Abstract: Embodiments described herein relate to a diagnostic system and electrophoresis device for detecting and/or measuring hemoglobin variants in blood of a subject. The diagnostic system includes a cartridge and a UV imaging system. The cartridge includes a housing having a microchannel extending between first and second buffer pools each containing a buffer solution. The buffer solution exhibits an affinity to non-glycosylated hemoglobin, which facilitates its separation from glycosylated hemoglobin. An electrophoresis strip is positioned within the microchannel and is structured to receive at least a portion of a hemolysate. The electrophoresis strip has first and second ends positioned in the first and second buffer pools so as to be at least partially saturated with the buffer solution in each buffer pool, with a first electrode exposed to the buffer solution in the first buffer pool, and a second electrode exposed to the buffer solution in the second buffer pool.

Abstract: A method for treating, resisting and alleviating endometriosis-associated pain, relating to the field of biological medicine, comprising administering, to an individual in need thereof, a therapeutically effective amount of a diaminopyrimidine compound of formula (I) or a pharmaceutically acceptable salt, an ester, a stereoisomer, a polymorph, a solvate, an N-oxide, an isotopically labeled compound, a metabolite or a prodrug thereof.

Abstract: A transmission mechanism for a rotary joint, a robot joint and a robot. The transmission mechanism includes a driving member, a transmission member, an output shaft, an input shaft, and a housing. The driving member has a driving end. The transmission member has an output end and an input end. The output shaft is drivingly connected to the output end. The input shaft is drivingly connected to both the driving end and the input end, and sleeved on the output shaft. The housing is arranged around the input shaft. The housing, the input shaft and the output shaft are in a triple nested structure. The implementation of the present disclosure can compress a total length of the joint, save axial space, and make full use of radial space, while satisfying good assembly coaxiality.

Abstract: A compound of Formula (I) or an N-oxide, a solvate, a pharmaceutically acceptable salt or a stereoisomer thereof is an ionizable cationic lipid compound.

Abstract: A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.

Abstract: A method for controlling an unmanned aerial vehicle (UAV) may comprise obtaining an instruction for controlling the UAV; detecting that the instruction is a preset instruction for a flight action; and controlling the UAV to move in the flight action according to the preset instruction. The instruction may include a first instruction configured to control the UAV to perform a dive action in a diving attitude autonomously or a second instruction configured to control the UAV to perform the dive action according to a received direction control instruction.

Abstract: A multidimensional joint is provided and includes a body and a drive assembly. The body includes a first motor and a second motor. The drive assembly includes a planetary carrier rotatably coupled to the body, a first drive gear driveably coupled to the first motor, a second drive gear driveably coupled to the second motor, at least one driven gear and at least one output end. The first and the second drive gears are rotatably mounted on the planetary carrier about a first axis, and the at least one driven gear is rotatably mounted on the planetary carrier about a second axis in a different direction from the first axis. The first and the second drive gears are engaged with the at least one driven gear respectively. The at least one driven gear is coupled to the at least one output end configured to output torque to a load.

Abstract: The present application relates to a rotational joint and a device having the same. The rotational joint includes a joint housing, a driving device mounted in the joint housing, and an encoder module mounted on the driving device. The driving device includes inner shaft and an outer shaft surrounding the inner shaft and radially spaced apart from the inner shaft. The encoder module includes a first disk assembly configured to rotate synchronously with the outer shaft, a second disk assembly configured to rotate synchronously with the inner shaft, a first sensor assembly disposed adjacent to the first disk assembly to detect movement of a disk of the first disk assembly, and a second sensor assembly disposed adjacent to the second disk assembly to detect movement of a disk of the second disk assembly. A disk surface of the first disk assembly and a disk surface of the second disk assembly are arranged to be coplanar and radially spaced apart by at least a predetermined distance.

Abstract: A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.

Abstract: An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

Abstract: A brake assembly includes: a motor rotor; a brake disc fixed on the motor rotor; a friction plate fixed to and surrounding the brake disc; a bearing rotatably sleeved on the motor rotor; an electromagnet assembly fixed on the bearing; a baffle plate fixed to the electromagnet assembly; an armature slidably sleeved on the motor rotor, and located between the baffle plate and the electromagnet assembly; and a spring assembly provided between the armature and the electromagnet assembly. When the electromagnet assembly is de-energized, the armature is pushed by the spring assembly to move in a direction close to the baffle plate, such that the friction plate is clamped by the armature and the baffle plate to realize braking.

Abstract: A harmonic drive includes: a wave generator; a circular spline provided with internal teeth; a flexible spline provided between the wave generator and the circular spline and configured to be engaged with the internal teeth of the circular spline; and a plurality sets of torque sensors. Each set of torque sensors includes a plurality of strain gauges, each set of torque sensors is respectively configured to measure torque transmitted by the harmonic drive during rotation of the flexible spline. Signals measured by each of the plurality sets of torque sensors include a torque ripple, and the plurality sets of torque sensors are alternatively arranged. The harmonic drive further includes a processor configured to calculate a true torque transmitted by the harmonic drive based on signals measured by the plurality sets of torque sensors. The torque ripple is excluded from the true torque.

