Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis.

Abstract: A roof system is provided. The roof system includes a roof body capable of forming a flat roof or a corrugated roof, where the roof body is provided on a roof pillar; a gutter system is provided at a valley position of the corrugated roof or on the flat roof; a skylight system is further provided at a pitched roof or a ridge of the corrugated roof or on the flat roof; and a pressure relief adjustment component is provided on the skylight system. According to the roof system, a plurality of roof modules are assembled into the roof body. Two adjacent ones of the roof modules are fixed by a connecting plate and a self-locking component when assembled. A plurality of reinforcing points work cooperatively, so the roof system achieves a high utilization rate, and ensures the overall stability and bearing capacity of the roof.

Abstract: The present disclosure provides a method for experimentally determining a critical sand-carrying gas velocity of a shale gas well. The method includes: collecting well structure and production data, calculating parameter ranges of a gas flow velocity and a liquid flow velocity; carrying out a physical simulation experiment of sand carrying in the shale gas well to obtain the sand holding capacity of the wellbore under different experimental conditions, and calculating a sand holding rate; by observing a change curve of the sand holding rate of the wellbore vs. the gas flow velocity, defining a turning point, and sensitively analyzing the influence of other experimental variables on the turning point, to calculate the critical sand-carrying production of the shale gas well under different conditions. Therefore, this calculation method is simple and applicable, and provides a theoretical basis for the optimization design of water drainage and gas production process.

Abstract: The present invention provides a method of reducing and controlling a hazardous substance in a process of high-value biological conversion of an urban organic waste. The method includes: 1) mixing a sludge, a first urban organic waste and an organic acid with water for acclimation to obtain an acclimatized sludge; 2) stage 1 of biological conversion: mixing the acclimatized sludge with a second urban organic waste to perform anaerobic culture; 3) stage 2 of biological conversion: adding nitrate and bacteria to continue anaerobic culture so as to obtain an organic acid. In the present invention, sludge microbes are acclimatized and then added to high-value chemicals such as acetic acid, propanoic acid and lactic acid prepared in biological conversion of the urban organic waste and then added with bacteria. Thus, by controlling pH value, microbe addition amount and nitrate concentration, the unfavorable effect of the antibiotics and heavy metal ions.

Abstract: This application discloses a task processing method. The method is applied to a computer system, and the computer system includes a user mode and a kernel mode. The user mode includes a plurality of tasks, and the tasks are threads or processes. The method includes: detecting, in the kernel mode, a type of a first request of entering a kernel entry; when the type of the first request indicates that a first task is suspended in the user mode, switching at least from a user-mode context of the first task to a user-mode context of a second task, recording a suspended state of the first task and a running time from a moment of starting to run the first task to a moment of suspending the first task, and skipping processing other scheduling statuses of the first task; and running the second task in the user mode.

Abstract: The present disclosure provides systems and methods for processing a signal. The system for processing a signal may include at least one microphone and at least one vibration sensor. The at least one microphone may be configured to collect a sound signal, and the sound signal may include at least one of user voice and environmental noise. The at least one vibration sensor may be configured to collect a vibration signal, and the vibration signal may include at least one of the user voice and the environmental noise. The system for processing a signal may also comprise a processor. The processor may be configured to determine a relationship between a noise component in the sound signal and a noise component in the vibration signal, and obtain a target vibration signal by performing, based at least on the relationship, noise reduction processing on the vibration signal.

Abstract: Disclosed is a semiconductor laser with a substrate mode suppression layer, comprising a substrate, a first limiting layer, a first waveguide layer, an active layer, a second waveguide layer, an electron blocking layer, and a second limiting layer sequentially stacked from bottom to top. A Si/C concentration ratio of an element Si to an element C of the substrate mode suppression layer?that of the first sub-limiting layer?that of the second sub-limiting layer. An In/Al concentration ratio of an element In to an element Al of the substrate mode suppression layer?that of the first sub-limiting layer?that of the second sub-limiting layer. An H/C concentration ratio of an element H to an element C of the substrate mode suppression layer?that of the second sub-limiting layer?that of the first sub-limiting layer.

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

Abstract: The present invention provides a method for sorting lithium cells, which includes quick sorting and high-precision sorting. The method provided by the present invention can be used for quickly and accurately classifying cells based on self-discharge, and is applicable to large-scale self-discharge sorting due to low cost of adopted equipment. Through the quick sorting method and the high-precision sorting method in the present invention, cells with large self-discharge rates can be eliminated from a batch of cells, cells with similar self-discharge rates can be sorted into groups, and an application range is wider.

Abstract: Methods and apparatus are described herein related to improving the sound quality of a bone conduction speaker. The sound quality of the bone conduction speaker is adjusted in the sound generation, sound transferring, and sound receiving of the bone conduction speaker by designing vibration generation manners and vibration transfer structures.

