Abstract: A vertical take-off and landing aircraft includes a fuselage, 2N tilting rotors, and 2N fixed rotors. Wings of a fixed-wing structure are arranged on two sides of the fuselage. An empennage is arranged at a tail of the fuselage. The 2N tilting rotors are symmetrically installed on two sides of the fuselage and located on the front and rear sides of the wings respectively. The 2N fixed rotors are symmetrically installed on the wings on both sides of the fuselage, located on the front and rear sides of the wings respectively and on the outer sides of the tilting rotors. N is a natural number greater than or equal to 2. In a vertical take-off and landing configuration, projections of all the tilting rotors and all the fixed rotors on a horizontal plane are approximately centrally symmetrical about the center of gravity of the aircraft.

Abstract: In a data processing method for node localization in wireless sensor networks, a plurality of potential coordinate calculation values for a to-be-located node are calculated based on RSSI data received by the to-be-located node from a plurality of anchor nodes. A centroid C1 of these coordinate calculation values is calculated. Then coordinate calculation values with distances to the centroid C1 less than a threshold are screened out, and a centroid C2 of the screened-out coordinate calculation values is calculated. A coordinate position of the centroid C2 is used as the position of the to-be-located node. In other words, a plurality of potential positions for the to-be-located node are calculated using multiple groups of RSSI data and these potential positions are then screened through calculation. Instead of directly processing the received RSSI data, the present disclosure processes the coordinate calculation values obtained based on the received RSSI data.

Abstract: In a data processing method for node localization in wireless sensor networks, a plurality of potential coordinate calculation values for a to-be-located node are calculated based on RSSI data received by the to-be-located node from a plurality of anchor nodes. A centroid C1 of these coordinate calculation values is calculated. Then coordinate calculation values with distances to the centroid C1 less than a threshold are screened out, and a centroid C2 of the screened-out coordinate calculation values is calculated. A coordinate position of the centroid C2 is used as the position of the to-be-located node. In other words, a plurality of potential positions for the to-be-located node are calculated using multiple groups of RSSI data and these potential positions are then screened through calculation. Instead of directly processing the received RSSI data, the present disclosure processes the coordinate calculation values obtained based on the received RSSI data.

Abstract: A wireless sensor network (WSN) clustering routing method based on optimization with salp swarm algorithm includes: S1: constructing an objective function by comprehensively considering factors as follows: node residual energy, a distance between cluster head nodes, a distance between a cluster member node and a cluster head node, a distance from a node to a base station, and a number of cluster head nodes; S2: solving the objective function by using a salp swarm algorithm, to find an optimal clustering scheme, and thus dividing the WSN into non-uniform clusters, wherein in each cluster, the cluster member node sends data to the cluster head node in a single-hop manner; S3: constructing a minimum spanning tree with the base station as a root node by using a routing utility function ƒ(CHi); S4: sending, by the cluster head node, data to the base station through routing organized by the minimum spanning tree.

Abstract: A path planning method, system, and device for autonomous driving are provided, where the method includes: acquiring environment perception information and vehicle positioning and navigation information, where the environment perception information includes obstacle information, roadside information, and lane line information, and the vehicle positioning and navigation information includes a vehicle pose and a target route; generating sub-paths according to the environment perception information and the vehicle positioning and navigation information, to obtain candidate sub-paths meeting vehicle constraints; performing a collision detection on the candidate sub-paths meeting the vehicle constraints, to obtain collision-free candidate sub-paths; performing a sub-path search on the collision-free candidate sub-paths by using an A* search algorithm; and obtaining, according to a result of the sub-path search, a local path of a vehicle.

Abstract: Provided are a method, apparatus and system for detecting obstacle collision in an automatic parking path. The method includes: geometrically performing an obstacle collision detection in a circular arc path and/or an obstacle collision detection in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The system includes a collision detection module for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The apparatus includes: a memory and a processor configured for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour.

