Abstract: Disclosed are a dihydropyrimidine compound, a preparation method therefor and an application thereof. Specifically, disclosed are a dihydropyrimidine compound represented by formula 1? or a pharmaceutically acceptable salt thereof, a composition comprising the compound, and an application of the compound in preparing a drug for treating and preventing hepatitis B virus (HBV) infection related diseases. The disclosed dihydropyrimidine compound can effectively suppress the activity of HBV in HepG2.2.15 cells, and is less toxic to liver cancer cells.

Abstract: A vehicle window assembly is provided in the disclosure. The vehicle window assembly includes a first bearing plate, a first conductive layer, a second conductive layer, a first bus bar, and a second bus bar. The first bus bar is in direct electrical contact with the first conductive layer, and the second bus bar is in direct electrical contact with the first conductive layer or the second conductive layer. The vehicle window assembly has a first heating zone and a second heating zone arranged between the first bus bar and the second bus bar, where the first heating zone is in direct connection with the second heating zone. The first conductive layer covers at least the first heating zone, and the second conductive layer at least partially covers the second heating zone.

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

Abstract: An aluminum borate whisker reinforced and toughened non-metallic matrix composite is provided, which specifically includes a non-metallic material reinforced and toughened with aluminum borate whiskers. The composite exhibits a higher bending strength and fracture toughness and a higher wear resistance. A method for preparing the composite is also provided. The method includes mixing the aluminum borate whiskers and the non-metallic material to form a mixture; and sintering the mixture by a vacuum hot press method, or molding the mixture.

Abstract: A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.

Abstract: A device for wrapping insulating film around battery cell is provided. In some embodiments, the device includes a push mechanism, a defining mechanism, an edge folding mechanism, and a driving unit. The push mechanism includes a substrate for holding a battery cell and a push assembly, which includes a push block and a first restraint portion for limiting a position of the push block. The defining mechanism is disposed on a side of the substrate, and configured to define a position of the battery cell on the substrate. The edge folding mechanism is disposed opposite the push mechanism, and configured to fold an edge of an insulating film wrapped around the battery cell. The driving unit is configured to drive the edge folding mechanism to fold the edge of the insulating film wrapped around the battery cell and drive the push block to push the battery cell on the substrate.

Abstract: A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

Abstract: A method for preparing field muskmelon oil includes the following steps: S1, removing foreign matter, including: removing the foreign matter in field muskmelon seeds; S2, low-temperature pressing, including: performing the low-temperature pressing on the field muskmelon seeds after removing the foreign matter in step S1 to obtain an oil residue mixture; S3, filtering and removing impurities: filtering the oil residue mixture obtained by the low-temperature pressing in step S2 to remove the impurities to obtain a primary oil; and S4, centrifugal separation, including: centrifugally separating the primary oil obtained by filtering and removing impurities in step S3 to obtain the field muskmelon oil. The new method avoids using high-temperatures resulting in optimal yield of nutritional content and no harmful byproducts.

Abstract: A method for preparing field muskmelon oil includes the following steps: S1, removing foreign matter, including: removing the foreign matter in field muskmelon seeds; S2, low-temperature pressing, including: performing the low-temperature pressing on the field muskmelon seeds after removing the foreign matter in step S1 to obtain an oil residue mixture; S3, filtering and removing impurities: filtering the oil residue mixture obtained by the low-temperature pressing in step S2 to remove the impurities to obtain a primary oil; and S4, centrifugal separation, including: centrifugally separating the primary oil obtained by filtering and removing impurities in step S3 to obtain the field muskmelon oil. The new method avoids using high-temperatures resulting in optimal yield of nutritional content and no harmful byproducts.

Abstract: A processing system for and a method of producing ions inside a process chamber and shielding the ions from a magnetic field by directing the magnetic field through a magnet keeper is described.

Abstract: A disk processing system with a corner chamber having a heater assembly and a carrier rotary assembly configured to rotate the heater assembly.

Abstract: A disk processing system with a load chamber having a stationary heater and a movable heater.