Abstract: The present disclosure provides for compositions, slow-release fertilizer composition, methods of making these compositions, and the like. The present disclosure can be advantageous in some instances since it can achieve multiple goals, where in one aspect, the 5 modified lignin is used to prepare materials with strong adsorption capacity to the heavy metals, and then the material is used to coat fertilizer to prepare controlled-release fertilizer. The application of embodiments of the coated fertilizer in soil not only control the release of nutrients and improve the fertilizer use efficiency, but also effectively adsorb heavy metals in soil and repair the polluted soil.

Abstract: The present application relates to a motion control method and system for a mechanical arm and surgical system, the terminal end of the mechanical arm is adapted to carry an effector, the method includes steps of: receiving a first control command from a first input device by a graphical user interface, wherein the first control command is configured to control the mechanical arm to move according to a first movement mode; receiving a second control command from the first input device or a second input device, wherein the second control command is configured to control the mechanical arm to enter a second movement mode; and receiving a third control command from the second input device, wherein the third control command is configured to control the effector to perform a predetermined movement, wherein the first input device and the second input device are separated from each other.

Abstract: Embodiments of the present application provide a calibration method, a mechanical arm control method, and a surgical system for calibrating an angle of a target feature structure installed on an end of the mechanical arm. The calibration method includes: setting a moving path of the end and controlling the end to move along the moving path, the moving path including at least three position points that are not located on a same straight line; obtaining a first position of the moving path of the end in an absolute coordinate system; obtaining a second position of the target feature structure in the absolute coordinate system; and determining a relative positional relationship between the target feature structure and a mechanical arm end coordinate system according to the first position, the second position and a predetermined third position of the moving path in the mechanical arm end coordinate system.

Abstract: The present application discloses a needle clamping device and a leg support device. The needle clamping device includes a first component having a shaft portion; a second component hinged with the shaft portion, the second component includes a first portion and a second portion whose relative position is variable, the first portion and the second portion are arranged to clamp the shaft portion when the relative position changes; a clamping mechanism for clamping the needle, the clamping mechanism is connected to the second component, and the clamping mechanism is arranged so that at least part of the structure further clamps the first portion and the second portion, and drives the first portion and the second portion to change their relative position so that the second component clamps the shaft portion in the process of clamping the orthopaedic needle.

Abstract: The disclosure discloses an accurate position determining device, method and system for surgical tool. The method adopts two trackers for navigation and position determining: an end tracker is used for accurate position determining; the end tracker is removed after it is in place, and a main body tracker is used for real-time monitoring. Robotic arm movement will generate errors, and a navigation device is used to achieve multiple calibrations and successive recursion to approach a precise position, which thereby ensures a high accuracy to the utmost extent. During a navigation and position determining process, the main body tracker can provide a distance from a real-time position of a surgical tool to a spatial pose of a target cutting plane and feed it to an operator through a screen of a host, who makes fine adjustments by visual indication, and stops swinging if it exceeds a threshold value.

Abstract: Disclosed is a speaker device, comprising a vibration system, a magnetic circuit system, and an auxiliary system for accommodating and fixing the magnetic circuit system and the vibration system. The vibration system comprises a diaphragm, a centering piece and a voice coil which are combined together. The centering piece comprises a first fixing portion, a second fixing portion provided therein, and a connecting arm for connecting the first the second fixing portion. The second fixing portion is provided with an antenna circuit, the first fixing portion is provided with a first external bonding pad corresponding to the antenna circuit, and the antenna circuit is electrically connected to the first external pad. The speaker device of the present invention may achieve antenna functions without increasing a thickness of the speaker device, which is advantageous to a thinner design and an integrated design of the speaker device.

Abstract: Disclosed is a speaker device, comprising a vibration system, a magnetic circuit system, and an auxiliary system fixedly accommodating the magnetic circuit system and the vibration system. The vibration system comprises a center suspension comprising a first fixing portion, a second fixing portion within the first fixing portion, and a connecting arm connecting the first fixing portion and the second fixing portion. A central position of the second fixing portion is provided with a piezoelectric piece, the center suspension is provided with a first pad corresponding to the piezoelectric piece, and the piezoelectric piece is electrically connected to the first pad. The second fixing portion is provided with an antenna circuit. In the speaker device of the present invention, the signal emitted by the piezoelectric piece effectively increases the medium and high frequency effect and enhances the acoustic performance. The antenna circuit integrates the antenna device and the speaker device.

Abstract: Disclosed is a speaker device, comprising a vibration system, a magnetic circuit system, and an auxiliary system fixedly accommodating the magnetic circuit system and the vibration system. The vibration system comprises a center suspension comprising a first fixing portion, a second fixing portion within the first fixing portion, and a connecting arm connecting the first fixing portion and the second fixing portion. A central position of the second fixing portion is provided with a piezoelectric piece, the center suspension is provided with a first pad corresponding to the piezoelectric piece, and the piezoelectric piece is electrically connected to the first pad. The second fixing portion is provided with an antenna circuit. In the speaker device of the present invention, the signal emitted by the piezoelectric piece effectively increases the medium and high frequency effect and enhances the acoustic performance. The antenna circuit integrates the antenna device and the speaker device.

Abstract: Disclosed is a speaker device, comprising a vibration system, a magnetic circuit system, and an auxiliary system for accommodating and fixing the magnetic circuit system and the vibration system. The vibration system comprises a diaphragm, a centering piece and a voice coil which are combined together. The centering piece comprises a first fixing portion, a second fixing portion provided therein, and a connecting arm for connecting the first the second fixing portion. The second fixing portion is provided with an antenna circuit, the first fixing portion is provided with a first external bonding pad corresponding to the antenna circuit, and the antenna circuit is electrically connected to the first external pad. The speaker device of the present invention may achieve antenna functions without increasing a thickness of the speaker device, which is advantageous to a thinner design and an integrated design of the speaker device.