Abstract: A method for estimating a pose of a humanoid robot includes: processing obtained pose parameters of a waist of the humanoid robot and plantar motion parameters of the humanoid robot to obtain the measured pose parameters of a center point of the waist of the humanoid robot; calculating predicted pose parameters of the center point of the waist according to the obtained pose parameters of the waist; and fusing the measured pose parameters and the predicted pose parameters to obtain estimated pose parameters of the center point of the waist.

Abstract: The disclosure provides a method and system for managing a life cycle iteration of a test case, where the method includes the following steps: writing a test case according to a mind map template; importing the written test case in batches based on the mind map template; storing the imported test case, and marking the test case, where the marking includes marking the test case as a manual test case; and creating an automated test case, and associating the automated test case with the manual test case.

Abstract: The present disclosure relates to ester derivatives of N4-hydroxycytidine (NHC), to pharmaceutical compositions comprising thereof, to the preparation method thereof, and to the use and method of the ester derivatives of N4-hydroxycytidine to treat viral infections.

Abstract: High pressure compressed gas pressure vessels and devices utilizing such vessels are disclosed herein. More particularly, aspects of the present invention are directed to high pressure (i.e., nitrogen or N2 based) pressurized gas cylinders with pierceable membranes recessed from the opening of the pressure vessel such that prior art piercing mechanisms cannot pierce the membrane for safety purposes. Additionally, aspects of the present invention are directed to pressurized gas operated devices with elongated pins for piercing pressure vessels with recessed pierceable membranes.

Abstract: High pressure compressed gas pressure vessels and devices utilizing such vessels are disclosed herein. More particularly, aspects of the present invention are directed to high pressure (i.e., nitrogen or N2 based) pressurized gas cylinders with pierceable membranes recessed from the opening of the pressure vessel such that prior art piercing mechanisms cannot pierce the membrane for safety purposes. Additionally, aspects of the present invention are directed to pressurized gas operated devices with elongated pins for piercing pressure vessels with recessed pierceable membranes.

Abstract: High pressure compressed gas pressure vessels and devices utilizing such vessels are disclosed herein. More particularly, aspects of the present invention are directed to high pressure (i.e., nitrogen or N2 based) pressurized gas cylinders with pierceable membranes recessed from the opening of the pressure vessel such that prior art piercing mechanisms cannot pierce the membrane for safety purposes. Additionally, aspects of the present invention are directed to pressurized gas operated devices with elongated pins for piercing pressure vessels with recessed pierceable membranes.

Abstract: A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

Abstract: The present disclosure belongs to the technical field of plant genetic engineering. An objective of the present disclosure is to increase an anthocyanidin content of a rice seed. The present disclosure provides use of ZlMYB1 and ZlMYB2 genes from Zizania latifolia in increasing an anthocyanidin content of a rice seed, where the ZlMYB1 gene has the nucleotide sequence set forth in SEQ ID NO: 1; and the ZlMYB2 gene has the nucleotide sequence set forth in SEQ ID NO: 2. In the present disclosure, the ZlMYB1 and ZlMYB2 genes can be effectively overexpressed in rice. When a growth environment is consistent with that of a control plant, rice seeds from a rice plant overexpressing the ZlMYB1 and ZlMYB2 genes turn black and have a significantly increased anthocyanidin content compared with those from the control plant.

Abstract: The present application provides a method for manufacturing a semiconductor, comprising providing a substrate, on which a first, second and third dielectric layers are successively formed, the third dielectric layer having an initial opening; forming a first deposited layer which at least covers a side wall of the initial opening to form a first mask layer having a first opening; removing the second dielectric layer directly below the first opening to expose a side wall of the second dielectric layer; forming a second deposited layer which at least covers the side wall of the first opening and the exposed side wall of the second dielectric layer, to form a second mask layer having a second opening; removing the first dielectric layer directly below the second opening to expose the substrate; and removing the second mask layer, and forming a trench by etching the substrate.

Abstract: A display panel and a display device are provided by the present application. The display panel includes a light-transmitting display region, wherein the light-transmitting display region includes a plurality of pixel units, each of the pixel units includes a first electrode layer and an electrode portion electrically connected to the first electrode layer, and the electrode portion and the first electrode layer constitute a first electrode of the pixel unit; and an orthographic projection of the electrode portion on the first electrode layer is located within a boundary of the first electrode layer.

Abstract: A method for controlling robot motion includes: determining a remaining duration of a current stepping cycle, which is a duration from a current moment to an end moment of the current stepping cycle; predicting, based on the remaining duration, an expected velocity, a first center of mass position and a first instantaneous velocity of the robot at the current moment, and a state space equation, a second center of mass position and a second instantaneous velocity of the robot at the end moment; determining, based on the expected velocity, the second center of mass position and the second instantaneous velocity, a stable foothold position corresponding to the current stepping cycle; determining, based on the stable foothold position and the second center of mass position, at least one motion parameter corresponding to at least one joint in the robot associated with stepping; and controlling the robot based on the at least one motion parameter.

Abstract: A device includes a serial interface, such as Universal Serial Bus (USB) interface, having two operating modes. The first operating mode has a higher data transfer rate than the second operating mode, but also causes greater interference affecting use of a wireless network. To prevent loss of connectivity from the wireless network, when a detected signal strength associated with the wireless network is less than a threshold value, the interface is switched from the first operating mode to the second operating mode to reduce interference to use of the wireless network. During times when detected signal strength for the wireless network is high, the interface is switched to the first operating mode to allow for higher data transfer rates.

Abstract: The present application discloses a method for modifying an internal configuration of a virtual machine, a system and a device, wherein the method is applied to a virtual machine installed with a proxy service therein, and the proxy service is configured for, after the proxy service itself is started up, sending a datum request to a preset IP address via a virtual network card corresponding to the virtual machine. The method includes, when there is a target virtual network card sending a datum request to the preset IP address, according to a predetermined corresponding relation between virtual network cards and virtual machines, determining a target virtual machine corresponding to the target virtual network card; from a database, obtaining target configuration data corresponding to the target virtual machine.

Abstract: A method for controlling a biped robot includes: acquiring a support phase of the biped robot in a current state; acquiring a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase; acquiring a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed; acquiring a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model; and controlling the biped robot to move according to the target torque vector.

Abstract: The present application discloses a method for modifying an internal configuration of a virtual machine, a system and a device, wherein the method is applied to a virtual machine installed with a proxy service therein, and the proxy service is configured for, after the proxy service itself is started up, sending a datum request to a preset IP address via a virtual network card corresponding to the virtual machine. The method includes, when there is a target virtual network card sending a datum request to the preset IP address, according to a predetermined corresponding relation between virtual network cards and virtual machines, determining a target virtual machine corresponding to the target virtual network card; from a database, obtaining target configuration data corresponding to the target virtual machine.

Abstract: A backside illuminated (BSI) image sensor substrate and a method of manufacturing a BSI image sensor are disclosed. A first nitride layer (9) is formed on a metal material layer (70), and a first dry etching process is then performed on both the first nitride layer (9) and the metal material layer (70). In this way, during the etching of the metal material layer (70), the first nitride layer (9) is bombarded so that nitrogen atoms or nitrogen ions escape from the first nitride layer (9), during the formation of a metal grid layer (7), the escaping nitrogen atoms or nitrogen ions react with the metal on sidewalls of second openings (7a), forming a metal nitride layer which protects the metal grid at the sidewalls of the second openings (7a) from being damaged. As such, the resulting metal grid layer (7) has smooth sidewalls and good morphology.

Abstract: In a posture control method for a legged robot, target posture data of the legged robot is acquired where the target posture data is posture data corresponding to a target posture to which the legged robot needs to be adjusted; plantar force information of the legged robot is determined according to the target posture data, with a friction cone formed between the legged robot and a contact surface in contact with a foot of the legged robot as a constraint condition; and the constraint condition of the friction cone is introduced, the slippage of the legged robot is reduced, and the legged robot is stably controlled to be adjusted from a current posture to the target posture according to the plantar force information.

Abstract: A display panel and a display device are provided by the present application. The display panel includes a light-transmitting display region, wherein the light-transmitting display region includes a plurality of pixel units, each of the pixel units includes a first electrode layer and an electrode portion electrically connected to the first electrode layer, and the electrode portion and the first electrode layer constitute a first electrode of the pixel unit; and an orthographic projection of the electrode portion on the first electrode layer is located within a boundary of the first electrode layer.

Abstract: A communication system includes a plurality of roadside units installed in respective areas that acquires travel information about a vehicle through radio communication, and a first terminal to which the plurality of roadside units is connected. The roadside units and the first terminal each include a routing processing unit, implemented by software. The routing processing unit performs a communication process in line with a routing table updated based on the travel information.

Abstract: A cluster distributed resource scheduling method, apparatus and device, and a storage medium. The method includes: respectively acquiring host CPU utilization rates and vCPU utilization rates; respectively performing a quantization operation on the host CPU utilization rates and the vCPU utilization rates, to obtain host quantized pressure values and virtual machine quantized pressure values; acquiring historical host pressure values and historical virtual machine pressure values; according to the host quantified pressure values and historical host pressure values respectively corresponding to hosts, and virtual machine quantified pressure values and historical virtual machine pressure values respectively corresponding to virtual machines in the hosts, calculating target CPU pressure values respectively corresponding to the hosts; and performing a live migration operation on the virtual machines in the hosts according to the target CPU pressure values.