Abstract: A footstep planning method includes: obtaining a number of depth images of an environment in a walking direction of a legged robot; creating a three-dimensional model of the environment based on the depth images; determining at least one even region from the three-dimensional model of the environment; and selecting one or more of the at least one even region as one or more candidate footstep locations for the legged robot to step on.

Abstract: The present disclosure provides an ultrasonic radar array, an obstacle detection method and system. The method comprises: obtaining obstacle information collected by ultrasonic radars in an ultrasonic radar array in an obstacle scenario; judging false detection and missed detection for the obstacle information collected by ultrasonic radars according a preset rule; processing the obstacle information collected by the ultrasonic radars according to the judgement result; determining a position of the obstacle according to the processed obstacle information collected by the ultrasonic radars. According to the present disclosure, it is possible to effectively judge false detection and missed detection happening to the ultrasonic radars in the ultrasonic radar array, precisely determine the position of the obstacle and improve the driving safety of the unmanned vehicle.

Abstract: The present invention discloses a method for preparing glucosyl steviol glycosides through enzymatic catalysis under programming temperatures in high throughput, belonging to the technical field of biosynthesis of sweeteners. By using cyclodextrin glucosyltransferase from Geobacillus sp. as a catalyst, steviol glycosides as the glycosyl receptor and dextrin or oligosaccharide as the glycosyl donor, taking a calcium/barium ion salt bridge as the main stabilizer and combining with glycerol to adjust the conformation and binding domain openness of the enzyme, and utilizing transglucosylation and hydrolytic activities of amylase at variable temperatures in different stages, thereby preparing the glucosyl steviol glycosides through enzymatic catalysis under programming temperatures in high throughput. The technology of the present invention can improve the utilization rate of the enzyme, and obtain glucosyl steviol glycosides with good sweetness and good taste.

Abstract: The present disclosure provides a method and system for processing an obstacle detection result of an ultrasonic sensor array. The method comprises: obtaining obstacle coordinates collected by ultrasonic sensors in an ultrasonic sensor array; inputting the obstacle coordinates collected by ultrasonic sensors in the ultrasonic sensor array into a pre-trained neural network model, to obtain true or false labels for the obstacle coordinates collected by the ultrasonic sensors output by the pre-trained neural network model; process the obstacle coordinates collected by the ultrasonic sensors in the ultrasonic sensor array according to the true or false labels. The present disclosure improves the accuracy in the obstacle detection of the ultrasonic sensor array, avoids detection error and omission and improves the driving safety.

Abstract: A heat dissipation structure applied to an electronic device includes a circuit board assembly, a pipe, a refrigerant fluid, and a water pump. The circuit board assembly is provided with a receiving chamber therein, an inlet, and an outlet. Each of the inlet and the outlet communicates with the receiving chamber. The pipe and the receiving chamber together form a liquid channel. The refrigerant fluid is received in the liquid channel. The water pump communicates with the pipe and is configured to circulate the refrigerant fluid in the liquid channel to remove heat from the circuit board assembly.

Abstract: A method comprises generating a PON frame comprising a plurality of FEC codewords, the FEC codewords comprise a first codeword, and the first codeword comprises a PSB; and transmitting the PON frame. A method comprises receiving a PON frame comprising a plurality of FEC codewords, the FEC codewords comprise a first codeword, and the first codeword comprises a PSB; and processing the PON frame.

Abstract: An atomizer is provided.

Abstract: A heating element including a ceramic body and a heating wire. The ceramic main body includes an upper portion and a lower portion. The upper portion and the lower portion are integrally formed. A plurality of micro-pores for oil penetration are distributed in the upper portion and the lower portion. A shape of a periphery of the upper portion is matched with a shape of an interior of an atomizer for mounting the upper portion. A side of the upper portion is provided with a notch. The shape of the notch is matched with the shape of an air flowing tube of the atomizer. The lower portion extends downward from the side of the upper portion opposite to the notch. The heating wire is mounted to the ceramic main body, and the heating wire extends outward from the bottom of the lower portion.

Abstract: A tubing for an electric submersible pump (ESP) for oil production. Cables are wrapped outside a first outer sheath at equal intervals; an inner side of the cable is covered with an insulating layer; an inner side of the insulating layer is covered with an aluminum tape; and a conductor is nested inside the aluminum tape. The inner pipe is combined with the cable to meet the oil production requirement of a coiled tubing (CT) and solve a power transmission problem of the submersible pump. The first outer sheath and a second outer sheath ensure that the tubing has a high bearing capacity and stability inside. A first steel belt and a second steel belt ensure a high resistance to pulling and deformation inside the tubing in use.

Abstract: A ranging device includes a threshold determination circuit and a detection channel. The threshold determination circuit is configured to determine a candidate comparison threshold according to a threshold-influencing factor. The detection channel is configured to receive a light pulse signal reflected by an object, convert the light pulse signal into an electrical signal, compare the electrical signal with the candidate comparison threshold, obtain time information of the electrical signal triggering the candidate comparison threshold, and determine a distance between the object and the ranging device according to the time information.

Abstract: Embodiments of the present disclosure relate to methods and apparatuses for outputting information and calibrating a camera. The method may include: acquiring a first image, a second image, and a third image, the first image being an image photographed by a to-be-calibrated camera, the second image being a high-precision map image including a target area indicated by the first image, and the third image being a reflectance image including the target area; fusing the second image and the third image to obtain a fused image; determining a matching point pair based on points selected by a user in the first image and the fused image; and calibrating the to-be-calibrated camera based on coordinates of the matching point pair.

