Abstract: The present invention discloses a method and apparatus of obtaining feature information of a simulated agent. The method further comprises: for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities, the number of real agents belonging to each class being greater than one; for each agent class, extracting representative feature information from feature information of each real agent belonging to the class, and taking the extracted feature information as feature information of simulated agents belonging to this class. The solution of the present invention may be applied to improve correctness of testing results of unmanned vehicles.

Abstract: The present invention discloses a method and an apparatus of constructing a test scenario of an unmanned vehicle. The method comprises: obtaining a scenario attribute set by the user; respectively determining a map and an agent matching with the scenario attribute; generating a test scenario according to the determined map and agent. The solution of the present invention can be used to improve the efficiency of constructing the test scenario.

Abstract: The present invention provides a local trajectory planning method and apparatus for a smart vehicle, pre-acquiring path planning information from a starting location to a destination; the method comprising: determining a target lane; sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information; performing speed planning for the sampled alternative curves according to a current travel environment; selecting one of the alternative curves after the speed planning is performed as a target trajectory. Local trajectory planning of the smart vehicle is achieved through the present invention.

Abstract: The present invention discloses a vehicle control method and apparatus and a method and apparatus for acquiring a decision-making model. The vehicle control method, comprising: during travel of an unmanned vehicle, acquiring current external environment information and map information in real time; determining vehicle state information corresponding to the external environment information and map information acquired each time according to a decision-making model obtained by pre-training and reflecting correspondence relationship between the external environment information, map information and vehicle state information, and controlling a travel state of the unmanned vehicle according to the determined vehicle state information. Application of the solution of the present invention can improve security and reduce the workload.

Abstract: A disk drive is disclosed comprising a head actuated over a disk, and a spindle motor configured to rotate the disk. The disk drive further comprises control circuitry configured to measure a rotation speed of the spindle motor, generate a feed-forward control based on the measured rotation speed, and spin-up the spindle motor based on the feed-forward control.

Abstract: An apparatus includes: a media; a head assembly over the media; a head actuation motor coupled to the head assembly; control circuitry, coupled to the head actuation motor, configured to position the head assembly; and a head loading ramp, adjacent to the media; wherein: the control circuitry is further configured to: generate a seek count; and park the head assembly, off of the media, on the head loading ramp, controlling a speed of the head actuation motor based on the seek count.

Abstract: A disk drive is disclosed comprising a head actuated over a disk, and a spindle motor operable to rotate the disk. The disk drive comprises control circuitry configured to a rotation speed of the spindle motor, generate a gain as a function of the measured rotation speed, wherein the function comprises a polynomial having a degree greater than one, and spin-up the spindle motor based on the gain.

Abstract: A disk drive is disclosed comprising a head actuated over a disk, a spindle motor for rotating the disk, and a spindle motor control system comprising a servo compensator operable to generate a control signal applied to the spindle motor, the servo compensator comprising a programmable gain term (PGT). The disk is spun at a first speed RPM—1 using a first value PGT—1 selected for the PGT, and the disk is spun at a second speed RPM—2 using a second value PGT—2 selected for the PGT, wherein the second value PGT—2 is generated in response to the first value PGT—1 scaled by a function of a ratio of RPM—2 to RPM—1.

Abstract: A disk drive is disclosed comprising a head actuated over a disk, a spindle motor operable to rotate the disk, and control circuitry comprising a speed control loop operable to control a rotation speed of the disk. A rotation speed of the disk is measured, and a speed error is generated in response to the measured rotation speed. The speed error is processed with a compensator to generate a control signal, a disturbance is injected into the control signal to generate a modified control signal, and the modified control signal is applied to the spindle motor. An amplitude of the disturbance is ramped, and after ramping the amplitude of the disturbance, an open-loop gain of the speed control loop is estimated at a frequency of the disturbance, and at least one parameter of the compensator is adjusted in response to the estimated open-loop gain.

Abstract: A disk drive is disclosed comprising a head actuated over a disk, and a spindle motor for rotating the disk, the spindle motor comprising a plurality of windings. During a spin-up operation a sinusoidal driving voltage is applied to each winding of the spindle motor. A back electromotive force (BEMF) voltage generated by at least one of the windings is measured, and a rotation speed of the spindle motor is measured. The sinusoidal driving voltage is adjusted in order to optimize a lead angle relative to the rotation speed, wherein the lead angle represents a degree the sinusoidal driving voltage leads the BEMF voltage.

Abstract: In this invention, three genes encoding short chain neurotoxin are obtained by sea snake—Lapemis hardwickii venom gland cDNA library construction and DNA sequencing, named sn12, sn36, and sn160, respectively. The three genes are modified and amplified by PCR method, then cloned into expression vector PETTRX. The three neurotoxin genes are all highly expressed in soluble fusion protein in E. coli stain BL21-DE3 which is used as a expression host when induced with IPTG. Studies on the analgesic effects of the three recombinant short chain neurotoxins showed that three proteins, SN12, SN36 and SN160 all can significantly increase the pain threshold value of mouse.

Abstract: In this invention, three genes encoding short chain neurotoxin are obtained by sea snake—Lapemis hardwickii venom gland cDNA library construction and DNA sequencing, named sn12, sn36, and sn160, respenctively. The three genes are modified and amplified by PCR method, then cloned into expression vector PETTRX. The three neurotoxin genes are all highly expressed in soluble fusion protein in E. coli stain BL21-DE3 which is used as a expression host when induced with IPTG. Studies on the analgesic effects of the three recombinant short chain neurotoxins showed that three proteins, SN12, SN36 and SN160 all can significantly increase the pain threshold value of mouse.