Abstract: A wireless sensor network (WSN) clustering routing method based on optimization with salp swarm algorithm includes: S1: constructing an objective function by comprehensively considering factors as follows: node residual energy, a distance between cluster head nodes, a distance between a cluster member node and a cluster head node, a distance from a node to a base station, and a number of cluster head nodes; S2: solving the objective function by using a salp swarm algorithm, to find an optimal clustering scheme, and thus dividing the WSN into non-uniform clusters, wherein in each cluster, the cluster member node sends data to the cluster head node in a single-hop manner; S3: constructing a minimum spanning tree with the base station as a root node by using a routing utility function ƒ(CHi); S4: sending, by the cluster head node, data to the base station through routing organized by the minimum spanning tree.

Abstract: Provided is a strain of bactericidal nitrogen-fixing Pseudomonas protegens CHA0-?retS-NiF, a fermentation method and an application thereof. The strain is deposited under the accession number CGMCC No. 14476. The optimum culture condition thereof is at pH 7, the temperature of 28° C., and rotation speed of 600 rpm. Further provided is a microbial agent containing the Pseudomonas protegens CHA0-?retS-NiF as an active ingredient. The Pseudomonas protegens CHA0-?retS-NiF has strong nitrogen-fixing and bactericidal capabilities and may be used to prevent and cure plant diseases and to boost plant growth.

Abstract: A resource sharing method is performed at a mobile terminal, the method including the following steps: obtaining configured user identifier; obtaining multimedia data; obtaining a resource sharing request, and associating the user identifier with the multimedia data according to the resource sharing request; generating a resource sharing instruction according to an association relationship between the user identifier and the multimedia data; and executing the resource sharing instruction.

Abstract: A resource sharing method is performed at a mobile terminal, the method including: receiving a resource sharing message configuration file that is delivered in a pre-configured delivery time period; obtaining a theme activity time period according to the resource sharing message configuration file; displaying a resource sharing message configuration portal in the theme activity time period; detecting an operation on the resource sharing message configuration portal, and entering a resource sharing message configuration page; obtaining, according to a configuration performed on the resource sharing message configuration page, a resource sharing message template matching the theme activity time period and resource information matching the resource sharing message template; generating a resource sharing message according to the obtained resource sharing message template and resource information, the resource sharing message including data for obtaining a resource; and sharing the resource sharing message.

Abstract: A resource sharing method is performed at a mobile terminal, the method including: configuring a to-be-shared resource by using a processor, to obtain data needed for obtaining a resource; obtaining a user identifier of a currently logged-in social networking application; obtaining a resource sharing message image template, a user-defined visible element, and configuration information of the visible element that are associated with the user identifier; drawing a resource sharing message image according to the resource sharing message image template, the visible element, and the configuration information, and displaying the resource sharing message image on a social network propagation page of the social networking application; and transferring, by using a social network, a resource sharing message corresponding to the resource sharing message image, the resource sharing message including the data needed for obtaining a resource.

Abstract: A path planning method, system, and device for autonomous driving are provided, where the method includes: acquiring environment perception information and vehicle positioning and navigation information, where the environment perception information includes obstacle information, roadside information, and lane line information, and the vehicle positioning and navigation information includes a vehicle pose and a target route; generating sub-paths according to the environment perception information and the vehicle positioning and navigation information, to obtain candidate sub-paths meeting vehicle constraints; performing a collision detection on the candidate sub-paths meeting the vehicle constraints, to obtain collision-free candidate sub-paths; performing a sub-path search on the collision-free candidate sub-paths by using an A* search algorithm; and obtaining, according to a result of the sub-path search, a local path of a vehicle.

Abstract: Provided are a method, apparatus and system for detecting obstacle collision in an automatic parking path. The method includes: geometrically performing an obstacle collision detection in a circular arc path and/or an obstacle collision detection in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The system includes a collision detection module for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The apparatus includes: a memory and a processor configured for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour.

