Abstract: The present invention provides an indoor mobile robot glass detection and map updating method based on depth image inpainting. The method comprises: first screening, based on laser radar intensity data, a region in which glass is suspected to be present; determining, based on an RGB image of the suspected region and by using a convolutional neural network, whether glass is really present; if glass is really present, extracting a glass region boundary, determining a defect point of a depth image, and performing depth information supplementing on the defect point based on the glass region boundary; and finally, performing plane sampling on the depth image, inpainting and updating a missing glass obstacle in an original map, and outputting a grid map for planning. Therefore, a problem, that the existing mapping algorithms and devices are prone to glass perception failure due to the characteristics of glass transmission, refraction, polarization, etc., affecting the map integrity and navigation safety, is solved.

Abstract: Disclosed is linoleic acid isomerases and their application in production of conjugated linoleic acid, which belongs to the technical fields of protein engineering and microbial engineering. The linoleic acid isomerase derived from Bifidobacterium is used to produce the conjugated linoleic acid. The recombinant E. coli containing the linoleic acid isomerase of the invention is added into a reaction system containing linoleic acid and react for 3 h to produce conjugated linoleic acids. The conversion rate of the conjugated linoleic acid of the invented method ranges from 12.1% to 42.1%, and the percentage of cis9, trans11-CLA in the conjugated linoleic acid can reach 84.3% to 89.1%. The invention provides a method for using microorganisms to produce conjugated linoleic acids with high safety and yield where cis9, trans11-CLA isomer is the major form in the conjugated linoleic acid products.

Abstract: A first set of features associated with a neural network are parameterized. A decision tree is generated from the first set of features. One or more adjustments for the neural network are received at the decision tree. A second set of features associated with the adjustments at the decision tree are parameterized. The parameterized first and second set of features are combined into a plurality of parameters. From the plurality, an adjusted neural network is generated.

Abstract: A method for selecting a grasp posture of a dual-arm robot includes: setting a fitness value range, an iteration quantity threshold, and a fitness function; calculating the fitness value of the population, determining whether the population is within the value range, ending an iteration if the population is within the value range or continuing to determine whether a quantity of iterations reaches the iteration quantity threshold if the population is not within the value range, ending the iteration if the quantity of iterations reaches the iteration quantity threshold or performing crossover and mutation operations if the quantity of iterations does not reach the iteration quantity threshold, and dynamically selecting a gene retention strategy based on an iteration depth and a fitness value to retain a gene; updating a gene population representing a grasping position and performing determining cyclically; and obtaining an optimal target corresponding to dual arms after the iteration.

Abstract: The invention discloses a method of preparing a high chiral purity lactam intermediate D comprising a step of reducing a compound C to lactam intermediate D in a solvent by hydrogenation reduction using a heavy metal catalyst and a chiral inducer. Brivaracetam can be prepared in a single step using the lactam intermediate D. The synthesis route is short, reaction conditions are mild, post-treatment is simple, reaction yield is high, chiral selectivity is good, and production cost is low. The conversion rate of the compound C in the reaction is 81%, and the DE value of the compound D is more than 99.0%, which is suitable for industrial production.

Abstract: A method for selecting a grasp posture of a dual-arm robot includes: setting a fitness value range, an iteration quantity threshold, and a fitness function; calculating the fitness value of the population, determining whether the population is within the value range, ending an iteration if the population is within the value range or continuing to determine whether a quantity of iterations reaches the iteration quantity threshold if the population is not within the value range, ending the iteration if the quantity of iterations reaches the iteration quantity threshold or performing crossover and mutation operations if the quantity of iterations does not reach the iteration quantity threshold, and dynamically selecting a gene retention strategy based on an iteration depth and a fitness value to retain a gene; updating a gene population representing a grasping position and performing determining cyclically; and obtaining an optimal target corresponding to dual arms after the iteration.

