Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.

Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.

Abstract: The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.

Abstract: A method for navigating in a simulated environment is disclosed herein. A navigation device determines a search space associated with a plurality of viewpoints other than the current viewpoint in a three-dimensional (3D) space for a current viewpoint. The search space comprises a set of 3D coordinates for each of the plurality of viewpoints. The set of 3D coordinates indicates a position of the corresponding viewpoint in the 3D space. The navigation device determines a field of view at the current viewpoint. The field of view is associated with a viewing angle and a visible distance. The navigation device determines a target viewpoint in the search space of the current viewpoint based on the field of view at the current viewpoint. The navigation device causes display of a guidance user interface (UI) comprising an indicator corresponding to the target viewpoint in the field of view at the current viewpoint.

Abstract: The present invention provides a multi-targeting fusion protein that blocks the growth of vascular endothelial cells and activates T cells, which comprises (i) a vascular endothelial cell growth inhibitory domain; (ii) an immunoglobulin Fc domain; and (iii) CD80 extracellular domain (ECD). The present invention also provides a polynucleotide encoding the multi-targeting fusion protein, a vector containing the polynucleotide, a host cell comprising the polynucleotide or the vector, and pharmaceutical composition comprising the multi-targeting fusion protein and an anti-PD-1 antibody. The multi-targeting fusion protein and pharmaceutical composition of the present invention can treat or prevent cancerous diseases in individuals.

Abstract: Provided herein is a pharmaceutical composition for treating resistant hypertension, which includes amlodipine, chlorthalidone, and amiloride. This disclosure also provides an application of the pharmaceutical composition in the treatment of low renin/low aldosterone resistant hypertension and target organ damage in the subject suffering resistant hypertension.

Abstract: A fracture simulation system is provided to determine anisotropic effective permeability of rock formations having natural fractures therein.

Abstract: The present application provides a transaction-based electronic contract forensics method and system: when a user wants to perform forensics for an electronic contract in a blockchain digital deposit platform, initiating, by a present electronic contract platform, a forensics request for the electronic contract; obtaining, by the blockchain digital deposit platform, the forensics request and querying deposit information; obtaining a transaction hash value of the deposit information after the deposit information is queried; querying a deposit transaction corresponding to the deposit platform; obtaining a digest; decrypting the digest, to obtain a storage index table; verifying validity of a private-key signature of the deposit transaction; downloading transaction data of the deposit transaction according to a data index; decrypting the transaction data; and verifying validity, legitimacy, and integrity of the decrypted transaction data.

Abstract: A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.

Abstract: The disclosure provides a role labeling method. The method includes: obtaining a dialogue sentence to be labeled and context information corresponding to the dialogue sentence, and splicing the context information and the dialogue sentence to obtain a spliced text; extracting location information of a role name of the dialogue sentence in the spliced text from the spliced text; determining a first candidate role name of the dialogue sentence based on the location information; determining a second candidate role name of the dialogue sentence from role names in the spliced text; and determining a target role name of the dialogue sentence based on the first candidate role name and the second candidate role name, and performing role labeling on the dialogue sentence based on the target role name.

Abstract: The present disclosure provides a method of predicting an emotional style of a dialogue, an electronic device and a storage medium, which relate to fields of natural language processing, intelligent voice and deep learning. The method includes: acquiring a context of a dialogue to be processed, from a text containing the dialogue; acquiring a character information of the dialogue, wherein the character information indicates a speaker of the dialogue; and predicting the emotional style of the dialogue according to the acquired context and the acquired character information.

Abstract: This application discloses a transaction-based electronic contract deposit system, including an electronic contract platform and a blockchain deposit platform, the blockchain deposit platform including a plurality of deposit nodes that provide deposit services for the electronic contract platform. In this way, the following problem may be resolved: regarding an existing manner of storing an electronic contract in a centralized way, during a subsequent process of invoking electronic contract data, the stored electronic contract data becomes untrustworthy because the contract data is at a risk of being easily tampered with and forged.

Abstract: This application provides a decentralized electronic contract attestation platform, where the attestation platform is connected to a user client through a deposit thread and a forensic thread that are established with an existing electronic contract platform; the attestation platform includes a deposit unit and a forensic unit; the deposit unit is configured to verify transaction data of a deposit transaction initiated by the user client, and if the verification is passed, upload and store the transaction data on a chain; and the forensic unit is configured to obtain, based on a forensic request sent by the user client, transaction data that corresponds to the forensic request and is stored in a blockchain, and send the transaction data to the user client. According to this application, deposit and forensic operations of an electronic contract are correspondingly completed by using the established deposit thread and forensic thread.

Abstract: The present application relates to a formation method for an air spacer layer and a semiconductor structure. The formation method for an air spacer layer includes: forming a first structure on a substrate and forming a second structure on the substrate, the second structure being located on a side surface of the first structure, a first trench being formed between the second structure and the first structure, and the second structure being exposed in the first trench; and growing, by an epitaxial growth process, an epitaxial layer on the second structure exposed in the first trench, the epitaxial layer not filling up the first trench, and an unfilled portion of the first trench forming the air spacer layer.

Abstract: This application provides a smart contract-based electronic contract forensic method: when a user wants to perform forensic on an electronic contract in a blockchain digital deposit platform, initiating, by an existing electronic contract platform, a forensic request for the electronic contract; obtaining, by the blockchain digital deposit platform, the forensic request and querying deposit information; if a deciding result is that deposit information corresponding to the electronic contract is stored in the blockchain digital deposit platform, deciding whether there is a deposit transaction in the blockchain digital deposit platform; after the deposit transaction is queried in the blockchain digital deposit platform, initiating a forensic transaction to the smart contract in the blockchain digital deposit platform; verifying the forensic transaction, and executing the smart contract, to generate a forensic token; generating an execution result based on the forensic token; obtaining a digest of the deposit tr

Abstract: The present application discloses a smart contract-based electronic contract deposit system, including an electronic contract platform, a blockchain deposit platform, and a transaction processing smart contract created by the electronic contract platform or the blockchain deposit platform, where the blockchain deposit platform includes a plurality of deposit nodes that provide deposit services for the electronic contract platform. In this way, the following problem may be resolved: regarding an existing manner of storing an electronic contract in a centralized way, during a subsequent process of invoking electronic contract data, the stored electronic contract data becomes untrustworthy because the contract data is at a risk of being easily tampered with and forged.

Abstract: Provided herein are stabilized underfill film-containing assemblies which extend the work-life of underfill films. In accordance with certain aspects of the present invention, there are also provided stabilized underfill film-containing assemblies which extend the shelf-life of underfill films. In certain aspects of the present invention, there are also provided methods for extending the work-life of underfill films. In another aspect of the present invention, there are also provided methods for extending the shelf-life of underfill films.

Abstract: A semiconductor structure and a method for forming the same are provided. The method includes: forming an active region on a substrate; forming at least one trench in the active region, the trench at least dividing the active region into a source region on one side of the trench and a drain region on the other side of the trench; and forming an elevated source region and an elevated drain region on the source region and the drain region respectively.

Abstract: A method for manufacturing a buried gate and a method for manufacturing a semiconductor device are disclosed. The method for manufacturing the buried gate includes that: a trench is provided on an active region of a substrate; a gate structure is filled in a bottom of the trench, and a trench sidewall above the gate structure is exposed; an epitaxial layer is grown on the exposed trench sidewall with an epitaxial growth process, in which the epitaxial layer does not close the trench; and an isolation layer is filled in the trench.

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.