Abstract: Provided are Pseudomonas protegens mutant strain Pf5-NiF, Pf5-?retS, or Pf5-?retS-NiF, and a screening method therefor and an application thereof. By means of Red/ET recombination and direct cloning technologies, the NiF nitrogen fixation gene island in the genome of Pseudomonas stutzeri DSM4166, taken as a whole, is cloned into the genome of Pseudomonas protegens Pf5, so as to heterologously express the same successfully to obtain a genetically engineered strain Pf5-NiF, thereby bringing a biological nitrogen fixation function to Pseudomonas protegens Pf5 which does not own a biological nitrogen fixation function. In addition, gene-directed markerless knockout of retS gene in the genome of Pseudomonas protegens Pf5 is performed to obtain a genetically engineered strain Pf5-?retS. Thus, the expression levels of an antibiotic 2,4-diacetylphloroglucinol and red pigment are increased, and a mutant strain of Pseudomonas protegens Pf5 having a stronger bactericidal activity is obtained.

Abstract: A water heater includes a tank and a heating pipe. The tank has a water storage space therein. A bottom of the tank is provided with a cold water inlet and a circulation outlet. The tank is provided with a hot water outlet located at a position not less than one half height of the tank. The heating pipe is connected with a circulation pipe outside the tank to communicate with the circulation outlet. The heating pipe extends upward from the bottom of the tank into the water storage space. The heating pipe is provided with an opening facing sideways. The opening is located at a certain height of the water storage space. An outside of the heating pipe is provided with a heating device for heating the heating pipe.

Abstract: A method for dynamically presenting webpage information and the related systems are disclosed. The method includes: receiving an instruction to invoke a dynamic webpage including first account information; sending an information acquisition instruction to each designated online social platform according to second account information, which corresponds to the first account information, of each designated online social platform; receiving data returned by each designated online social platform and performing format conversion on the data, so as to convert the data into data in a designated data format; and integrating the data in a converted format and of each designated online social platform into a complete data list and displaying the integrated data list. According to the solutions of the present disclosure, when webpage information of multiple online social platforms needs to be viewed, it is unnecessary to separately log in to multiple account numbers for viewing.

Abstract: A resource sharing method is performed at a mobile terminal, the method including the following steps: obtaining configured user identifier; obtaining multimedia data; obtaining a resource sharing request, and associating the user identifier with the multimedia data according to the resource sharing request; generating a resource sharing instruction according to an association relationship between the user identifier and the multimedia data; and executing the resource sharing instruction.

Abstract: A resource sharing method is performed at a mobile terminal, the method including: receiving a resource sharing message configuration file that is delivered in a pre-configured delivery time period; obtaining a theme activity time period according to the resource sharing message configuration file; displaying a resource sharing message configuration portal in the theme activity time period; detecting an operation on the resource sharing message configuration portal, and entering a resource sharing message configuration page; obtaining, according to a configuration performed on the resource sharing message configuration page, a resource sharing message template matching the theme activity time period and resource information matching the resource sharing message template; generating a resource sharing message according to the obtained resource sharing message template and resource information, the resource sharing message including data for obtaining a resource; and sharing the resource sharing message.

Abstract: A resource sharing method is performed at a mobile terminal, the method including: configuring a to-be-shared resource by using a processor, to obtain data needed for obtaining a resource; obtaining a user identifier of a currently logged-in social networking application; obtaining a resource sharing message image template, a user-defined visible element, and configuration information of the visible element that are associated with the user identifier; drawing a resource sharing message image according to the resource sharing message image template, the visible element, and the configuration information, and displaying the resource sharing message image on a social network propagation page of the social networking application; and transferring, by using a social network, a resource sharing message corresponding to the resource sharing message image, the resource sharing message including the data needed for obtaining a resource.

Abstract: The disclosure discloses a method and device for call playback in a ringing state. The method includes that: after forwarding a call request initiated by a user terminal, and when receiving a first temporary response message returned by a called party, an Access Transfer Control Functionality (ATCF) applies for a media resource for a first playback media and performs playback on the first playback media, wherein the first temporary response message carries description information about the first playback media; when receiving an nth temporary response message of the call request, the ATCF reapplies for a pair of media resources to anchor an nth playback media, wherein the nth temporary response message carries description information about the nth playback media, and n is a natural number which is greater than or equal to 2; and the ATCF performs playback on the nth playback media through the pair of media resource.