Abstract: Disclosed is a semiconductor laser with a substrate mode suppression layer, comprising a substrate, a first limiting layer, a first waveguide layer, an active layer, a second waveguide layer, an electron blocking layer, and a second limiting layer sequentially stacked from bottom to top. A Si/C concentration ratio of an element Si to an element C of the substrate mode suppression layer?that of the first sub-limiting layer?that of the second sub-limiting layer. An In/Al concentration ratio of an element In to an element Al of the substrate mode suppression layer?that of the first sub-limiting layer?that of the second sub-limiting layer. An H/C concentration ratio of an element H to an element C of the substrate mode suppression layer?that of the second sub-limiting layer?that of the first sub-limiting layer.

Abstract: The present disclosure is directed to a class of Sigma-1 receptor small molecule antagonists, their pharmaceutical compositions, preparation methods, and uses. The Sigma-1 receptor small molecule antagonists are shown in formula (I), with specific substituents and definitions described in the specification. These Sigma-1 receptor small molecule antagonists exhibit good binding and antagonistic activity with the Sigma-1 receptor. The invention includes these compounds or their pharmaceutical compositions and their use in treating and/or preventing pain disorders related to the Sigma-1 receptor.

Abstract: In a method for in-situ U-Pb dating of heterogeneous minerals, a target mineral is separated and purified by carrying out data analysis, extraction and enhancement on original mapping data. The method highlights distribution features of dating indexes (U content, Pb content, Pb206/U238 ratio, Pb207/U235 ratio and Th/U ratio) in a target mineral phase with a noise data processing technology, and more intuitively displays a favorable dating portion and a crystal growth change trend of the dating mineral. Further, a fine spot design is provided for high-precision dating analysis in a later stage. A plurality of geological events experienced by a heterogeneous mineral crystal in a growth process is accurately limited, so as to invert the mineral formation history which provides the basis for better study of mineralogy, mineral geochemistry and mineral geochronology. It is hence a novel indispensable auxiliary means of mineral geochronology and an auxiliary method for mineral exploration.

Abstract: A device for measuring short-wavelength characteristic X-ray diffraction based on array detection, and a measurement and analysis method based on the device are provided. An array detector of the device only detects and receives a diffraction ray which is diffracted by a material of a to-be-measured part inside a sample and passes through a through hole of a receiving collimator, and rays passing through a positioning hole. The to-be-measured part inside the sample is placed at the center of the diffractometer circle of the device. The method is performed with the device. With the present disclosure, a diffraction pattern of a part inside the sample with a centimeter thickness, i.e. Debye rings, can be rapidly and non-destructively measured, thereby rapidly and non-destructively measuring and analyzing crystal structures, and its crystal structural change of the part inside the sample, such as phase, texture, and stress.

Abstract: An image analysis method, including: obtaining influencing factors of t frames of images, where the influencing factors include self-owned features of h target subjects in each of the t frames of images and relational vector features between the h target subjects in each of the t frames of images, self-owned features of each target subject include a location feature, an attribute feature, and a posture feature, and t and h are natural numbers greater than 1; and obtaining a panoramic semantic description based on the influencing factors, where the panoramic semantic description includes a description of relationships between target subjects, relationships between actions of the target subjects and the target subjects, and relationships between the actions of the target subjects.

Abstract: A speaker comprises a housing, a transducer residing inside the housing, and at least one sound guiding hole located on the housing. The transducer generates vibrations. The vibrations produce a sound wave inside the housing and cause a leaked sound wave spreading outside the housing from a portion of the housing. The at least one sound guiding hole guides the sound wave inside the housing through the at least one sound guiding hole to an outside of the housing. The guided sound wave interferes with the leaked sound wave in a target region. The interference at a specific frequency relates to a distance between the at least one sound guiding hole and the portion of the housing.

Abstract: A shimming method and device, an electronic device, and a storage medium are disclosed. The shimming method includes: obtaining object static magnetic field distribution information corresponding to a target object, the object static magnetic field distribution information including the static magnetic field distribution information of the target object under the action of a main magnet of a magnetic resonance system; determining a target static magnetic field based on the object static magnetic field distribution information and a preset shim coil magnetic field distribution model; and adjusting at least one shim coil parameter in the shim coil magnetic field distribution model until a magnetic field uniformity of the target static magnetic field satisfies a preset condition, and accordingly obtaining at least one target shim coil parameter.

Abstract: Embodiments of the present disclosure disclose an earphone including a fixing structure, a first microphone array, a processor, and a speaker. The fixing structure is configured to fix the earphone near a user's ear without blocking the user's ear canal and including a hook-shaped component and a body part. The first microphone array is located in the body part and is configured to pick up environmental noise. The processor is located in the hook-shaped component or the body part and is configured to estimate a sound field at a target spatial position using the first microphone array and generate a noise reduction signal based on the estimated sound field. The target spatial position is closer to the user's ear canal than any microphone in the first microphone array. The speaker is located in the body part and is configured to output a target signal according to the noise reduction signal.

Abstract: A computing system for encoding a machine learning model comprises a plurality of layers and a plurality of computation units. A first set of computation units are configured to process data at a first bit width. A second set of computation units are configured to process at a second bit width. The first bit width is higher than the second bit width. A memory is coupled to the computation units. A controller is coupled to the computation units and the memory. The controller is configured to provide instructions for encoding the machine learning model. The first set of computation units are configured to compute a first set of layers and the second set of computation units are configured to compute a second set of layers.