公开(公告)号：US20250021107A1

公开(公告)日：2025-01-16

申请号：US18266643

申请日：2022-10-18

Applicant: SHANDONG UNIVERSITY

Inventor： Wei ZHANG ,  Yanyun CHEN ,  Jiapeng SHENG ,  Xing FANG ,  Wenhao TAN ,  Ran SONG ,  Xiaolei LI ,  Jiyu CHENG

IPC: G05D1/495 ,  G05D1/60 ,  G05D101/15 ,  G05D109/12

Abstract: A method and a system for rhythmic motion control of a robot based on a neural oscillator, including: acquiring a current state of the robot, and a phase and a frequency generated by the neural oscillator; and obtaining a control instruction according to the acquired current state, phase and frequency and a preset reinforcement learning network so as to control the robot. The preset reinforcement learning network includes an action space, a pattern formation network and the neural oscillator. A control structure designed by the present disclosure, which is composed of the neural oscillator and the pattern formation network, can ensure formation of an expected rhythmic motion behavior; and meanwhile, a designed action space for joint position increment can effectively accelerate the training process of rhythmic motion reinforcement learning, and solve a problem that design of the reward function is time-consuming and difficult in learning with existing model-free reinforcement learning.

公开(公告)号：US20250118068A1

公开(公告)日：2025-04-10

申请号：US18983781

申请日：2024-12-17

Applicant: SHANDONG UNIVERSITY

Inventor： Runmin CONG ,  Zifeng QIU ,  Wei ZHANG ,  Ran SONG ,  Liangbin ZHU ,  Yu CHEN ,  Taoyi CHEN ,  Xiaolei LI

IPC: G06V20/17 ,  G06T5/50 ,  G06T7/194 ,  G06V10/44 ,  G06V10/80

Abstract: The present invention provides a method and system for detecting changes in areas, comprising: acquiring images at different times of an area by low-altitude UAVs; extracting state features for each of backbone feature pairs; analyzing importance of each of state parts due to the state parts have different importance degrees to the whole image features under different scenes; eliminating the state features from complete features by virtue of differences in importance degrees, to obtain corresponding essential parts; determining at least one change in the area by analyzing the essential parts. The invention comprehensively considers the importance of the state parts in the input images, and the essential parts contains complete and pure information are obtained, which reflects an actual changed region.

公开(公告)号：US20250021109A1

公开(公告)日：2025-01-16

申请号：US18266694

申请日：2022-10-18

Applicant: SHANDONG UNIVERSITY

Inventor： Wei ZHANG ,  Jiapeng SHENG ,  Yanyun CHEN ,  Xing FANG ,  Wenhao TAN

IPC: G05D1/646 ,  B62D57/032

Abstract: A method for controlling motions of a quadruped robot based on reinforcement learning and position increment, including: acquiring motion environment information, quadruped robot attitude information, and foot sole position information; based on the acquired information, generating foot sole positions of the quadruped robot during motions within all preset time steps, and calculating a change of the foot sole positions in all the time steps; taking a maximum moving distance within a single time step as a constraint, and accumulating the time steps at the same time to obtain a foot sole position trajectory; and controlling the quadruped robot to perform corresponding actions based on the foot sole position track combined with a preset reward function, so as to keep motion balance of the quadruped robot.

公开(公告)号：US20250014479A1

公开(公告)日：2025-01-09

申请号：US18219118

申请日：2023-07-07

Applicant: Shandong University of Science and Technology

Inventor： Wei ZHANG

IPC: G09B19/18

Abstract: A multifunctional teaching demonstration device for economic management is provided. It includes a folding device the back of the folding device is provided with multiple folding components, the front of the folding device is provided with a display, the front of the display is flexibly connected to a transparent board, the left side of the display is flexibly connected to the first demonstration module, the right side of the display is flexibly connected to the second demonstration module, there are two first teaching aid cabinets under the first demonstration module and the second demonstration module, the bottom of the first teaching aid cabinets is flexibly connected to the second teaching aid cabinet.