame, a flexible wrist rotatably connected in the outer frame, two clamping sheets mounted on the flexible wrist, two driving parts corresponding to the two clamping sheets, two first force sensors provided on the outer frame and two second force sensors provided on the flexible wrist; a first image collection apparatus is mounted on the first visual platform, and a second image collection apparatus is mounted on the second visual platform.

Abstract: The present invention discloses a path planning method, including the following steps: establishing an empirical map and a corresponding episodic cognitive map using a RatSLAM algorithm based on an episodic memory model; extracting a road edge in a historical memory image with a Canny operator; performing conversion to a world coordinate system from a pixel coordinate system based on the road edge, and preliminarily judging connectivity according to slope of the road edge; continuously injecting energy into the potential path detection network according to continuous observation of a potential path, so as to further judge the road connectivity; fusing the detected potential path and the original episodic cognitive map, and correspondingly updating the empirical map; and planning a path based on the updated episodic cognitive map. The potential safe path in an environment may be detected, and a better path may be planned based on the updated episodic memory model.

Abstract: Disclosed are a negative pressure driven sucking apparatus and a preparation method thereof. The sucking apparatus comprises a sucking disc body, wherein a negative pressure cavity is formed in the middle of the sucking disc body, and the negative pressure cavity is connected with a vacuum line, and the bottom of the negative pressure cavity having a flexible section, and an annular wedge-shaped microstructure is formed at the bottom of the body surrounding the flexible section. Stable loading and release processes of the annular wedge-shaped microstructure are realized.

Abstract: A flexible assembly system includes an industrial personal computer, a data collection card, a motion control card, a six-degree-of-freedom assembly platform, a first visual platform, a second visual platform and a supporting platform. The six-degree-of-freedom assembly platform includes a four-degree-of-freedom motion platform and a two-degree-of-freedom adjustment device, the two-degree-of-freedom adjustment device includes a two-degree-of-freedom motion platform and a clamping mechanism, and the clamping mechanism includes an outer frame, a flexible wrist rotatably connected in the outer frame, two clamping sheets mounted on the flexible wrist, two driving parts corresponding to the two clamping sheets, two first force sensors provided on the outer frame and two second force sensors provided on the flexible wrist; a first image collection apparatus is mounted on the first visual platform, and a second image collection apparatus is mounted on the second visual platform.

Abstract: An assembly method for a silicon cooling arm is disclosed. Its design point is that the strut stop (1), the coaxial connector (4), and the rotary table are all arranged on the cylindrical-shaped connecting shaft (3), a plurality of radial slots are set on the coaxial connector (4), a plurality of arc-shaped grooves are set on the rotary table (5), and the structure of the arc-shaped groove (5-3) is that the distance between the bulb (2-3) and the center of the rotary table monotonically increases or decreases when the bulb (2-3) moves from the one end to the other end of the arc-shaped groove (5-3), the bulb of the strut is disposed in the arc-shaped groove, and the strut passes through radial slot, the upper part of the strut (not including the top part that goes outside the strut stop) is hinged to the strut stop.

Abstract: The present application discloses a self-powered sensing method and sensing device for spheroidal robot, which belongs to the technical field of robot attitude sensing. The design feature is structure of the spheroidal robot, comprises: a spheroidal object (1) and 26 electrode groups (2); the spheroidal object (1) includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces; the electrode group (2) is arranged on each regular octagonal surface and each regular hexagonal surface; the electrode group (2) includes a first outer layer semicircular ring electrode (2-1), a second outer layer semicircular ring electrode (2-2) and an inner ring electrode (2-3). The present invention aims to provide a self-powered sensing method and sensing device for spheroidal robot to sense the posture of the spheroidal robot.

Abstract: The invention provides a compound-pendulum up-conversion wave energy harvesting apparatus, comprising a shell floating on the water surface and swinging with fluctuation of waves, a compound-pendulum mechanism rotatably arranged in the shell and rotating with its swinging, a driving gear rotatably arranged in the shell and rotating synchronously with the compound-pendulum mechanism, an electromagnetic power generation mechanism arranged in the shell and configured to be meshed with the driving gear for transmission to generate electricity through electromagnetic induction, and a piezoelectric power generation mechanism arranged in the shell and configured to be deformed during its rotation to generate electricity through piezoelectric effect. When the shell swings un-directionally with fluctuation of the waves, the compound-pendulum mechanism makes un-directional rotation that adapts to the dynamic changes of water surface wave energy.

Abstract: A method for preparation of a magnetic liquid metal includes: 1) placing A parts by weight of a liquid metal in a container; 2) placing B parts by weight of a metal powder in the container; 3) adding an acidic solution into the container until the liquid metal and the metal powder are submerged; 4) stirring until the liquid metal and the metal powder are sufficiently mixed; and 5) adding water for cleaning the acidic solution, and to obtain the magnetic liquid metal by removing the acidic solution. The viscosity and stiffness of the prepared magnetic liquid metal can quickly respond to the stimulus from an applied magnetic field, and a reversible change from liquid to semisolid or solid exists. With a change in magnetic field strengths, the Young's modulus can be regulated in a range from the level of kPa to the level of MPa.

Abstract: A method for preparing a cross-dimension micro-nano structure array includes: S1. providing a workpiece immersed in the electrolyte as the first electrode, providing a trimming wire electrode as the second electrode and setting it above the workpiece, providing an interference beam adjuster and outputting multi-beam laser interference to irradiate the surface of the workpiece; S2. The power supply between the first electrode and the second electrode forms a loop, and drives the trimming wire electrode to reciprocate relative to the workpiece, and the workpiece undergoes electrochemical dissolution or electrochemical deposition at the corresponding position of the trimming wire electrode, and form a micro-nano structure array without a mask, and solves the problem of low output power of the existing ultrashort pulse power supply, improves the processing accuracy of the micro-nano structure array, does not require electrolyte for high-speed flow, and improves system safety and reduce the cost.