Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

Abstract: A method of a polyurethane foam includes the following steps of: (1) simultaneously pumping a mixed solution prepared from hydrogen peroxide, an organic acid, a catalyst and a stabilizer and a vegetable oil into a first microstructured reactor of a micro-channel modular reaction device for reacting to obtain a reaction solution containing epoxidized vegetable oil; (2) simultaneously pumping the reaction solution containing the epoxidized vegetable oil obtained from the step (1) and a compound of formula III into a second microstructured reactor of the micro-channel modular reaction device for reaction to obtain a vegetable oil polyol; and (3) reacting the vegetable oil polyol prepared from the step (2) with a foam stabilizer, a cyclohexylamine, an isocyanate and a foaming agent cyclopentane for foaming so as to prepare a rigid polyurethane foam.

Abstract: The invention provides a reaction system for preparing butyraldehyde by propylene carbonylation, comprising: a reactor; a side wall of the reactor is sequentially provided with a catalyst inlet, a propylene inlet and a synthesis gas inlet from top to bottom; the bottom of the reactor is provided with a solvent inlet; two micro-interface generators are arranged inside of the reactor from top to bottom, and the micro-interface generator located at a top end is connected to the propylene inlet to break the propylene gas into micron-scale micro-bubbles; the micro-interface generator located at a bottom is connected to the synthesis gas inlet for breaking the synthesis gas into micron-scale micro-bubbles; the outlets of the two micro-interface generators are opposite, and the outlets are connected with a gas distributor for evenly distributing raw materials.

Abstract: The present disclosure provides a display substrate including: a base substrate, and a thin film transistor, an oxygen supplementing functional layer and an oxygen containing layer formed on the base substrate. The thin film transistor includes: an active layer in direct contact with the oxygen containing layer, and the active layer includes an oxide semiconductor material. The oxygen supplementing functional layer includes a metal oxide material and serves as a first electrode of the display substrate. The oxygen containing layer is between the oxygen supplementing functional layer and the base substrate.

Abstract: A virtual machine management method and apparatus, a device, and a readable storage medium. The virtual machine management method is applied to a private cloud, and comprises: acquiring a SELinux label, the SELinux label comprising five elements: User, Role, Type, Sensitivity, and Category (S101); setting elements other than Category in the SELinux label as default values (S102); assigning different values to Category according to a preset Category variable combination so as to obtain multiple non-duplicate label groups (S103); and configuring each label group to a virtual machine in the private cloud, so that virtual machines configured with the same label group communicate with each other, and virtual machines configured with different label groups are isolated from each other (S104).

Abstract: The present disclosure provides a radiation inspection device, which has a transportation state and a working state, and includes a container with an adjustable width, and the width of the container in the transportation state is smaller than that in the working state; a radiation inspection apparatus arranged in the container and including a radiation source and a detector, and in the transportation state, the length of the radiation inspection apparatus is arranged along the length direction of the container, and in the working state, the length of the radiation inspection apparatus is arranged along the width direction of the container to perform radiation scanning inspection on vehicles passing through the container along the length direction; a rotating apparatus arranged in the container and configured to rotate the radiation inspection apparatus when the radiation inspection device is switched between the transportation state and the working state.

Abstract: An AR-based method and system for monitoring safety of a carbon dioxide incubator are provided. The method includes obtaining temperature data, carbon dioxide concentration data and door and window opening and closing data through sensors; collecting image infoimation of the carbon dioxide incubator and establishing a virtual space coordinate system; constructing a real space coordinate system according to a position of a camera, and acquiring a matrix of the carbon dioxide incubator in the real space coordinate system; transfoiming the matrix corresponding to the carbon dioxide incubator image in the real coordinate system into a matrix in the virtual coordinate system according to a transformation relation matrix, so as to construct position and pose data of a virtual incubator; and deteimining a risk grade according to the position and pose data of the virtual incubator and collected sensor data, and visualizing and displaying risk in an augmented-reality manner.

Abstract: A full-face shaft tunnel boring machine system includes a tunnel boring machine cutterhead device for tunneling downwards in a shaft; a full-hydraulic formwork device for supporting and walling in a wellbore; and an upper muck-discharge system for vertically conveying rock mucks generated by tunneling. The tunnel boring machine cutterhead device comprises a vertical guide frame, a cutter-expanded boring head and an advanced cutterhead that are fixedly connected in a vertical order from top to bottom so as to form an integrated structure. The vertical guide frame is a hollow cylindrical structure and driven to rotate around an axis of the vertical guide frame by a power mechanism, and an outer wall of the vertical guide frame is provided with multiple sets of first guide rollers.

Abstract: Disclosed are a fault diagnosis circuit, method and apparatus, and computer readable storage medium. The fault diagnosis circuit includes a safety protection circuit electrically connected to a protected circuit and a diagnosis module electrically connected to the safety protection circuit. The safety protection circuit is configured to perform check operation on stored data in the protected circuit to obtain first check data, perform error injection on second check data corresponding to the stored data, and generate a first check result signal based on the first check data and the second check data after the error injection. The diagnosis module is configured to diagnose faults in the safety protection circuit based on the first check result signal. From embodiments of this disclosure, the safety protection circuit is diagnosed faults through a simple hardware structure, to eliminate the faults based on a diagnosis result, thereby ensuring normal operation of a chip.

