Abstract: The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

Abstract: A method for rock identification includes the steps of receiving a rock slice image transmitted by an image acquisition device, generating a geometric feature, a mineral feature and a structural feature corresponding to a rock slice based on the rock slice image, and generating an identification result of the rock slice based on the geometric feature, the mineral feature and the structural feature. After the rock slice image is obtained, the rock slice image is subject to feature extraction based on three dimensions, i.e., the geometric feature, the mineral feature and the structural feature, the properties of rock are determined based on multiple dimensional features, and finally the identification result comprising a textual description is generated. After a microscopic visual image corresponding to the rock slice is obtained, feature extraction based on multiple dimensions is performed on the image, and the rock slice is identified with reference to multi-dimensional features.

Abstract: An arrayed electrohydrodynamic printhead without the extraction electrodes is provided. A printhead is formed by an ink cartridge, a flow channel plate, a nozzle plate, a control electrode layer. The ink cartridge includes an ink inlet, an ink outlet, an installation hole, a flow channel layer inlet, flow channel layer outlet. The flow channel plate has the functions of guiding the ink to flow into the nozzle plate and increasing the potential difference between the nozzles, and includes a flow channel inlet, a flow channel outlet, a drainage channel, and a microfluidic channel. A body of the nozzle plate includes nozzles and nozzle electrodes. The microfluidic channel forms a voltage division unit between each nozzle, so that the voltage on the triggered nozzle is dispersed in the flow channel without affecting other nozzles, and independent and controllable injection of each nozzle is thereby achieved.

Abstract: An arrayed electrohydrodynamic printhead without the extraction electrodes is provided. A printhead is formed by an ink cartridge, a flow channel plate, a nozzle plate, a control electrode layer. The ink cartridge includes an ink inlet, an ink outlet, an installation hole, a flow channel layer inlet, flow channel layer outlet. The flow channel plate has the functions of guiding the ink to flow into the nozzle plate and increasing the potential difference between the nozzles, and includes a flow channel inlet, a flow channel outlet, a drainage channel, and a microfluidic channel. A body of the nozzle plate includes nozzles and nozzle electrodes. The microfluidic channel forms a voltage division unit between each nozzle, so that the voltage on the triggered nozzle is dispersed in the flow channel without affecting other nozzles, and independent and controllable injection of each nozzle is thereby achieved.

Abstract: A method and an apparatus for establishing association between devices are provided. The method includes: obtaining identity information of a current user, and in response to the identity information satisfying a pre-configured condition, establishing an association with a mobile terminal associated with the identity information. The identity information includes biological unique information.

Abstract: Embodiments of the present invention include a method of starting a boost regulator comprising during an initial phase beginning when the boost regulator is powered off, coupling a first current from the input node to the output node to increase a voltage on the capacitor to a first voltage level, during a second phase following the first phase, switching the PMOS transistor and the NMOS transistor, during a third phase following the second phase, turning said PMOS off and switching said NMOS transistor, and during a fourth phase, synchronously switching the PMOS transistor and NMOS transistor.