The invention relates to an imitated gecko sole capable of self-sensing and self-adapting to a contact force with an initiative sticking/desorbing function and belongs to the field of robot technology application. The imitated gecko sole comprises a shank beam (1), a one-dimensional sensor (2), a wire-pull steering engine bracket (3), a rotating support frame (4), a wire-pull steering engine (5), a rotating flange (6), a two-dimensional force sensor (7), a bulb (8), a fetlock cover, a spring, a toe slice base and a sticking material. The imitated gecko sole can initiatively drive a plurality of toes and can realize an initiative sticking function and an initiative desorbing function; the one-dimensional sensor and the two-dimensional force sensor along different directions are combined and are moved and decoupled together with an initiative sticking and desorbing mechanism, so that the coupling problem of motion and force sensing can be avoided; the fetlock at three degrees of freedom constrained by eight resetting springs is added, so that the space surface has self-adaptive ability.

Imitated gecko sole capable of self-sensing and self-adapting to contact force with initiative sticking/desorbing function

For optical remote sensing images which are contaminated by white Gaussian noise, in general, uniform features indicate the same spectral characteristic. Uniform features will present the same or similar digital number (DN) value with a certain band in imaging. Therefore, the DNs of the uniform features are highly correlated [1]. When dividing an image into small blocks to estimate noise standard-deviations (SDs) and distributing SDs into a number of bins with equal width, within the minimum to the maximum SD, the statistical curve of numbers of SDs in bins theoretically meets Gaussian distribution [2]. Combining the two features, we develop a new method for SNR estimation. Results of tests indicate the new method performs better than other ones and overcome some disadvantages of some typical methods.

A new method based on Spatial Dimension Correlation and Fast Fourier Transform for SNR estimation in remote sensing images

The invention relates to a novel light combination prism adjusting device which comprises an optical platform, a light combination prism adjusting mechanism and a to-be-assembled optical element, wherein the light combination prism adjusting mechanism is arranged on the left side of the optical platform; the to-be-assembled optical element is arranged on the right side of the optical platform; a linear drive rod is arranged in the light combination prism adjusting mechanism to drive the light combination prism adjusting mechanism to move, and four micro motors drive the light combination prism adjusting mechanism to clamp the to-be-assembled optical element, so that a light combination prism is adjusted. The light combination prism adjusting mechanism constructed by adopting a motor and linear drive rod combined control method is flexible in motion output track, large in operating space, high in operability and high in positioning accuracy, the angle and position adjusting functions of the light combination prism are improved, and the quality and efficiency of a laser gyroscope light combination process are further improved.

Novel light combination prism adjusting device

The invention relates to a mechanical dithering laser gyroscope light adjusting system. The mechanical dithering laser gyroscope light-combined adjusting system is composed of a light-combined prism, a photoelectric tube assembling mechanism, a controlling mechanism of the photoelectric tube assembling mechanism, an image collecting system and a data collecting system. The light-combined prism, the photoelectric tube assembling mechanism and the controlling system of the photoelectric tube assembling mechanism are used for adjusting the position of the light-combined prism and the photoelectric tube on a resonant cavity, and the light-combined prism and the photoelectric tube are controlled to be at the best positions. The image collecting system is used for collecting two beams of optical signals output by the gyroscope resonant cavity, optical signals are converted into the electric signals through the data collecting system, and information is sent to a main control computer. Semi automatic light combination function of the light-combined prism and the photoelectric tube on a laser gyroscope is achieved through cooperation of software and hardware. The mechanical dithering laser gyroscope light adjusting system can accurately and efficiently install the light-combined prism and the photoelectric tube, operation is stable and accurate, and the threshold value parameters of signal waveforms can be accurately judged and computed.

