Abstract: Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

Abstract: Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights.

Abstract: Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

Abstract: A two-dimensional electro-hydraulic servo valve based on a dual-redundancy transmission mechanism, including a valve body, a valve spool inside the valve body, and a valve sleeve on an outside of the valve spool. A low-pressure chamber is disposed between the valve spool and the valve sleeve; the valve body is connected to a servomotor through a transmission mechanism; the transmission mechanism includes a spool fork and a motor toggle, and each end of the motor toggle is connected to a spherical connector; the spherical connector is rotatable with a centerline of a connection end of the motor toggle as an axis; each end of the spool fork is slidably connected to a corresponding spherical connector; a middle part of the spool fork is connected to the valve spool, and a middle part of the motor toggle is connected to a rotor of the servomotor.

Abstract: A two-dimensional motor and a servo valve are provided. The two-dimensional motor includes a stator and a rotator arranged coaxially. The stator is enclosed in the rotor. The stator and the rotor are spaced along a radial direction of the rotor. A size of the stator along an axial direction is greater than a size of the rotor along the axial direction. The rotor is, without bearing support, directly connected to an external mechanism. The rotor is swung at a predetermined angle, such that the external mechanism can drive the rotor to move along an axial direction of the rotor relative to the stator.

Abstract: A method for breeding a new germplasm of clubroot-resistant orange-heading Chinese cabbage includes: (1) obtaining F1 by hybridizing orange-heading Chinese cabbage as a female parent and clubroot-resistant Chinese cabbage as a male parent, obtaining F2 by selfing F1 individual plants, planting F2 populations, and extracting DNA from the individual plants of F2; (2) observing horticultural traits of F2, and performing observation and statistics of head color phenotypic traits through cutting head; (3) performing PCR amplification with DNA of F2 using a dominant orange gene marker Br530 and a clubroot-resistant marker SC2930-T/SC2930Q, and identifying a genotype of the individual plants; (4) performing a comprehensive evaluation according to the results of marker detection and the observation of horticultural traits, selecting double-site homozygous clubroot-resistant orange-heading Chinese cabbage plants, and selfing the individual plants for 2 consecutive generations; and (5) obtaining a new germplasm of club

Abstract: A two-dimensional motor and a servo valve are provided. The two-dimensional motor includes a stator and a rotator arranged coaxially. The stator is enclosed in the rotor. The stator and the rotor are spaced along a radial direction of the rotor. A size of the stator along an axial direction is greater than a size of the rotor along the axial direction. The rotor is, without bearing support, directly connected to an external mechanism. The rotor is swung at a predetermined angle, such that the external mechanism can drive the rotor to move along an axial direction of the rotor relative to the stator.

Abstract: A method for breeding new purple-orange Chinese cabbage germplasm crosses the purple head Chinese cabbage inbred line 11S96 as the male parent and the orange Chinese cabbage inbred line 11J11 as the female parent. On the basis of selecting individual plants with good heading property in the F2 population, molecular markers are used to select individual plants carrying the purple-head gene and the orange gene. Through selfing of individual plants for three consecutive generations, a new Chinese cabbage germplasm with green outer leaves and purple-orange head leaves is bred. This method aggregates the purple-head gene and orange gene which are expressed in the head leaves of Chinese cabbage, creating a new Chinese cabbage germplasm with purple-orange head leaves. It enriches Chinese cabbage breeding materials, lays the foundation for breeding the new purple-orange Chinese cabbage variety, and sets a precedent for the aggregation of the head color traits of Chinese cabbage.

Abstract: An electro-hydraulic proportional valve includes: a valve core; a valve sleeve, sleeving an outside of the valve core; a valve body, sleeving an outside of the valve sleeve and fixedly connected to the valve sleeve; a left end cap, covering an end of the valve body, a left sensitive cavity being defined by the left end cap, the valve body, and the valve sleeve; a right end cap, covering the other end of the valve body, a right sensitive cavity being defined by the right end cap, the valve body, and the valve sleeve; a driving mechanism disposed out of the valve body; and a transmission mechanism connected to the driving mechanism and the valve core.

Abstract: A portable pneumatic loading system for simulating the operation of a subway train is provided, comprising a control cabinet, an powered air station and an air cylinder, wherein a proportional directional valve is disposed between the control cabinet and the powered air station, a control cabinet is connected to the powered air station through an air inlet pipe, and the powered air station is connected to the air cylinder through a hose; a PLC, a switching power supply and a guide rail are arranged in the control cabinet, with the PLC and the switching power supply being connected through signal lines to a wiring terminal fixed on the guide rail; a frequency regulating knob, an emergency stop switch, a main start button, a power start button and a power indicator are embedded in five through holes formed on a door of the control cabinet, respectively; a signal line led out from the top of the control cabinet is connected to the proportional directional valve; and, the air cylinder is connected to the proporti

Abstract: A portable pneumatic loading system for simulating the operation of a subway train is provided, comprising a control cabinet, an powered air station and an air cylinder, wherein a proportional directional valve is disposed between the control cabinet and the powered air station, a control cabinet is connected to the powered air station through an air inlet pipe, and the powered air station is connected to the air cylinder through a hose; a PLC, a switching power supply and a guide rail are arranged in the control cabinet, with the PLC and the switching power supply being connected through signal lines to a wiring terminal fixed on the guide rail; a frequency regulating knob, an emergency stop switch, a main start button, a power start button and a power indicator are embedded in five through holes formed on a door of the control cabinet, respectively; a signal line led out from the top of the control cabinet is connected to the proportional directional valve; and, the air cylinder is connected to the proporti