Abstract: A self-learning method for an obstacle and a self-learning method for a new obstacle are provided. With the self-learning method, in step 1, data of a grid map in a movement region is acquired, and each of grids of the grid map is marked as not being traversed. In step 2, a starting grid of the grid map is set, data of the starting grid is pushed into a stack, a movement unit is controlled to move to the starting grid, and the starting grid is remarked as being traversed. In step 3, the movement unit is controlled to traverse the grid map, and boundary data of the obstacle is acquired based on marks of the grids in the grid map. In step 4, boundary data of the obstacle is stored.

Abstract: The present invention relates to a method for detecting nucleic acids by fluorescent PCR. The method combines primer-activated polymerization reaction and specific fluorescence-labeled probe, which detects the target nucleic acid with high selectivity and high specificity.

Abstract: The present invention relates to a method for detecting nucleic acids by fluorescent PCR. The method combines primer-activated polymerization reaction and specific fluorescence-labeled probe, which detects the target nucleic acid with high selectivity and high specificity.

Abstract: Provided is an application of a miRNA fingerprint in the diagnosis and treatment of human bladder and urothelial carcinoma (comprising bladder cancer, renal pelvic carcinoma, ureter cancer, urinary outflow tract cancer, and the like). A plurality of fingerprints consisting of miRNAs can effectively distinguish a urine sample of bladder and urothelial carcinoma from a urine sample of non-bladder and urothelial carcinoma, and has high sensitivity and strong specificity. The fingerprints can be effectively used for the detection and the early diagnosis and screening of bladder and urothelial carcinoma and the screening of drugs for bladder and urothelial carcinoma.

Abstract: Engine and its camshaft, camshaft manufacturing method, the camshaft comprises a central shaft having an axial hole, the central shaft has a fitting section, the outer circumference of a cross section at any axial position of the fitting section is a polygon; a first cam and a second cam, the first cam and second cam are respectively installed on the fitting section of the central shaft and are spaced axially. Such a structure has the advantages of higher torque transmission, simpler structure, simplified manufacturing process, shorter manufacturing time consumption and reduced cost.

Abstract: Engine and its camshaft, camshaft manufacturing method, the camshaft comprises a central shaft having an axial hole, the central shaft has a fitting section, the outer circumference of a cross section at any axial position of the fitting section is a polygon; a first cam and a second cam, the first cam and second cam are respectively installed on the fitting section of the central shaft and are spaced axially. Such a structure has the advantages of higher torque transmission, simpler structure, simplified manufacturing process, shorter manufacturing time consumption and reduced cost.