Abstract: The present disclosure provides a method and apparatus for ingesting data, a device, a storage medium and a program product, and particularly to the field of computer technology, the field of intelligent traffic, and the like. A specific implementation comprises: deploying a first data ingestion system at a first data source, the first data ingestion system comprising a first read plugin, a first transmission plugin and a first write plugin; reading data from the first data source through the first read plugin; writing the data into a first transmission buffer queue through the first transmission plugin; and acquiring the data from the first transmission buffer queue through the first write plugin and writing the data into a first storage component. The data ingestion system in the present disclosure is divided into a read part, a transmission part and a write part. Each part works by means of a plugin.

Abstract: A track restoration method, a track restoration device and a non-transitory computer-readable storage medium are provided, related to the field of intelligent transportation. The track restoration method includes: acquiring vehicle-passing data in a target area, where the vehicle-passing data is generated based on shooting data, and the shooting data is obtained by shooting a vehicle in the target area by a shooting device in the target area; restoring a driving track of the vehicle shot by the shooting device, based on the vehicle-passing data.

Abstract: The invention discloses a method of preparing a high chiral purity lactam intermediate and brivaracetam. The invention provides a method of preparing a lactam intermediate compound represented by molecular formula D, the method comprising a step of reducing a compound C to a lactam intermediate D in a solvent by hydrogenation reduction using a heavy metal catalyst and a chiral inducer. Brivaracetam can be prepared with a single step using the lactam intermediate compound represented by molecular formula D of the present invention. The synthesis route is short, reaction conditions are mild, post-treatment is simple, reaction yield is high, chiral selectivity is good, and production cost is low. The conversion rate of the compound C in the reaction is 81%, and the DE value of the compound D is more than 99.0%, which is suitable for industrial production.

Abstract: The present disclosure provides a method and apparatus for ingesting data, a device, a storage medium and a program product, and particularly to the field of computer technology, the field of intelligent traffic, and the like. A specific implementation comprises: deploying a first data ingestion system at a first data source, the first data ingestion system comprising a first read plugin, a first transmission plugin and a first write plugin; reading data from the first data source through the first read plugin; writing the data into a first transmission buffer queue through the first transmission plugin; and acquiring the data from the first transmission buffer queue through the first write plugin and writing the data into a first storage component. The data ingestion system in the present disclosure is divided into a read part, a transmission part and a write part. Each part works by means of a plugin.

Abstract: Disclosed is linoleic acid isomerases and their application in production of conjugated linoleic acid, which belongs to the technical fields of protein engineering and microbial engineering. The linoleic acid isomerase derived from Bifidobacterium is used to produce the conjugated linoleic acid. The recombinant E. coli containing the linoleic acid isomerase of the invention is added into a reaction system containing linoleic acid and react for 3 h to produce conjugated linoleic acids. The conversion rate of the conjugated linoleic acid of the invented method ranges from 12.1% to 42.1%, and the percentage of cis9, trans11-CLA in the conjugated linoleic acid can reach 84.3% to 89.1%. The invention provides a method for using microorganisms to produce conjugated linoleic acids with high safety and yield where cis9, trans11-CLA isomer is the major form in the conjugated linoleic acid products.

Abstract: A first set of features associated with a neural network are parameterized. A decision tree is generated from the first set of features. One or more adjustments for the neural network are received at the decision tree. A second set of features associated with the adjustments at the decision tree are parameterized. The parameterized first and second set of features are combined into a plurality of parameters. From the plurality, an adjusted neural network is generated.

Abstract: A building-information management (BIM) system receives a set of wind vectors that identify wind speeds and directions at the surfaces of physical structures within a volume of air. The system stratifies the volume into vertically stacked layers that each contains similar wind vectors. Each layer is then divided horizontally into rectangular cells that each at least partially encloses a cluster of the structures. The system infers cell-specific relationships that relate physical attributes of the enclosed structures with the cell's incoming and outgoing airflows, from which the system builds a wind-propagation model for each cell. These cell-specific models are combined into a regional wind-propagation model that predicts how winds entering the volume will be propagated as outgoing wind vectors. The regional model is used by downstream modules of the BIM system to account for airflow effects when designing a planned building.

