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1.发明授权公开(公告)号：US11977201B2
公开(公告)日：2024-05-07
申请号：US17837059
申请日：2022-06-10
Inventor： Xianbo Xiang , Jialei Zhang , Shaolong Yang , Qin Zhang , Gong Xiang , Guohua Xu
CPC classification number: G01V3/165 , B63G8/001 , B63G8/38 , B63G2008/004
Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.
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公开(公告)号：US12275753B2
公开(公告)日：2025-04-15
申请号：US18964637
申请日：2024-12-01
IPC: C07H1/00 , C07H15/04 , C07H15/12 , C07H15/14 , C07H15/18 , C07H15/207 , C07H17/07 , C07H19/04 , C07H19/052 , C07H19/06 , C07H19/16 , C07H19/23
Abstract: A glycosylation method involving a trivalent iodine reagent, wherein a glycosyl donor (I) is activated in the presence of a trivalent iodine reagent and a transition metal catalyst, and then reacts with a acceptor (II) under acid catalysis or directly to obtain a glycosylation product (III); in the glycosyl donor (I), Gly is a glycosyl group in which one or more hydroxyl groups on the sugar ring are protected by a protecting group; X is an oxygen, sulfur, or selenium atom; R is an alkyl group or an aryl group; the acceptor (II) is a nucleophile selected from sugars, alcohols, phenols, flavonoids, carboxylic acids, phosphates, pyrimidines, purines, amides, sulfonamides, guanidines, arylamines, indoles, enol silyl ethers, thiols, or thiophenol containing one or more free hydroxyl groups.
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3.发明申请公开(公告)号：US20230028793A1
公开(公告)日：2023-01-26
申请号：US17858028
申请日：2022-07-05
Inventor： Qin Zhang , Jihan Liu , Yusheng Chen , Caihua Xiong
Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.
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4.发明授权公开(公告)号：US10400567B2
公开(公告)日：2019-09-03
申请号：US15749583
申请日：2016-09-29
Inventor： Yi Liu , Fuchang Lin , Yuan Pan , Qin Zhang , Hua Li , Zhiyuan Li , Siwei Liu
Abstract: The invention discloses a pipeline descaling and rock stratum fracturing device based on electro-hydraulic pulse shock waves, comprising a ground low-voltage control device, a transmission cable and an electro-hydraulic pulse shock wave transmitter. The invention generates available high-strength shock waves with repetition frequency to bombard a specific position of the pipeline or rock stratum so as to achieve the effect of pipeline descaling and rock stratum fracturing; the breakdown field strength of the liquid gap can be effectively reduced to improve the conversion efficiency of the electrical energy to the mechanical energy of the electro-hydraulic pulse shock wave so as to obtain a high-strength electro-hydraulic pulse shock wave; the transmitting cavity adopts a parabolic focusing cavity, and through refraction and reflection of the rotating parabolic cavity, the shock wave is focused in a preset direction and radiates outwards to act on the pipeline dirt or rock stratum while ensuring that the shock wave has no longitudinal component and does not will not damage the liquid within the pipeline and the pipeline sheath, so that the effect of pipeline descaling or rock stratum fracturing is improved after focusing. The invention has the advantages of effectively removing the pipeline dirt, fracturing the rock stratum and improving the permeability as well as high reliability, environmental friendliness and low cost.
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Patent Agency Ranking
公开(公告)号：US11809201B1
公开(公告)日：2023-11-07
申请号：US18324171
申请日：2023-05-26
Inventor： Xianbo Xiang , Chuan Liu , Shaolong Yang , Gong Xiang , Qin Zhang
CPC classification number: G05D1/048 , B63G8/24 , B63G8/18 , B63G2008/004
Abstract: The disclosure provides a method and system for hierarchical disturbance rejection depth tracking control of an underactuated underwater vehicle, and the depth tracking of the underactuated underwater vehicle is divided into kinematic layer guidance and dynamic layer pitch tracking. Adaptive line of sight guidance is used in the kinematic layer to convert a depth error into a desired pitch angle and to estimate and compensate an angle of attack to reject disturbance introduced by an unmeasurable true angle of attack. Based on the above, in the dynamic layer, the active disturbance rejection sliding mode pitch tracking method is used to observe a composite disturbance including an unknown dynamic model and an environmental disturbance by using the active disturbance rejection framework. The model is compensated as a unified integral series type, a sliding mode control law is finally designed to resist an observation error, and a control elevator angle is calculated.
