Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n?3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

Abstract: A sampling device and method for evaluating ecological risk of soil in a high geological background area comprises an impact sampling mechanism, a soil layer stripping mechanism and an auxiliary support frame. The impact sampling mechanism comprises a sampling hopper with a downward opening. A connecting sliding rod is fixedly arranged on the top of the sampling hopper. An upper end of the connecting sliding rod is connected with an impact rod. The impact rod is internally provided with an impact hammer capable of reciprocating along an axis of the impact rod. The soil layer stripping mechanism comprises a stripping sliding cylinder in sliding fit with the connecting sliding rod, and a support disc. A plurality of stripping plates are connected to a lower side edge of the support disc in a sliding fit mode.

Abstract: The present disclosure relates to electronic device, communication method and storage medium in a wireless communication system. An electronic device on control device side is provided, the electronic device comprises a processing circuitry configured to: group a plurality of terminal devices based on data configuration characteristics of the plurality of terminal devices; determine a contention window for each group; and notify each of the plurality of terminal devices of the contention window associated therewith, such that each of the terminal devices is able to perform data transmission within the respective contention window in a contention-based manner.

Abstract: A sampling device and method for evaluating ecological risk of soil in a high geological background area comprises an impact sampling mechanism, a soil layer stripping mechanism and an auxiliary support frame. The impact sampling mechanism comprises a sampling hopper with a downward opening. A connecting sliding rod is fixedly arranged on the top of the sampling hopper. An upper end of the connecting sliding rod is connected with an impact rod. The impact rod is internally provided with an impact hammer capable of reciprocating along an axis of the impact rod. The soil layer stripping mechanism comprises a stripping sliding cylinder in sliding fit with the connecting sliding rod, and a support disc. A plurality of stripping plates are connected to a lower side edge of the support disc in a sliding fit mode.

Abstract: A computer readable storage medium is provided. When contents of the computer readable storage medium are executed by a processor, multi-photon imaging may be performed on a histopathological section containing tumor environment information, and pathological partitioning of a tumor microenvironment may be further performed through image processing. A value of each collagen feature parameters, such as a morphological feature parameter, an energy feature parameter and a texture feature parameter, may be extracted from a tumor tissue region, an invasive margin (IM) region and a normal tissue (N) region. An inter-region difference and a variation may be calculated according to feature parameters of regions. A collagen feature scoring model may be established. A collagen feature score may be calculated with the collagen feature parameters input to the model.

Abstract: A semiconductor structure includes a substrate and a word line (WL) structure. The WL structure includes: a work function stacking structure located in the substrate, where the work function stacking structure includes multiple sequentially and alternately stacked first work function layers and second work function layers, and a work function of the first work function layer is greater than a work function of the second work function layer; a WL conductive layer located in the substrate, and located on an upper surface of the work function stacking structure; and a gate oxide layer located between the work function stacking structure and the substrate as well as between the WL conductive layer and the substrate.

Abstract: The present disclosure relates to electronic device, communication method and storage medium in a wireless communication system. An electronic device on control device side is provided, the electronic device comprises a processing circuitry configured to: group a plurality of terminal devices based on data configuration characteristics of the plurality of terminal devices; determine a contention window for each group; and notify each of the plurality of terminal devices of the contention window associated therewith, such that each of the terminal devices is able to perform data transmission within the respective contention window in a contention-based manner.

Abstract: A hydrogen-free carbon film polymer lubricating material and a preparation method and use thereof are disclosed. In the method, a graphite target is used as the target material, and a magnetron sputtering deposition is performed on a surface of the polymer substrate, thereby physically depositing and forming a hydrogen-free carbon film on the surface of the polymer substrate, thereby obtaining a hydrogen-free carbon film polymer lubricating material.

Abstract: Disclosed are a heat-resistant implantable polymer microneedle and a preparation method therefor and an application thereof. The microneedle comprises a needle tip, a needle body, and a base, wherein the needle tip comprises a homogeneous system formed by mixing a biodegradable macromolecular material which has a glass transition temperature of 35-65° C. and is difficultly soluble in water and a macromolecular material having a glass transition temperature higher than that of the biodegradable macromolecular material. The microneedle has good heat resistance and puncture property.

Abstract: A hydrogen-free carbon film polymer lubricating material and a preparation method and use thereof are disclosed. In the method, a graphite target is used as the target material, and a magnetron sputtering deposition is performed on a surface of the polymer substrate, thereby physically depositing and forming a hydrogen-free carbon film on the surface of the polymer substrate, thereby obtaining a hydrogen-free carbon film polymer lubricating material.

Abstract: The present disclosure relates to electronic device, method for a wireless communication system and storage medium. In an embodiment of the present disclosure, a plurality of terminal devices are grouped based on respective data configuration parameters of the plurality of terminal devices; and for each group, data packets for terminal devices in the group are integrated into a composite data packet to be sent to the terminal devices in the group.