Abstract: A preparation method of a flexible polyurethane foam includes the following steps of: (1) subjecting an epoxidized vegetable oil, a benzoylformic acid, a basic catalyst, and an inert solvent to a ring-opening reaction in a first microchannel reactor of a microchannel reaction device to obtain a vegetable oil polyol; (2) subjecting the vegetable oil polyol obtained in the step (1), a propylene oxide and an inert solvent to an addition polymerization reaction in a second microchannel reactor of the microchannel reaction device to obtain a vegetable oil polyol for flexible polyurethane foam; and (3) using the vegetable oil polyol for flexible polyurethane foam obtained in the step (2) as the unique polyol, and subjecting the same and an isocyanate polyol to a foaming reaction to obtain the flexible polyurethane foam.

Abstract: Provided is a coding control method in a passive optical network (PON). The method includes acquiring data of a service to be coded and a preset codeword length N corresponding to the service to be coded; acquiring a coding mode corresponding to the preset codeword length N in a preset table describing a correspondence between codeword length ranges and coding modes; and coding data of the service by using the coding mode corresponding to the preset codeword length N. Further provided are a coding control apparatus in a PON, a communication device and a storage medium.

Abstract: The present invention discloses a hydrate energy-storage temperature-control material and a preparation method therefor. The material includes a refrigerant hydrate and a cross-linked polymer. The preparation method comprises the following steps: first, preparing a refrigerant hydrate by using a high-pressure reactor, and conducting grinding, crushing and sieving to obtain hydrate particles; then, uniformly spraying polytetrafluoroethylene suspended ultrafine powder onto the surface of the hydrate particles by using an electrostatic spraying device, and putting the hydrate particles into a plasma instrument to modify polytetrafluoroethylene so as to allow free radicals to be formed on the polytetrafluoroethylene powder surface; finally, subjecting monomers to graft polymerization with the free radicals on the polytetrafluoroethylene surface under the irradiation of a high-pressure mercury lamp of UV lighting system to stabilize the structure of the material, preparing a final product.

Abstract: A liquid-solid axial moving bed reaction and regeneration apparatus and a solid acid alkylation process by using the liquid-solid axial moving bed reaction and regeneration apparatus.

Abstract: In one aspect, separator-free energy storage devices are disclosed. Such devices comprise a first electrode and a second electrode. In some embodiments, the first electrode is opposite the second electrode. The first and/or second electrodes are formed from a nanocomposite material. The nanocomposite material includes plurality of carbon nanostructures, each of which is at least partially coated with a layer of material comprising a transition metal oxide. In some embodiments, the coating layer is uniform or substantially uniform in one or more properties.

Abstract: A lipid delivery system, a virus-like structure (VLS) vaccine constructed therefrom, and a lipid particle capable of encapsulating an mRNA molecule encoding a SARS-CoV-2-specific antigen are provided. After the lipid particle encapsulates an mRNA molecule encoding a SARS-CoV-2 antigen, a SARS-CoV-2 S1 antigen protein can be embedded on a surface of an envelope structure of the lipid under specific buffer conditions to produce a VLS vaccine with an antigen-encoding mRNA molecule encapsulated inside and an outer membrane presenting a required viral antigen protein. The vaccine has a superior specific antibody-inducing ability to a SARS-CoV-2 mRNA vaccine and a polypeptide vaccine, can maintain a long-lasting high antibody level, and can also exhibit excellent immune binding abilities for the emerging different variants.

Abstract: Provided are a display panel and a method for manufacturing the same, a display device and a control method of the same related to the technical field of display. The display panel includes a base substrate; a pixel defining layer arranged on the base substrate and configured to define a plurality of sub-pixels, at least one sub-pixel of the plurality of sub-pixels includes a plurality of sub-pixel-units; and each sub-pixel-unit of the plurality of sub-pixels includes an anode, a light emitting layer, and a cathode that are stacked, and anodes of adjacent sub-pixel-units in a same sub-pixel are insulated from each other and are apart from the base substrate for different distances.

Abstract: An audio acquisition device positioning method is provided. In the method, a first image that includes an audio acquisition device is obtained. The audio acquisition device in the first image is identified. First coordinate data of the identified audio acquisition device in the first image is obtained. First displacement data is determined according to the first coordinate data and historical coordinate data of the audio acquisition device. First coordinates of the audio acquisition device are determined according to the first displacement data.

Abstract: A communication node receives first information, transmits a first radio signal and monitors a first-type signaling in a first time window; an end time for a transmission of the first radio signal is used for determining a start of the first time window, a time-domain resource occupied by the first radio signal is used for determining a first characteristic identity; the first characteristic identity is one of M characteristic identities, the M is a positive integer greater than 1, and the first information is used for determining the M characteristic identities; the first-type signaling carries one of the M characteristic identities, the communication node determines a characteristic identity carried by the first-type signaling out of the M characteristic identities through blind detection. The method helps improve random access performance.

Abstract: The present disclosure discloses a method and device used in wireless communication node. A first node receives first information and second information via an air interface, the first information indicating a first time offset value, and the second information indicating a first time-domain resource relative to a first instant of time; the first instant of time is associated with a first time unit. By designing the first time offset value in the present disclosure, whenever a terminal A expects a terminal B to transmit, the terminal B is able to transmit according to a timing obtained by itself and there is no need for multiple interactions between these terminals to acquire a timing advance (TA), thus improving radio signal transmission efficiency on sidelink in IOT and V2X systems and the system's overall performance.

Abstract: Method and device for wireless communications. A node receives a first information block; the node transmits a first PUCCH; the first information block determines a first scrambling sequence; the first PUCCH carries a first bit block and a second bit block; a number of bit(s) comprised in the first bit block is not greater than 2; a sum of a number of bit(s) comprised in the first bit block and the second bit block is greater than 2; a priority index of the first bit block is equal to a first priority index, a priority index of the second bit block is equal to a second priority index, and the first priority index and the second priority index are not equal; the first bit block and the second bit block are used together to generate a first bit sequence. Present application improves the link performance of the PUCCH.