Abstract: A multidimensional joint is provided and includes a body and a drive assembly. The body includes a first motor and a second motor. The drive assembly includes a planetary carrier rotatably coupled to the body, a first drive gear driveably coupled to the first motor, a second drive gear driveably coupled to the second motor, at least one driven gear and at least one output end. The first and the second drive gears are rotatably mounted on the planetary carrier about a first axis, and the at least one driven gear is rotatably mounted on the planetary carrier about a second axis in a different direction from the first axis. The first and the second drive gears are engaged with the at least one driven gear respectively. The at least one driven gear is coupled to the at least one output end configured to output torque to a load.

Abstract: The present disclosure relates to a gripper and a robot. The gripper according to the present disclosure includes at least three guiding rails arranged head to tail in sequence, at least three gripping fingers respectively disposed on the at least three guiding rails and a driving mechanism. A first end of each of the gripping fingers is slidably connected to the corresponding guiding rail and a second end of each of the gripping fingers is for contacting the object to be gripped. The driving mechanism drives each of the gripping fingers to move along the corresponding guiding rail, so that the second end of each of the gripping fingers moves toward or away from a gripping center of the gripper.

Abstract: A transmission mechanism for a rotary joint, a robot joint and a robot. The transmission mechanism includes a driving member, a transmission member, an output shaft, an input shaft, and a housing. The driving member has a driving end. The transmission member has an output end and an input end. The output shaft is drivingly connected to the output end. The input shaft is drivingly connected to both the driving end and the input end, and sleeved on the output shaft. The housing is arranged around the input shaft. The housing, the input shaft and the output shaft are in a triple nested structure. The implementation of the present disclosure can compress a total length of the joint, save axial space, and make full use of radial space, while satisfying good assembly coaxiality.

Abstract: A grating adjustment apparatus includes a first electrode layer, a second electrode layer and a first substrate and a second substrate that are opposite to each other; the grating adjustment apparatus further includes a plurality of first driving lines, a plurality of second driving lines and a plurality of grating units arranged in the first direction, and is configured as: when the grating adjustment apparatus is powered on, the grating unit is capable of forming a light transmission unit and a shading unit, and opening positions and/or opening ratios of the grating unit are adjustable; and the plurality of grating units are divided into at least one group; for the grating units in the same group, at least two of the first sub-electrodes are electrically connected to different first driving lines, and at least two of the second sub-electrodes are electrically connected to different second driving lines.

Abstract: The present disclosure discloses a stator assembly. The stator assembly comprises: a stator core comprising a plurality of stator teeth, and any two adjacent ones of the plurality of stator teeth are provided with a stator slot therebetween; and a stator winding formed by a wire wound on the stator teeth, the stator winding being received in the stator slots. A cross section of the stator winding in a winding direction of the wire is a plurality of wires having orthohexagonal shapes, and any two adjacent ones of wires closely fit each other.

Abstract: Provided are a gripper and a robot. The gripper includes a case, a plurality of gripping assemblies respectively assembled to the case, and a driving assembly configured to move the plurality of gripping assemblies. Each gripping assembly is provided with a fingertip at an end portion, and fingertips of the gripper are configured to cooperate with each other for grasping. Each gripping assembly further includes a gear set and a gear carrier rotatably connected to the case. The gear set includes a fixed gear, an intermediate gear and a fingertip gear engaged in sequence. The fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip. The intermediate gear and the fingertip gear are mounted to the gear carrier and respectively rotatably connected to the gear carrier. The driving assembly is configured to rotate the gear carrier.

Abstract: A method of determining at least one of hemoglobin oxygen affinity, rate of hemoglobin deoxygenation, or the presence of hemoglobin variants in blood of a subject, the method includes determining differences of absorption spectra of oxygenated and deoxygenated hemoglobin, red blood, and/or blood obtained from the subject and comparing the determined absorption spectra differences to a control value, wherein the absorption spectra differences are indicative of hemoglobin oxygen affinity, rate of hemoglobin deoxygenation, or the presence of hemoglobin variants in the blood of the subject.

Abstract: The present disclosure relates to a speed reducer, a speed-reducing transmission mechanism, and a robot joint and a robot including the speed-reducing transmission mechanism. The speed reducer is configured to achieve a reduction transmission from a transmission input shaft to a transmission output shaft, and includes: a wave generator mounted to the transmission input shaft; a fixed circular spline; and a flexspline located between the circular spline and the wave generator, and including a gear portion and a flange portion. The flange portion is configured to be connected to the transmission output shaft.