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公开(公告)号：US11780551B1
公开(公告)日：2023-10-10
申请号：US18324168
申请日：2023-05-26
Inventor： Xianbo Xiang , Yu Duan , Jinjiang Li , Qin Zhang , Shaolong Yang , Gong Xiang
CPC classification number: B63H25/04 , G05D1/0206
Abstract: Disclosed are a non-singular finite-time control method and system for prescribed performance dynamic positioning of unmanned boat, which belong to the field of automatic control of unmanned boats. The method includes obtaining a difference between the actual measured position and the desired position of the unmanned boat to obtain a position error of the unmanned boat; performing prescribed performance transformation on the unmanned boat position error; constructing a non-singular finite-time virtual velocity law as a reference velocity for unmanned boats; obtaining the difference between the reference speed and the actual measured speed to obtain the speed tracking error; calculating the fuzzy supervisory saturation compensated law and adaptive fuzzy approximation term; constructing a non-singular finite-time dynamical controller to output control commands; applying a force or moment to the unmanned boat to adjust the propeller speed of the unmanned boat, thereby realizing positioning of the unmanned boat.
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7.发明授权公开(公告)号：US11696687B2
公开(公告)日：2023-07-11
申请号：US17858028
申请日：2022-07-05
Inventor： Qin Zhang , Jihan Liu , Yusheng Chen , Caihua Xiong
IPC: A61B5/00 , G06T7/70 , A61B5/107 , A61B5/11 , B25J9/16 , B25J13/08 , G06T7/20 , A61B34/00 , A61B90/00 , A61B90/50
CPC classification number: A61B5/0057 , A61B5/1071 , A61B5/1126 , B25J9/1633 , B25J9/1653 , B25J13/085 , G06T7/20 , G06T7/70 , A61B34/00 , A61B90/50 , A61B2090/064 , G06T2207/30196 , G06T2207/30204
Abstract: The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.
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8.发明申请公开(公告)号：US20220397694A1
公开(公告)日：2022-12-15
申请号：US17837059
申请日：2022-06-10
Inventor： Xianbo Xiang , Jialei Zhang , Shaolong Yang , Qin Zhang , Gong Xiang , Guohua Xu
Abstract: The invention discloses an integrated detection method of electromagnetic searching, locating and tracking for subsea cables. After being launched into water, the cable-tracking AUV carries out primary Z-shaped reciprocating sailing to search the electromagnetic signal of the target subsea cable, when the electromagnetic signal reaches a preset threshold value, the AUV executes the cable-tracking detection. In the tracking process, if the target electromagnetic signal intensity is lower than the preset threshold, it is determined that subsea cable tracking is lost. At this time, the secondary Z-shaped cable-researching route planning and tracking are performed based on the lost point. In the process that the AUV autonomously tracks and detects the subsea cable, relative locating between AUV and subsea cable is performed based on the electromagnetic signal radiated by the subsea cable, and autonomous tracking control under the guidance of the electromagnetic locating signal is performed.
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公开(公告)号：US12093616B1
公开(公告)日：2024-09-17
申请号：US18585089
申请日：2024-02-23
Inventor： Xianbo Xiang , Chaicheng Jiang , Gong Xiang , Shaolong Yang , Qin Zhang
Abstract: A method and a system for ship stability prediction by weighted fusion of RBFNN and random forest based on GD are provided. Firstly, input characteristics when predicting failure probabilities under different failure modes are determined through prior knowledge. Secondly, a mean square error of k-fold cross-validation is used as performance evaluation criterion of the RBFNN and the RF to search for model capacities of the RBFNN and the RF. Then, network parameters of the RBFNN are updated. Multiple random sample sets are generated using a bootstrap sampling method and are parallelly trained to generate multiple regression trees. A Gini index is used as an attribute division index, and a prediction result of the random forest is obtained. Finally, weight coefficients are introduced for weighted fusion of prediction results of the RBFNN and the RF. The weight coefficient is obtained by solving through iterative optimization of the gradient descent.
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