Abstract: A method for controlling motion of a legged robot includes: determining, according to state data of the legged robot at a start moment in a preset period, a candidate landing point of each foot in the preset period; determining, according to the state data at the start moment and the candidate landing point of each foot, a first correlation between a centroid position change parameter, a step duty ratio, a candidate landing point, and a foot contact force; determining, under a constraint of a constraint condition set, a target centroid position change parameter, a target step duty ratio, and a target landing point satisfying the first correlation; and controlling, according to the target centroid position change parameter, the target step duty ratio, and the target landing point, motion of the legged robot in the preset period.

Abstract: A method for measuring an antenna downtilt angle based on a multi-scale deep semantic segmentation network is disclosed, including: collecting base station antenna data by using an unmanned aerial vehicle, and labeling an acquired antenna image with a labeling tool to make a data set; calling the data set for training and debugging a model; recognizing and detecting a target antenna, performing semantic segmentation on an output image, finally obtaining a target image finally segmented, and calculating a downtilt angle of the target image. The method is highly applicable, cost-effective, and safe.

Abstract: The present disclosure relates to a coaxial lead structure and method for radiating a GIS partial discharge UHF signal outward. The structure includes a GIS cavity, a circular hole provided on the GIS cavity, a medium cylinder provided at the circular hole and sealing the circular hole, a thin cylindrical metal lead that extends into and is fixed to the medium cylinder, and a ground lead connected to the thin cylindrical metal lead. According to the present disclosure, a relatively strong signal may be obtained outside a coaxial lead structure, and detection of a partial discharge UHF signal at this position may increase the detection sensitivity by one time compared with the detection methods of built-in and external disc insulators.

Abstract: A legged robot motion control method, apparatus, and device, and a storage medium. The method includes: acquiring center of mass state data corresponding to a spatial path starting point and spatial path ending point of a motion path; determining a candidate foothold of each foot in the motion path based on the spatial path starting point and the spatial path ending point; determining a variation relationship between a center of mass position variation coefficient and a foot contact force based on the center of mass state data; screening out, under restrictions of a constraint set, a target center of mass position variation coefficient and target foothold that satisfy the variation relationship; determining a target motion control parameter according to the target center of mass position variation coefficient and the target foothold; and controlling a legged robot based on the target motion control parameter to move according to the motion path.

Abstract: This application relates to a planar contour recognition method and apparatus, a computer device, and a storage medium. The method includes obtaining a target frame image collected from a target environment; fitting edge points of an object plane in the target frame image and edge points of a corresponding object plane in a previous frame image to obtain a fitting graph, the previous frame image being collected from the target environment before the target frame image; deleting edge points that do not appear on the object plane of the previous frame image, in the fitting graph; and recognizing a contour constructed by remaining edge points in the fitting graph as a planar contour.

Abstract: An optical apparatus includes an image source, a relay optical system, and an optical processing system. The image source is configured to display an image. The relay optical system is configured to project the image displayed by the image source to the optical processing system, and to image at infinity. The optical processing system is configured to project incident light from the relay optical system in a same direction to at least two preset directions sequentially.

Abstract: A scene contour recognition method is provided. In the method, a plurality of scene images of an environment is obtained. Three-dimensional information of a target plane in the plurality of scene images is determined based on depth information for each of the plurality of scene images, The target plane corresponds to a target object in the plurality of scene images. A three-dimensional contour corresponding to the target object is generated by fusing the target plane in each of the plurality of scene images based on the three-dimensional information of the target plane in each of the plurality of scene images. A contour diagram of the target object is generated by projecting the three-dimensional contour onto a two-dimensional plane.

Abstract: The present disclosure provides an image processing method and apparatus, an electronic device, and a computer-readable storage medium. The method includes: obtaining a first three-dimensional image of a target object in a three-dimensional coordinate system; determining a target plane of the target object in the first three-dimensional image, the target plane comprising target three-dimensional points; projecting the target three-dimensional points to a two-dimensional coordinate system defined on the target plane, to obtain target two-dimensional points; determining a target polygon and a minimum circumscribed target graphic of the target polygon according to the target two-dimensional points; and recognizing the minimum circumscribed target graphic as a first target graphic of the target object in the first target three-dimensional image.

Abstract: A transmission pipe configuration method, including receiving a device address of a first network domain, a device address of a second network domain from, generating an identifier of a transmission pipe based on the device address of the first network domain and the device address of the second network domain, where the transmission pipe connects a first border transport device and a second border transport device, and sending to the first border transport device, the identifier of the transmission pipe and the device address that is of the second network domain and that corresponds to the transmission pipe. The identifier of the transmission pipe and the device address are used to generate a forwarding table of the first border transport device, the forwarding table indicating a forwarding relationship where service data is forwarded from the first network domain to the second network domain using the transmission pipe.