Abstract: According to various embodiment, described herein are methods and systems for reliably detecting malfunctions in a variety of software or hardware components in an autonomous driving vehicle (ADV). In one embodiment, a redundant system can be provided on an independent computing device in an ADV to check for malfunctions in a number of software or hardware components. When no malfunction occurs in the ADV, an autonomous driving system (ADS) in the ADV operates to drive the ADV, while the redundant system can monitor the ADS in a standby mode. In the event of a malfunction, the redundant system can take over the control of the ADV, and take appropriate actions based on a severity level of the malfunction.

Abstract: Disclosed is a method for allocating QKD network resources, which includes the following steps: obtaining a network structure of a QKD network, and constructing a key topology according to distributions condition of quantum key resources in the QKD network; in response to arrival of a service requiring encryption, judging whether the encrypted service is delay sensitive; when the service is delay sensitive, distributing quantum key resources to the service according to the key topology of the QKD network; and when the service is not delay sensitive, distributing quantum key resources to the service according to the network structure of the QKD network. Moreover, the present disclosure also provides a device for allocating QKD network resources and a non-transitory computer-readable storage medium.

Abstract: The present invention discloses a method for preparing lower graft degree GSGs, and belongs to the technical field of biosynthesis of sweeteners. The method uses amylase to catalyze hydrolysis of GSGs with a high graft degree, thereby obtaining GSGs with low graft degree mainly containing GSGs with a low grafting number. The content of mono- and di-glucosyl substituents in the SGs in the product was 60% or more of the total glycosides, and the mass percent of the GSGs with a glucosyl grafting number of 3 or less was higher than 70% of the total glycosides. The mono- and di-substituted GSGs obtained by enzyme catalysis by the present invention were structurally similar to those, belong to a mixture of the isomers thereof, and have good sweetness and a flavoring function.

Abstract: A method, apparatus, and system for estimating a moving speed of a detected pedestrian at an autonomous driving vehicle (ADV) is disclosed. A pedestrian is detected in a plurality of frames of point clouds generated by a LIDAR device installed at an autonomous driving vehicle (ADV). In each of at least two of the plurality of frames of point clouds, a minimum bounding box enclosing points corresponding to the pedestrian excluding points corresponding to limbs of the pedestrian is generated. A moving speed of the pedestrian is estimated based at least in part on the minimum bounding boxes across the at least two of the plurality of frames of point clouds. A trajectory for the ADV is planned based at least on the moving speed of the pedestrian. Thereafter, control signals are generated to drive the ADV based on the planned trajectory.

Abstract: The present invention discloses a logging encapsulated optical-fiber duct cable and a manufacturing method thereof. The encapsulated optical-fiber duct cable mainly comprises an external encapsulation layer. At least one armor tube is arranged in the encapsulation layer. An optical fiber protective tube is arranged in each armor tube. A filling layer is arranged in a space between the optical fiber protective tube and the armor tube. An optical fiber is arranged in the optical fiber protective tube. The manufacturing method mainly comprises four steps: pavement of the optical fiber and formation of the protective tube, formation of the filling layer, formation of the armor tube and formation of the encapsulation layer. The optical-fiber duct cable of the present invention has the advantages of large length, high strength, good temperature tolerance, small signal transmission loss, high transmission speed and synchronous transmission of multiple signals.

Abstract: A method, apparatus, and system for determining whether all extrinsic matrices are accurate is disclosed. A plurality of post-LIDAR fusion point clouds that are based on simultaneous outputs from a plurality of LIDAR devices installed at one ADV are obtained. The obtained plurality of point clouds are filtered to obtain a first set of points comprising all points in the plurality of point clouds that fall within a region of interest. Each point in the first set of points corresponds to one coordinate value on the axis in the up-down direction. A distribution of the first plurality of coordinate values is obtained. A quantity of peaks in the distribution of the first plurality of coordinate values is determined. Whether all extrinsic matrices associated with the plurality of LIDAR devices are accurate is determined based on the quantity of peaks in the distribution of the first plurality of coordinate values.

Abstract: A ranging system includes at least two types of a first-type ranging apparatus, a second-type ranging apparatus, and a third-type ranging apparatus. Each of the first-type ranging apparatus and the second-type ranging apparatus includes a ranging device and a scanner. The ranging device includes a light source, a convergent lens, and a receiver. The third-type ranging apparatus includes a ranging device and a scanner. A FOV of the second-type ranging apparatus is smaller than a FOV of the first-type ranging apparatus. A diameter and a focal length of a convergent lens of the second-type ranging apparatus are greater than a diameter and a focal length of a convergent lens of the first-type ranging apparatus, respectively.

Abstract: A light emitting device includes at least two laser emission circuits, each of the laser emission circuits including a power supply, a laser emitter, an energy storage circuit, and a control circuit; in each of the laser emission circuits, the control circuit being configured to turn on the energy storage circuit and the power supply in the laser emission circuit in a first period of time for the power supply to store energy in the energy storage circuit; the control circuit further being configured to turn on the laser emitter and the energy storage circuit in the laser emission circuit in a second period of time for the energy storage circuit to supply power to the laser emitter for the laser emitter to emit a light pulse signal; and two or more laser emission circuits sharing the power supply.

Abstract: A time measurement correction method includes a field programmable gate array (FPGA) determining to enter a self-correction mode of time measurement, and in the self-correction mode, the FPGA controlling to generate a standard signal and the FPGA controlling to obtain the standard signal and collecting measurement data of at least one TDC channel included in the FPGA based on the standard signal. The standard signal is used to correct the at least one TDC channel of the FPGA.