Abstract: The present invention relates to an aqueduct leakage repairing method, a formwork is provided within an aqueduct body; a reinforcing layer is formed by using the formwork through casting at inner sides of the aqueduct body; the formwork comprises side formwork plates, bottom formwork plates, and axillary angle formwork plates; the side formwork plates are arranged at inner vertical walls of the aqueduct body, the bottom formwork plates are arranged on a bottom of the aqueduct body, the bottom formwork plates are connected with the side formwork plates through the axillary angle formwork plates; and the axillary angle formwork plates are each provided with a plurality of ribs. The aqueduct leakage repairing method effectively reinforces penetration damage of the aqueduct, and the construction process is simple since the formwork is free from dismantling after construction.

Abstract: An unmanned aerial vehicle aerial vehicle and a localization method for an unmanned aerial vehicle aerial vehicle are described. In an embodiment, an unmanned aerial vehicle comprises: a first ultra-wide band node; a second ultra-wide band node; and a localization processor configured to use signals received at the first ultra-wide band node and the second ultra-wide band node from a plurality of anchor nodes located within an environment to estimate a pose state of the unmanned aerial vehicle, wherein the first ultra-wide band node and the second ultra-wide band node are arranged on the unmanned aerial vehicle at positions offset from one another.

Abstract: A modular control system for controlling an AGV includes an interface, a processor, a memory, and a plurality of programs. The plurality of programs include a task scheduling module, a sensor fusion module, a mapping module, and a localization module. The interface receives a command signal from an AGV management system and sensor signals from a plurality of sensors. The memory stores a surrounding map and the plurality of programs to be executed by the processor. The task scheduling module converts the command signal to generate an enabling signal. The sensor fusion module processes the received sensor signals according to the enabling signal and generates an organized sensor data. The mapping module processes the organized sensor data and the surrounding map to generate an updated surrounding map. The localization module processes the organized sensor data and the updated surrounding map to generate a location and pose signal.

Abstract: The invention discloses polymorphic forms of a compound of formula I, pharmaceutical compositions containing same, preparation method therefor and use thereof. The compound of formula I of the present invention is as shown in formula I, of which the crystalline form can be crystalline form 1, crystalline form 2, crystalline form 3, crystalline form 5, crystalline form 6 or crystalline form 7. All the crystalline forms of the compound of formula I in the present invention have good crystalline stability and chemical stability and a decrease in purity of their main ingredient less than 2%. The preparation method of the present invention may be used to produce the various crystalline forms of the compound of formula I with high purity, and suitable for large scale production.

Abstract: A simultaneous localization and mapping method and corresponding system are disclosed. The method comprises: receiving a frame of three dimensional point cloud data from a three dimensional point cloud sensor coupled to a robot; receiving inertial measurement data indicative of a change in pose of the three dimensional point cloud sensor; using the inertial measurement data to estimate a rotation between the received frame of three dimensional point cloud data and a key frame of three dimensional point cloud data; applying a rotation to the received frame of three dimensional point cloud data to obtain an aligned frame of three dimensional point cloud data, the aligned frame of three dimensional point cloud data having an orientation aligned with the key frame of three dimensional point cloud data; and estimating a translation of the aligned frame of three dimensional point cloud data from the key frame of three dimensional point cloud data.

Abstract: A system can include multiple WiFi-enabled commercial off the shelf (COTS) Internet of Things (IoT) devices disposed within an environment and configured to be a transmitter (TX) or a received (RX) to send or receive data over a WiFi radio frequency communication link. A server can be configured to receive and parse the CSI data transmitted from the RX, store the CSI data with a corresponding human identity label collected for training, train a human identification classifier using a Convex Clustered Concurrent Shapelet Learning (C3SL) method, and estimate an identification of a user based on the CSI data and the C3SL method.

Abstract: The invention discloses polymorphic forms of a compound of formula I, pharmaceutical compositions containing same, preparation method therefor and use thereof. The compound of formula I of the present invention is as shown in formula I, of which the crystalline form can be crystalline form 1, crystalline form 2, crystalline form 3, crystalline form 5, crystalline form 6 or crystalline form 7. All the crystalline forms of the compound of formula I in the present invention have good crystalline stability and chemical stability and a decrease in purity of their main ingredient less than 2%. The preparation method of the present invention may be used to produce the various crystalline forms of the compound of formula I with high purity, and suitable for large scale production.

