Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.

Abstract: The present application provides a reusable ultrasonic surgical instrument, comprising a cannula subassembly, a scalpel waveguide, a base and a clamping driving component, wherein the cannula subassembly comprises a pair of clamp forceps at a distal end, an external cannula and an internal cannula, and the external cannula and the internal cannula are both provided by being coaxial with the scalpel bar; two rotating shafts are provided at a proximal end of the clamp forceps, one of the two rotating shafts is rotatably connected with the external cannula, the other rotating shaft is rotatably connected with the internal cannula; the cannula subassembly can be dismounted from the base and the clamping driving component towards a distal end direction of the axis of the scalpel bar or be mounted on the base or the clamping driving component towards a proximal end direction of the axis of the scalpel bar; the external cannula is connected with the base by one or multiple first detachable structures; and the intern

Abstract: An operator operation scheduling method includes obtaining an operator parameter and a processor parameter corresponding to an operator operation, creating N scheduling policies based on the operator parameter and the processor parameter, where the N scheduling policies are classified into M scheduling policy subsets, and each scheduling policy subset includes at least one scheduling policy, filtering the M scheduling policy subsets based on the operator parameter and the processor parameter, to obtain K feasible scheduling policies, where the K feasible scheduling policies are optimal scheduling policies of K feasible scheduling subsets in the M scheduling policy subsets, inputting the operator parameter and the K feasible scheduling policies into a cost model to obtain K operator operation costs, and determining, based on a target requirement and the K operator operation costs, an optimal scheduling policy used for the operator operation.

Abstract: A memory allocation method for a neural network includes determining information about N memory blocks, sorting the N memory blocks in descending order based on sizes of the N memory blocks, allocating a first memory block to the neural network, to perform an operation for a first node set in the neural network, determining whether a memory block in an allocated set is reusable for an nth memory block, where the allocated set includes a memory block that has been allocated to the neural network, if the memory block in the allocated set is reusable for the nth memory block, allocating, to the neural network, the memory block to perform an operation for an nth node set in the neural network, then updating the allocated set, and sequentially performing the foregoing determining from n=2 to n=N based on the sort sequence.

Abstract: A method for minimizing DC capacitance of a cascade multilevel converter is provided. On the basis of balancing of capacitor voltages, the method estimates instantaneous value of the DC side capacitor voltages in a circuit through an energy conservation law, and uses a proportional resonance controller to control a grid-connected current to realize adjustment of the grid-connected current without static difference, such that the cascade multilevel converter can operate in a small capacitance mode, the system volume is greatly reduced, the system cost is reduced, the control is easy to be implemented, and the capacitor voltage is free from overshoot and the system has a better rapidity.

Abstract: The present disclosure provide modified yeast that produce increased quantities of RNA bioactive molecules and methods of producing the same. Also provided are methods and uses of the yeast for biocontrol and disease protection.

Abstract: A method for minimizing DC capacitance of a cascade multilevel converter is provided. On the basis of balancing of capacitor voltages, the method estimates instantaneous value of the DC side capacitor voltages in a circuit through an energy conservation law, and uses a proportional resonance controller to control a grid-connected current to realize adjustment of the grid-connected current without static difference, such that the cascade multilevel converter can operate in a small capacitance mode, the system volume is greatly reduced, the system cost is reduced, the control is easy to be implemented, and the capacitor voltage is free from overshoot and the system has a better rapidity.

Abstract: A robot system includes: a robot arm having a plurality of links and joints by which one of the links is connected to another; sensors for determining, for any one of the joints, an angular velocity of the joint and a torque to which the joint is subject; a neural network connected to the sensors, the neural network receiving therefrom angular velocity and torque data, the neural network being trained to distinguish, based on the angular velocity and torque data, between a normal operation condition of the robot arm, a condition in which the robot arm collides with an outside object, and a condition where a person deliberately interacts with the robot arm; and a controller for controlling motion of the robot arm, a mode of operation of which is variable depending on an operation condition signal output by the neural network. One operation mode is a leadthrough mode.

Abstract: The present application provides a reusable powered endoscopic cutter stapler, comprising a controller, a handle, an adapter and a cable component; the adapter is connected with the handle; one end of the cable component is detachably connected with the controller, the other end is detachably connected with the handle to be used for transmitting electric energy and command signals; the controller can be reused for many times, and the cable component can be reused for many times after being sterilized. According to the reusable powered endoscopic cutter stapler disclosed by the present application, at least one or multiple components of a core component can be sterilized repeatedly, and can be used for many times, thereby not only greatly lowering the treatment expense of patients, but also greatly reducing the risk of cross infection when instruments are used, improving the use safety and reliability of the instruments, and greatly lightening the overall mass, so that a doctor can operate more conveniently.

Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

Abstract: Disclosed is a chemical oxygen self-rescue device, comprising a breathing assembly (1), an oxygen generating assembly (2) and a gas bag (3) sequentially communicated with each other, wherein the oxygen generating assembly comprises an oxygen generating agent tank (21), a gas discharge valve (23) and an oxygen candle (22); the gas discharge valve is arranged on a component above an oxygen generating agent (213) in the oxygen generating agent tank and below a breathing end of the breathing assembly, and the opening and closing of the gas discharge valve are controlled by means of an inflated volume of the gas bag; and a heat radiation assembly and the oxygen generating agent are provided in the oxygen generating agent tank, the heat radiation assembly comprises a vent pipe (211) and a heat radiation frame (212), the vent pipe communicates the breathing assembly with the oxygen generating agent tank, the heat radiation frame is provided in the oxygen generating agent tank, and the oxygen generating agent tank is

Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

Abstract: A safety control system has a control unit with safety control logic, a safety sensor arrangement, a machine arrangement operable in different operation modes, each operation mode having a different productivity, the control unit receiving and evaluating input from the safety sensor arrangement, and, in reaction to evaluation result(s), activating an operation mode determined by the safety control logic, the safety sensor arrangement having at least two functionally redundant subsystems, control unit input including information indicating availability of the functionally redundant subsystems, the control logic being configured to activate normal operation mode with normal productivity if input indicates availability of all subsystems, activate fail-stop operation mode with zero productivity if input indicates unavailability of all subsystems, activate fail-operate operation mode with productivity less than normal but above zero if input indicates at least temporary unavailability of at least one and availabil

Abstract: A supported catalyst used for synthesizing a polyether amine, and a manufacturing method of the catalyst. The catalyst comprises: a porous oxide as a support; Ni, Cu, Pd, and Rh as active components; and one or more of any of Zr, Cr, Mo, Fe, Zn, Sn, Bi, Ce, La, Hf, Sr, Sb, Mg, Be, Re, Ta, Ti, Sc, Ge and related metals as an auxiliary agent. The catalyst can be used in an amination reaction for a large molecular weight polyether polyol, and is particularly active and selective for an amination reaction of a low molecular weight polyether polyol. The catalyst has a simple and economic manufacturing technique and good potential for future applications.

Abstract: A system for testing a distributed control system of an industrial plant is provided. The distributed control system includes at least two industrial control devices and at least one data communication device. The system includes at least one engineering computer that includes an engineering data storage unit for storing engineering data of at least one part of the distributed control system, and at least one human machine interface for manipulating the engineering data. The system also includes at least one remote data processing server connected to the at least one engineering computer via a remote data connection and including an emulating virtual machine on which a soft emulator is installed for emulating one of the at least two industrial control devices and the at least one data communication device.

Abstract: Systems and techniques for communicating data as a function of frequency are presented. In an implementation, a system includes a microelectromechanical systems (MEMS) sensor, a digital signal processor and a frequency detection circuit. The digital signal processor is coupled to the MEMS sensor. The frequency detection circuit receives data encoded as a function of frequency from the digital signal processor via a clock communication channel.

Abstract: A robot system, and method for controlling it, for collaborative robot applications has a movable robot arm and a controller, wherein the controller is provided to control the movement of the distal end of the robot arm along a movement path according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller is provided to determine exact movement speed and course of the movement path between consecutive coordinates according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level of a respective collaborative human worker.

Abstract: Systems and techniques for communicating data as a function of frequency are presented. In an implementation, a system includes a microelectromechanical systems (MEMS) sensor, a digital signal processor and a frequency detection circuit. The digital signal processor is coupled to the MEMS sensor. The frequency detection circuit receives data encoded as a function of frequency from the digital signal processor via a clock communication channel.

Abstract: A throat microphone may include one or more transducers that are in contact with the skin in the region of the larynx of person, and may provide a vibration signal to a processing unit. The vibration signal may also include energy and information relating to secondary physiological phenomena such as breathing and heartbeat, in addition to the desired sonic signal. The processing unit may utilize information relating to the secondary physiological phenomena to control a filter that outputs the desired sonic signal.