Mechanical dithering laser gyroscope light-combined adjusting system

The invention relates to a device for assembling light-splitting optical elements of a laser gyroscope The device comprises an optical platform, a vibration reduction platform, four cylindrical supports, a light-splitter-prism parallel-connection fine adjustment mechanism, a phototube adjusting mechanism, a laser-gyroscope resonant cavity positioning mechanism and the light-splitting assembling to-be-assembled optical elements of the laser gyroscope The vibration reduction platform is fixed to the optical platform The light-splitter-prism parallel-connection fine adjustment mechanism is fixed to the vibration reduction platform and used for completing clamping and posture adjusting of the light splitter prism of the light-splitting assembling to-be-assembled optical elements of the laser gyroscope The phototube adjusting mechanism is fixed to the vibration reduction platform through the four cylindrical supports and used for completing clamping and posture adjusting of the first phototube and the second phototube of the light-splitting assembling to-be-assembled optical elements of the laser gyroscope The laser-gyroscope resonant cavity positioning mechanism is fixed to the optical platform and used for clamping and positioning the resonant cavity of the light-splitting assembling to-be-assembled optical elements of the laser gyroscope

Device for assembling light-splitting optical elements of laser gyroscope

The invention relates to an inclined contact type cavity-adjusting mechanism and method of a laser gyro. The cavity-adjusting mechanism is formed by a three-dimensional precision working table and a clamping paw which are connected in series; the entire mechanism is arranged in an inclined manner to obtain the angle of inclination and degree of freedom for the inclined contact type cavity-adjusting method; and the clamping paw is in a V-shaped structure and can position a spherical mirror and realize contact blocking after cavity-adjusting. In the inclined contact type cavity-adjusting method of the laser gyro, the acting force between the spherical mirror and a laser resonator is utilized to realize the stable lamination of two contact blocking surfaces, thus ensuring the parallelism of the contact blocking surfaces and avoiding the situation that the traditional cavity-adjusting method has accidental contact blocking. In the invention, the inclined contact type method is adopted to establish a precision cavity-adjusting mechanism which has the advantages of simple structure, high motion resolution, and good maneuverability and is easy to control.

Inclined contact type cavity-adjusting mechanism and method of laser gyro

The invention relates to a mechanical-shaking laser gyroscope light integrating mechanism. The light integrating mechanism mainly consists of a light integrating prism adjusting device, a photoelectric tube adjusting device and a gyroscope shaking device, wherein the light integrating prism adjusting device mainly consists of three one-dimensional manual workbenches, an electric rotary workbench and a light integrating prism holder which are connected in series, and the light integrating prism adjusting device is used for realizing operations of holding, positioning and position and angle adjusting of the light integrating prism; the photoelectric tube adjusting device mainly consists of a three-dimensional precise electric workbench, a photoelectric tube holder and an incline support which are connected in series, and the photoelectric tube adjusting device is used for operation for holding, positioning and position adjusting of the photoelectric tube; the gyroscope shaking device mainly consists of a support, a shaking wheel, an installation rack, a cavity body installing mechanism, positioning blocks and the like, and the gyroscope shaking device is used for realizing positioning and shaking of the gyroscope. The mechanical-shaking laser gyroscope light integrating mechanism established by the invention by adopting a combined manual and electric method is good in operability, high in positioning accuracy, and conducive to improvements of the quality and efficiency of a laser gyroscope light integrating technology.

Mechanical-shaking laser gyroscope light integrating mechanism

A two-degree-of-freedom (2-DOF) piezo-driven nanopositioning stage is presented to align optical system. In this paper, the mechanical model of the nanopositioning stage is established. General equations for calculating the stiffness and resonant frequency of the stage were deduced according to the theory of structural mechanics. The comparative results of the theory, finite element analysis (FEA) and experiments show the accuracy of the theoretical model and the validity of FEA. FEA of static and dynamic behaviors of the nanopositioning stage are performed and a simple procedure is developed to find the proper dimensions of the nanopositioning stage. FEA results indicate that designers can control and optimize static and dynamic performance of the nanopositioning stage to achieve the desired response of the micropositioning system by modifying the flexure hinge dimensions.

Sun Lining

Papers

Inclined contact type cavity-adjusting mechanism and method of laser gyro

Novel light combination prism adjusting device

Mechanical-shaking laser gyroscope light integrating mechanism

Mechanical dithering laser gyroscope light-combined adjusting system

Design and Analysis of 2-DOF Nanopositioning Stage for Optical Alignment