Abstract: The invention discloses polymorphic forms of a compound of formula I, pharmaceutical compositions containing same, preparation method therefor and use thereof. The compound of formula I of the present invention is as shown in formula I, of which the crystalline form can be crystalline form 1, crystalline form 2, crystalline form 3, crystalline form 5, crystalline form 6 or crystalline form 7. All the crystalline forms of the compound of formula I in the present invention have good crystalline stability and chemical stability and a decrease in purity of their main ingredient less than 2%. The preparation method of the present invention may be used to produce the various crystalline forms of the compound of formula I with high purity, and suitable for large scale production.

Abstract: A simultaneous localization and mapping method and corresponding system are disclosed. The method comprises: receiving a frame of three dimensional point cloud data from a three dimensional point cloud sensor coupled to a robot; receiving inertial measurement data indicative of a change in pose of the three dimensional point cloud sensor; using the inertial measurement data to estimate a rotation between the received frame of three dimensional point cloud data and a key frame of three dimensional point cloud data; applying a rotation to the received frame of three dimensional point cloud data to obtain an aligned frame of three dimensional point cloud data, the aligned frame of three dimensional point cloud data having an orientation aligned with the key frame of three dimensional point cloud data; and estimating a translation of the aligned frame of three dimensional point cloud data from the key frame of three dimensional point cloud data.

Abstract: A control method is disclosed that involves controlling zero-crossing operation of bridge arms in a UPS, wherein the UPS has a rectifying bridge with first and second switching transistors, a midline bridge arm with third and fourth switching transitors, and an inverter bridge arm with fifth and sixth switching transitors. The midline and rectifying bridge arms are controlled to cross zero synchronously. The inverter bridge arm is controlled to be disconnected during a period before a zero-crossing point of the rectifying bridge arm to a period after the zero-crossing point of the rectifying bridge arm. The periods before and after the zero-crossing point of the rectifying bridge arm are time differences between the zero-crossing points of the inverter bridge arm and the rectifying bridge arm. The influence of asynchronous zero-crossing between the PFC circuit and the inverter circuit on the UPS performance indices may be reduced by using the present control method.

Abstract: A control method is disclosed that involves controlling zero-crossing operation of bridge arms in a UPS, wherein the UPS has a rectifying bridge with first and second switching transistors, a midline bridge arm with third and fourth switching transitors, and an inverter bridge arm with fifth and sixth switching transitors. The midline and rectifying bridge arms are controlled to cross zero synchronously. The inverter bridge arm is controlled to be disconnected during a period before a zero-crossing point of the rectifying bridge arm to a period after the zero-crossing point of the rectifying bridge arm. The periods before and after the zero-crossing point of the rectifying bridge arm are time differences between the zero-crossing points of the inverter bridge arm and the rectifying bridge arm. The influence of asynchronous zero-crossing between the PFC circuit and the inverter circuit on the UPS performance indices may be reduced by using the present control method.

Abstract: In one aspect, the invention is an enamel composition comprising zinc oxide, diboron trioxide, zirconium dioxide, silicon oxide, sodium oxide, barium oxide, lithium oxide, at least one of aluminum oxide and aluminum oxide precursor compounds that form aluminum oxide upon sintering, and at least one of calcium oxide and calcium oxide precursor compounds that form calcium oxide upon sintering. In another aspect, the invention is a product coated with an enamel layer. In yet another aspect, the invention is a method of coating a product.

Abstract: In accordance with one embodiment, a method comprises querying, with a querying component, a print engine to ascertain one or more printmodes that are supported by the print engine, and, receiving, responsive to the querying, a list that describes printmodes supported by the print engine.

Abstract: In accordance with one embodiment, a method comprises querying, with a querying component, a print engine to ascertain one or more printmodes that are supported by the print engine, and, receiving, responsive to the querying, a list that describes printmodes supported by the print engine.