公开(公告)号：US12242270B2

公开(公告)日：2025-03-04

申请号：US17469155

申请日：2021-09-08

Applicant: Shanghai University ,  Chongqing University

Inventor： Huayan Pu ,  Yuan Liu ,  Jun Luo ,  Zhijiang Xie ,  Xiaomao Li ,  Jiajia Xie ,  Zhou Su ,  Yan Peng ,  Shaorong Xie

IPC: G05D1/00 ,  B63B79/10 ,  B63B79/40 ,  G06N20/00 ,  G08G3/02

Abstract: A method and system for controlling multi-unmanned surface vessel (USV) collaborative search are disclosed which relate to the technical field of the marine intelligent USV collaborative operation. The method includes determining a task region of a USV team; determining environmental perception information corresponding to each of the USVs at the current moment according to the task region and the probability graph mode; inputting the environmental perception information corresponding to each of the USVs at the current moment into the corresponding target search strategy output model respectively to obtain an execution action of each of the USVs at the next moment; sending the execution action of each of the USVs at the next moment to a corresponding USV execution structure to search for underwater targets within the task region. The target search strategy output model is obtained by training based on a training sample and a DDQN network structure.

公开(公告)号：US20230045158A1

公开(公告)日：2023-02-09

申请号：US17535747

申请日：2021-11-26

Applicant: Chongqing University ,  Shanghai University

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: G01H11/02 ,  H02N15/00

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.

公开(公告)号：US11692607B2

公开(公告)日：2023-07-04

申请号：US17535747

申请日：2021-11-26

Applicant: Chongqing University ,  Shanghai University

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: F16F15/00 ,  F16F15/03 ,  H02N15/00 ,  G01H11/02

CPC classification number: F16F15/002 ,  F16F15/03 ,  G01H11/02 ,  H02N15/00 ,  F16F2230/14

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.

公开(公告)号：US11887485B2

公开(公告)日：2024-01-30

申请号：US17467916

申请日：2021-09-07

Applicant: Shanghai University ,  Chongqing University

Inventor： Huayan Pu ,  Yuan Liu ,  Jun Luo ,  Zhijiang Xie ,  Jiajia Xie ,  Xiaomao Li ,  Zhou Su ,  Yan Peng ,  Hengyu Li ,  Shaorong Xie

IPC: B63B49/00 ,  G08G3/00 ,  B63B79/15 ,  B63B79/40 ,  B63B79/20 ,  G05B13/02 ,  G05D1/02

CPC classification number: G08G3/00 ,  B63B49/00 ,  B63B79/15 ,  B63B79/20 ,  B63B79/40 ,  G05B13/0265 ,  G05D1/0206

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.

公开(公告)号：US11573101B2

公开(公告)日：2023-02-07

申请号：US17733147

申请日：2022-04-29

Applicant: CHONGQING UNIVERSITY

Inventor： Huayan Pu ,  Yan Jing ,  Jinglei Zhao ,  Jun Luo ,  Yi Qin ,  Zhijiang Xie ,  Jie Ma

IPC: G01D5/20

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.