Abstract: Described is a computing system comprising: a quantum computer comprising a quantum computer controller; and one or more quantum processors; and a classical computer comprising: a memory storing machine-readable instructions; and a processor for executing the machine-readable instructions. When the processor executes the machine-readable instructions, it configures the classical computer to model a physical system; and to implement the steps in said computing system of: transforming a plurality of non-linear equations into differential equations whose non-linear terms are defined by polynomials; encoding the polynomials as probability amplitudes of a quantum state of a quantum system; evolving the quantum system into a new quantum system comprising message qubits and at least one ancilla qubit; and utilizing a quantum iterative optimization algorithm to solve the plurality of differential equations.

Abstract: The disclosure is related to a receiving device, a transmitting device, a communication method, and medium. The receiving device comprises processing circuitry configured to: receive a reference signal from a transmitting device, wherein the reference signal carries a reference sequence generated based on an orthogonal sequence and a random sequence associated with the transmitting device; and identify the transmitting device based on the reference signal.

Abstract: The present disclosure relates to electronic device, method for a wireless communication system and storage medium. In an embodiment of the present disclosure, a plurality of terminal devices are grouped based on respective data configuration parameters of the plurality of terminal devices; and for each group, data packets for terminal devices in the group are integrated into a composite data packet to be sent to the terminal devices in the group.

Abstract: The present disclosure relates to electronic device, communication method and storage medium in a wireless communication system. An electronic device on control device side is provided, the electronic device comprises a processing circuitry configured to: group a plurality of terminal devices based on data configuration characteristics of the plurality of terminal devices; determine a contention window for each group; and notify each of the plurality of terminal devices of the contention window associated therewith, such that each of the terminal devices is able to perform data transmission within the respective contention window in a contention-based manner.

Abstract: The disclosure belongs to the technical field of photopolymer materials, and more particularly relates to a dual image storage material as well as a preparation method and application thereof. The dual image storage material is obtained by selective photoreaction of 1 to 50 parts by weight of an organic fluorescent material, 7 to 50 parts by weight of liquid crystal, 0.2 to 10 parts by weight of a photoinitiator and 33 to 67 parts by weight of photopolymerizable monomers. The obtained dual image storage material can present a high-brightness holographic pattern under sunlight and a fluorescent pattern under ultraviolet light in the same spatial position. The presented holographic and fluorescent patterns may be the same or different. The obtained dual image storage material can be used in the field of optical anti-counterfeiting, optical information storage, displays or the like.

Abstract: Disclosed is a method for preparing a formamide compound, the method uses carbon dioxide, hydrogen and an amine compound as raw materials and a transition metal complex as a catalyst, and the reaction is carried out in an organic solvent or in the absence of a solvent to form a formamide compound. The method of the present invention is an effective method of chemical utilization of carbon dioxide, which has the advantages of high reaction efficiency, a good selectivity, mild conditions, economic and environmental protection, being simple and convenient to operate and the like, and has a good popularization and application prospect.

Abstract: The disclosure belongs to the technical field of photopolymer materials, and more particularly relates to a dual image storage material as well as a preparation method and application thereof. The dual image storage material is obtained by selective photoreaction of 1 to 50 parts by weight of an organic fluorescent material, 7 to 50 parts by weight of liquid crystal, 0.2 to 10 parts by weight of a photoinitiator and 33 to 67 parts by weight of photopolymerizable monomers. The obtained dual image storage material can present a high-brightness holographic pattern under sunlight and a fluorescent pattern under ultraviolet light in the same spatial position. The presented holographic and fluorescent patterns may be the same or different. The obtained dual image storage material can be used in the field of optical anti-counterfeiting, optical information storage, displays or the like.

Abstract: An injection molding apparatus for forming a gasket around an edge of a glass is provided. The injection molding apparatus includes: an injection mold die; a fixing component, disposed inside the injection mold die and adapted for fixing the glass inside the injection mold die; a detection unit, mounted to the injection molding apparatus and adapted for detecting an image or vibration of the glass; a determination unit, coupled with the detection unit and adapted for determining whether the glass breaks based on a detection result of the detection unit. The apparatus can determine whether the glass breaks, such that the risk of scratching the injection mold die by glass breaking may be reduced. Therefore, the injection molding yield can be improved, the time for repairing the injection mold die may be reduced and a service life of the injection mold die may be prolonged.

Abstract: Disclosed is a method for preparing a formamide compound, the method uses carbon dioxide, hydrogen and an amine compound as raw materials and a transition metal complex as a catalyst, and the reaction is carried out in an organic solvent or in the absence of a solvent to form a formamide compound. The method of the present invention is an effective method of chemical utilization of carbon dioxide, which has the advantages of high reaction efficiency, a good selectivity, mild conditions, economic and environmental protection, being simple and convenient to operate and the like, and has a good popularization and application prospect.