Abstract: Embodiments of this application relate to the field of communication technologies, and provide a routing information publishing method. The method includes: An edge transport device connected to a first edge device in a first network domain receives, based on a control plane protocol message, first routing information that is from a controller and that includes an address of a second edge device in a second network domain and a destination address of the second network domain, and sends the first routing information to the first edge device, so that the first edge device generates, based on the first routing information, a forwarding table that is of the first edge device and that is used to indicate a forwarding relationship between the first network domain and the second network domain.

Abstract: This disclosure describes a map-matching module that supports a Global Positioning System (GPS) and provides a user with a best match trajectory corresponding to GPS sampling points taken at a low sampling rate. The best match trajectory is based upon a spatial-temporal analysis.

Abstract: Aspects of the disclosure relate to evaluating pullovers for autonomous vehicles. In one instance, a set of potential pullover locations within a predetermined distance of a destination may be identified. Whether any of the potential pullover locations of the set include one or more of a plurality of predetermined types of regions of interest where a vehicle should not park for an extended period of time may be determined. A pullover location is identified based on the determination. The identified pullover location may be compared to a pullover location identified by autonomous vehicle control software in order to evaluate the pullover location identified by the autonomous vehicle control software.

Abstract: According to embodiments of the present disclosure, there is provided a method, system, apparatus, electronic device, storage medium and program product for data exchange. The method described herein comprises: obtaining original data to be exchanged by a target application between a first platform and a second platform; obtaining normalized data corresponding to a type of the original data by processing the original data based on the type; determining a satisfaction of a data exchange constraint from the normalized data. In this way, the embodiments of the present disclosure may simplify and promote the determination of the data exchange constraint and accelerate the data exchange process.

Abstract: A computing device creates first relation data indicating a relation between an interval duration and a center of mass position of a legged robot. The first relation data comprises a first constant, C. The computing device creates second relation data corresponding to at least one leg of for the legged robot and a force corresponding to the at last one leg with the ground. The second relation data comprises the first constant, C. The computing device creates third relation data according to the second relation data. The device determines a value of the first constant, C, when a target value J is a minimum value, and obtains the first relation data according to the determined value of the first constant, C.

Abstract: This application relates to a leg assembly and device for a robot. The leg assembly includes: a connection assembly and a sole assembly; the connection assembly is configured to connect the leg assembly and a robot body. The sole assembly includes a sole plate, a first force sensor, a distance sensor, and an attitude sensor. The connection assembly includes a second force sensor and a shank connector. The first force sensor is configured to detect a normal reaction force suffered by the sole plate after being in contact with an obstacle; the second force sensor is configured to detect a resultant force of reaction forces suffered by the sole plate after being in contact with the obstacle.

Abstract: This disclosure relates to a spatial calibration method and apparatus of a robot ontology coordinate system based on a visual perception device and a storage medium. The method includes: obtaining first transformation relationships; obtaining second transformation relationships; using a transformation relationship between a visual perception coordinate system and an ontology coordinate system as an unknown variable; and resolving the unknown variable based on an equivalence relationship between a transformation relationship obtained according to the first transformation relationships and the unknown variable and a transformation relationship obtained according to the second transformation relationships and the unknown variable, to obtain the transformation relationship between the visual perception coordinate system and the ontology coordinate system.

Abstract: The present disclosure relates to a data processing method and apparatus and non-transitory computer-readable storage medium, and relates to the field of computer technology. The method includes: combining original data from a plurality of data platforms to create a training data set, according to an overlap condition between the original data from different data platforms; classifying data in the training data set to obtain a plurality of data subsets, according to attributes of the data in the training data set determining a machine learning model corresponding to each data subset, according to a type of the each data subset and sending the each data subset and its corresponding machine learning model to each of a plurality of data platforms.

Abstract: Disclosed are a sealed cobalt leaching device, a reagent for the cobalt leaching, a method using the device, and use of the method. The sealed cobalt leaching device includes a base, where a top of the base is provided with a first groove; a chemical solution holding tool is provided above the base; a bottom of the chemical solution holding tool is removably connected to the base; a holding through-hole penetrating up and down is formed inside the chemical solution holding tool; and a sealing cover is provided above the chemical solution holding tool. Beneficial effects of the present disclosure: Through the combination of the base, the chemical solution holding tool, and the sealing cover, the holding through-hole inside the chemical solution holding tool is sealed, thereby improving the cobalt leaching temperature and the cobalt leaching efficiency.

Abstract: Disclosed in the embodiments of the present disclosure are a method and a device for constructing decision trees. A particular embodiment of the method comprises: sending, to at least one client, a request for acquiring statistical information of attribute information of a target category; receiving the statistical information of attribute information of the target category of samples stored by the clients; generating split point information according to the statistical information of attribute information of the target category of samples respectively stored by the clients, and sending the split point information to the at least one client.

Abstract: Embodiments of the present disclosure provide a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus includes a base; at least one motor arranged on the base; a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor, the synchronous wheel being sleeved on the synchronous belt and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate.