Abstract: A three-dimensional (3D) object scanner includes: an object platform configured to host a target object; a projector device configured to project a first light pattern on to the target object; an LED screen that surrounds the object platform and configured to emit a second light pattern; an imaging device configured to obtain a plurality of images of the target object from multiple view angles as the target object and the imaging device are relatively rotated to multiple rotation degrees. The plurality of images include images obtained when the projector device projects the first light pattern and images obtained when the LED screen emits the second light pattern. The images are used to determine 3D information and texture information of the target object.

Abstract: The present invention provides a B7-H3 nanobody, the preparation method and use thereof. The B7-H3 nanobody comprises framework regions 1-4 (FR 1-4) and complementarity determining regions 1-3 (CDR 1-3), can specifically bind to B7-H3, and can be used for detecting B7-H3 molecules, and be used for the treatment of various malignant tumors with abnormal expression of B7-H3 molecule.

Abstract: A cross-coupling control method for moving beam of gantry machine tool is disclosed, which relates to the technical field of CNC machine tool control. The cross-coupling control method includes: Step 1: establishing a crossbeam dynamics model considering a ram on the crossbeam, and at the same time simplifying the model for an observer design; step 2: realizing a PID control parameter adjustment of motors at both ends in accordance with a method of parameter tuning of a unilateral servo control system; using a servo system with the same control parameters to jointly drive the crossbeam up and down, realizing the synchronous control and realizing PID control parameter tuning for both end motors. The disclosure not only reduces the synchronization error caused by the torsion of the crossbeam, but also solves the synchronization error caused by the asymmetric load on both sides, and improves the system robustness and stability.

Abstract: A three-dimensional (3D) object scanning method includes: controlling, when an invisible light source is off, a first camera device to capture a first image of the target object; and controlling, when the invisible light source is on, a second camera device to capture second images of the target object from a plurality of viewing angles. The target object is painted with invisible markers that are invisible to the first camera device when the invisible light source is off. The invisible markers are visible to the second camera device upon absorbing a light emitted by the invisible light source. The second images are used to determine 3D information of the target object.

Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.

Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.