Abstract: Presented herein are embodiments of a two-stage methodology that integrates data-driven imitation learning and model-based trajectory optimization to generate optimal trajectories for autonomous excavators. In one or more embodiments, a deep neural network using demonstration data to mimic the operation patterns of human experts under various terrain states, including their geometry shape and material type. A stochastic trajectory optimization methodology is used to improve the trajectory generated by the neural network to ensure kinematics feasibility, improve smoothness, satisfy hard constraints, and achieve desired excavation volumes. Embodiments were tested on a Franka robot arm equipped with a bucket end-effector. Embodiments were also evaluated on different material types, such as sand and rigid blocks. Experimental results showed that embodiments of the two-stage methodology that comprises combining expert knowledge and model optimization increased the excavation weights by up to 24.

Abstract: The present disclosure provides use of sweetpotato IbSAP15 gene in regulating leaf shape and flower shape of sweetpotato. Compared with the control, Ipomoea batatas cv. Xuzishu 8, IbSAP15-overexpressing lines have more deeply incised blades, dehiscent corollas, and higher ornamental value. In the present disclosure, overexpression of the sweetpotato IbSAP15 gene in sweetpotato can deepen leaf incisions, make trumpet-shaped corollas dehiscent, and change leaf shape and flower shape of sweetpotato. The present disclosure is suitable for developing sweetpotato germplasms with different leaf shape and flower shape and promotes ornamental flowering/foliage sweetpotato breeding.

Abstract: A novel hinge and an inward-folding flexible screen mobile terminal. Each of a left structure and a right structure of the hinge includes a mechanism consisting of a push-pull rod and a fixed base and used for pushing and pulling a housing connecting member to slidably move, a rotating member, a rotating guide rail, and a rotary supporting plate; the rotating member is slidably connected to the housing connecting member; the rotating guide rail is rotatably connected to the fixed base; the outer side end of the rotary supporting plate is a rotary connecting end and connected to the housing connecting member, and the rotary supporting plate is slidably connected to the rotating guide rail, so that the rotary supporting plate can rotate together with the housing connecting member, coaxially rotate with the rotating guide rail, and slide with respect to the rotating guide rail.

Abstract: Provided in the present invention are a hinge with a lifting drive control function and an inward-folding flexible screen mobile terminal. A left structure and a right structure of the hinge each comprise a rotating member; a rotary connecting end of the rotating member is provided with a supporting portion; and the supporting portion is configured to jack, when the flexible screen mobile terminal is unfolded, lifting plates which are above the supporting portions of the left structure and the right structure. The hinge is further provided with a spring for pulling the lifting plates downwards, so that when the flexible screen mobile terminal is folded, the lifting plates descend under the action of the downward pulling force of the spring.

Abstract: The present disclosure relates to a method for preparing high-temperature superconducting yttrium barium copper oxide (YBCO) wire by 3D-printing, this method is divided into the following four steps: firstly, preparing a nano-level superconducting powder precursor; and then, preparing a printing paste with suitable viscosity and supporting characteristics; after that, using a CAD 3D modeling, exporting STL format model data and slicing by a professional software; implementing one-step preparing strands with low AC loss by twisting the print nozzle. Finally, the printed twisted wire is formed into a practical superconducting twisted cable through the processes such as plastic removal process, crystallizing process, oxygen supplementing process and assembling process in order. The present disclosure firstly provides an application for applying high temperature superconducting material to direct ink writing 3D-printing technology.

Abstract: The present disclosure relates to a method for preparing high-temperature superconducting yttrium barium copper oxide (YBCO) wire by 3D-printing, this method is divided into the following four steps: firstly, preparing a nano-level superconducting powder precursor; and then, preparing a printing paste with suitable viscosity and supporting characteristics; after that, using a CAD 3D modeling, exporting STL format model data and slicing by a professional software; implementing one-step preparing strands with low AC loss by twisting the print nozzle. Finally, the printed twisted wire is formed into a practical superconducting twisted cable through the processes such as plastic removal process, crystallizing process, oxygen supplementing process and assembling process in order. The present disclosure firstly provides an application for applying high temperature superconducting material to direct ink writing 3D-printing technology.