Abstract: An adaptive control method and system for an upper limb rehabilitation robot based on a game theory and surface Electromyography (sEMG) is disclosed. A movement trajectory that a robot is controlled to run within a training time is designed during subject operation. An sEMG-based Back Propagation Neural Network (BPNN) muscle force estimation model establishes a nonlinear dynamic relationship between an sEMG signal and end force by constructing a three-layer neural network. A human-computer interaction system is analyzed by the game theory principle, and a role of the robot is deduced. The control rate between the robot and a subject is updated by Nash equilibrium, and adaptive weight factors of the robot and the subject are determined. The robot adaptively adjusts the training mode thereof according to a movement intention of the subject during operation and a weight coefficient obtained by the game theory principle.

Abstract: The disclosure relates to a pre-5th-Generation (5G) or 5G communication system to be provided for supporting higher data rates Beyond 4th-generation (4G) communication system, such as long term evolution (LTE). A radiating element of an antenna is provided. The radiating element includes a vibrator radiating circuit board, wherein vibrator radiating arms arranged in pairs are printed on the vibrator radiating circuit board, a width of the vibrator radiating arms is less than one-half of a wavelength, a vibrator balun circuit board, configured to support the vibrator radiating circuit board, wherein a vibrator balun is printed on the vibrator balun circuit board, a height of the vibrator balun is at least less than one-fifth of the wavelength, the vibrator balun comprises at least one first slot.

Abstract: A method for removing ash from a solid carbon material: Reaction conditions are mild, and ash may be removed more effectively. The ash removing method comprises: S1) mixing an alkaline sub-molten salt medium and a solid carbonaceous material to be treated, heating so that alkali and ash in the solid carbonaceous material to be treated react in the alkaline sub-molten salt medium, and performing solid-liquid separation on a mixed slurry resulting from the reaction to obtain a first solid product and an alkali treatment solution, wherein in the alkaline sub-molten salt medium, the mass fraction of the alkali is greater than or equal to 50%; S2) using an acid solution to perform acid cleaning treatment on the first solid product, and performing solid-liquid separation again to obtain a second solid product and an acid cleaning solution.

Abstract: A power apparatus includes: an input shaft; an output shaft; a connecting mechanism; a first driving mechanism; a second driving mechanism of which an output end is fixedly connected with the input shaft; a first transmission component sleeved on the input shaft; a second transmission component sleeved on the output shaft; a third transmission component sleeved on the input shaft; a fourth transmission component sleeved on the output shaft; a changeover mechanism causing the first transmission component to rotate with rotation of the input shaft, the first transmission component rotating to drive the second transmission component to rotate, the output shaft rotating with the rotation of the second transmission component; or causing the third transmission component to rotate with rotation of the input shaft, the third transmission component rotating to drive the fourth transmission component to rotate, the output shaft rotating with the rotation of the fourth transmission component.

Abstract: A power apparatus includes: an input shaft; an output shaft; a connecting mechanism; a first driving mechanism; a second driving mechanism of which an output end is fixedly connected with the input shaft; a first transmission component sleeved on the input shaft; a second transmission component sleeved on the output shaft; a third transmission component sleeved on the input shaft; a fourth transmission component sleeved on the output shaft; a changeover mechanism causing the first transmission component to rotate with rotation of the input shaft, the first transmission component rotating to drive the second transmission component to rotate, the output shaft rotating with the rotation of the second transmission component; or causing the third transmission component to rotate with rotation of the input shaft, the third transmission component rotating to drive the fourth transmission component to rotate, the output shaft rotating with the rotation of the fourth transmission component.