Abstract: The disclosure relates to the technical field of autonomous driving, and provides a method for predicting a vehicle trajectory, a control apparatus, and a vehicle, to solve the problem of how to effectively deal with existing highly complex traffic scenario interactions and difficulties in iterative planning and control processes. In the method, scenario interaction results of a traffic agent are obtained based on a static environment perception result and a traffic agent perception result of a vehicle at a current moment, an initial interaction scenario is obtained based on the scenario interaction results, interaction scenario simulation is performed based on the initial interaction scenario and an ego vehicle driving decision to determine an optimal interaction scenario evolution feature of the traffic agent, and an optimal driving trajectory of the vehicle is obtained based on the optimal interaction scenario evolution feature and a state of the vehicle.

Abstract: A high-strength ring groove rivet includes a gun head assembly, a driving mechanism, a transmission mechanism, a power source and a control module arranged in a riveting tool shell. The transmission mechanism has a planetary roller lead screw shaft in coaxial driving connection with the clamping jaw of the gun head assembly, and is also in driving connection with the driving shaft of the driving mechanism through gears installed on the planetary roller lead screw shaft and the driving shaft of the driving mechanism respectively. The planetary roller lead screw is adopted as a component for converting rotary motion into linear motion, the output tension can reach 70 kN, and riveting installation of ring groove rivets with the diameter specification of 12 mm can be effectively completed.

Abstract: The present invention discloses an automatic identification method and device for planetary seismograph azimuth angles based on a planetary sundial, comprising: obtaining geographical coordinates of a sundial needle tip and a sundial needle tip shadow relative to a planetary surface; determining a theoretical second solar ray elevation angle and a ray azimuth angle; constructing an objective function according to a first solar ray elevation angle and a ray azimuth angle corresponding to a time for obtaining the sundial needle tip shadow; and taking a minimum objective function as a target for solving a planetary seismograph azimuth angle. The present invention determines the planetary seismograph azimuth angle only by optical photos of a planetary rover or a lander without active vibration devices on supporting legs of the lander, thereby reducing system complexity and reducing weight, volume and power consumption brought by additional devices on the supporting legs of the lander.

Abstract: The present invention discloses an automatic identification method and device for planetary seismograph azimuth angles based on a planetary sundial, comprising: obtaining geographical coordinates of a sundial needle tip and a sundial needle tip shadow relative to a planetary surface; determining a theoretical second solar ray elevation angle and a ray azimuth angle; constructing an objective function according to a first solar ray elevation angle and a ray azimuth angle corresponding to a time for obtaining the sundial needle tip shadow; and taking a minimum objective function as a target for solving a planetary seismograph azimuth angle. The present invention determines the planetary seismograph azimuth angle only by optical photos of a planetary rover or a lander without active vibration devices on supporting legs of the lander, thereby reducing system complexity and reducing weight, volume and power consumption brought by additional devices on the supporting legs of the lander.

Abstract: The present invention belongs to the field of organic small molecule fluorescent probes, and in particular to a preparation method and application of a viscosity fluorescent probe. A viscosity fluorescent probe TzAr-Nap-OH based on 1,3,5 triazine dye, which shows very strong sensitivity to viscosity, has little effect on fluorescence intensity over a wide pH range and good cytocompatibility, and responds well to viscosity. In cell imaging experiments, the fluorescent probe has low cytotoxicity and may accurately locate cells, may be applied to detect cell viscosity of complex organisms, and the synthesis steps of the probe are simple with a wide range of raw material sources, which provides an available tool for studying the important role that cell viscosity plays in complex physiological processes of organisms. Therefore, the cell viscosity fluorescent probe with high sensitivity and low interference and toxicity has broad application prospects in the field of biomolecular detection.

Abstract: A method for automatically identifying an active source azimuth of a planet seismometer, comprising: intercepting a three-channel original time sequence in a duration before and after an active source first arrival signal of each support leg received by a planet seismometer in turn; converting the three-channel original time sequence to a horizontal plane based on a pitch angle and a roll angle of the planet seismometer after being deployed to a surface of a planet; converting a time sequence of the horizontal plane to RTZ coordinates and calculating the maximum amplitudes of components of a vibration signal; constructing a target function based on the maximum amplitudes of components of a vibration signal, and scanning an azimuth of the planet seismometer at preset angle intervals, wherein when the target function reaches the minimum, the corresponding azimuth of the planet seismometer is the optimal estimation.

Abstract: Disclosed is a combined submarine seismic acquisition node with a secondary positioning function, including an ocean bottom node connected with an external loading ship; a protective sleeve circumferentially covering outside the ocean bottom node; and response components fixed inside the ocean bottom node, and the response components are configured to send position information of the ocean bottom node, and the response components may perform an information interaction with the loading ship.

Abstract: Disclosed is a combined submarine seismic acquisition node with a secondary positioning function, including an ocean bottom node connected with an external loading ship; a protective sleeve circumferentially covering outside the ocean bottom node; and response components fixed inside the ocean bottom node, and the response components are configured to send position information of the ocean bottom node, and the response components may perform an information interaction with the loading ship.

Abstract: A flush toilet is revealed. The flush toilet includes a bowl portion, a drain pipe, an inlet channel, a first outlet channel, a second outlet channel, and a jet channel. The first and second outlet channels are turned into different directions from diversion area of the inlet channel. The second outlet channel further includes a curved potion for changing the direction of water flow so that the direction of a second water flow out of the second outlet channel and along a shed portion of the bowl portion is consistent with the direction of a first water flow out of the first outlet channel and along the shed portion. Thus the first and second water flows are out almost synchronously throughout the bowl portion and combined to form a swirling flow which interacts with a third water flow from the jet channel to create a siphon effect for better waste removal.

Abstract: A flush toilet is revealed. The flush toilet includes a bowl portion, a drain pipe, an inlet channel, a first outlet channel, a second outlet channel, and a jet channel. The first and second outlet channels are turned into different directions from diversion area of the inlet channel. The second outlet channel further includes a curved potion for changing the direction of water flow so that the direction of a second water flow out of the second outlet channel and along a shed portion of the bowl portion is consistent with the direction of a first water flow out of the first outlet channel and along the shed portion. Thus the first and second water flows are out almost synchronously throughout the bowl portion and combined to form a swirling flow which interacts with a third water flow from the jet channel to create a siphon effect for better waste removal.