Abstract: A building-information management (BIM) system receives a set of wind vectors that identify wind speeds and directions at the surfaces of physical structures within a volume of air. The system stratifies the volume into vertically stacked layers that each contains similar wind vectors. Each layer is then divided horizontally into rectangular cells that each at least partially encloses a cluster of the structures. The system infers cell-specific relationships that relate physical attributes of the enclosed structures with the cell's incoming and outgoing airflows, from which the system builds a wind-propagation model for each cell. These cell-specific models are combined into a regional wind-propagation model that predicts how winds entering the volume will be propagated as outgoing wind vectors. The regional model is used by downstream modules of the BIM system to account for airflow effects when designing a planned building.

Abstract: A method using directed self-assembly of block copolymers (BCPs) for making an imprint template has the required patterns for both the features in the template's active area and the optically-detectable alignment marks in the template's non-active area. A chemical contrast pattern defined by a lithographic technique forms patterns of lines in both the active area and non-active area, as well as patterns of featureless gap regions in the non-active area. The pattern of lines has the BCP components aligned as lamellae perpendicular to the substrate, while the pattern of featureless gap regions has the BCP components aligned as lamellae parallel to the substrate. The patterns of lines and featureless gap regions in the non-active area define the optically detectable alignment marks. One of the BCP components is removed, leaving the other BCP component as an etch mask to fabricate the imprint template.

Abstract: A nanoimprinting master template is an ultraviolet-transparent substrate, like fused quartz, with a metallic layer having silicon dioxide pillars extending from the metallic layer and an optional silicon dioxide film on the pillars and on regions of the metallic layer between the pillars. The pillars have a generally rectangular shape and are arranged as a pattern of radial spokes and concentric rings.

Abstract: In directed self-assembly (DSA) of a block copolymer (BCP), a patterned sublayer on a substrate serves as a guiding chemical prepattern on which BCPs form more uniform and/or denser patterns. A layer of a blend of a BCP and functional homopolymers, referred to as inks, is deposited on the patterned sublayer and annealed to change the initial chemical prepattern to a 1:1-like chemical pattern that is more favorable to DSA. After annealing, the inks selectively distribute into blocks by DSA, and part of the inks graft on the substrate underneath the blocks. The BCP blend layer is then rinsed away, leaving the grafted inks. A second layer of BCP is then deposited and annealed as a second DSA step to form alternating lines of the BCP components. One of the BCP components is removed, leaving lines of the other BCP component as a mask for patterning the substrate.

Abstract: A method for patterning a substrate is disclosed. Depressions are patterned into a resist layer over a substrate. A mask layer is deposited over the resist layer at least partially filling the depressions. The mask layer is etched to expose a top surface of the resist layer and leaving at least a portion of the mask layer in the depressions of the resist layer, wherein the mask layer over said top surface of the resist layer is etched at a faster rate than said mask layer in the depressions of the resist layer. Exposed portions of the resist layer are removed to expose portions of the substrate. Exposed portions of the substrate are etched.

Abstract: In directed self-assembly (DSA) of a block copolymer (BCP), a patterned sublayer on a substrate serves as a guiding chemical prepattern on which BCPs form more uniform and/or denser patterns. A layer of a blend of a BCP and functional homopolymers, referred to as inks, is deposited on the patterned sublayer and annealed to change the initial chemical prepattern to a 1:1-like chemical pattern that is more favorable to DSA. After annealing, the inks selectively distribute into blocks by DSA, and part of the inks graft on the substrate underneath the blocks. The BCP blend layer is then rinsed away, leaving the grafted inks. A second layer of BCP is then deposited and annealed as a second DSA step to form alternating lines of the BCP components. One of the BCP components is removed, leaving lines of the other BCP component as a mask for patterning the substrate.