Abstract: Provided is a globally optimal robot visual positioning method and device based on point-line features. The method comprises the following steps: acquiring a priori three-dimensional map of a current scene constructed in advance; acquiring a current image of the robot and the inertial measurement data; calculating a pitch angle and a roll angle of the current robot pose according to the current inertial sensor data and the inertial sensor data in the priori map; matching the two-dimensional point-line features detected in the current image with three-dimensional point-line features in a priori map; separating the rotation and translation of the pose to be solved according to the matched feature pairs, solving the rotation and then solving the translation so as to complete the dimensionality reduction of the search space.

Abstract: The present inventive concept provides a state of charge value estimation method for a lithium battery, including determining an estimated state of charge value by using an ampere-hour integral method; and when estimating that the lithium battery enters a low-current charging mode, determining a reference cell voltage value corresponding to the estimated state of charge value according to a look-up table, and comparing the reference cell voltage value and a measured real-time cell voltage value to determine a calibrated state of charge value. The state of charge value estimation method for a lithium battery of the present inventive concept is simple in operation and high in accuracy.

Abstract: A lipid delivery system, a virus-like structure (VLS) vaccine constructed therefrom, and a lipid particle capable of encapsulating an mRNA molecule encoding a SARS-CoV-2-specific antigen are provided. After the lipid particle encapsulates an mRNA molecule encoding a SARS-CoV-2 antigen, a SARS-CoV-2 S1 antigen protein can be embedded on a surface of an envelope structure of the lipid under specific buffer conditions to produce a VLS vaccine with an antigen-encoding mRNA molecule encapsulated inside and an outer membrane presenting a required viral antigen protein. The vaccine has a superior specific antibody-inducing ability to a SARS-CoV-2 mRNA vaccine and a polypeptide vaccine, can maintain a long-lasting high antibody level, and can also exhibit excellent immune binding abilities for the emerging different variants.

Abstract: There is provided a sorbent for removing metabolic waste products from a dialysis liquid, the sorbent comprising a layer of immobilized uremic toxin-treating enzyme particles intermixed with cation exchange particles.

Abstract: Embodiments of the present application provide a medical image synthesis device and method. According to an embodiment, a method includes acquiring a first medical image and a second medical image and registering the first medical image with the second medical image. The method includes determining a first parameter value at each pixel location on the registered first medical image and a second parameter value at each pixel location on the second medical image. The method includes multiplying the first parameter value with the second parameter value at the same pixel location on the registered first medical image and the second medical image and generating synthetic image data based on the multiplication result.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens made of a glass material; a second lens made of a glass material; a third lens made of a plastic material; a fourth lens made of a plastic material; a fifth lens made of a plastic material; a sixth lens made of a plastic material; and a seventh lens made of a plastic material. The camera optical lens satisfies following conditions: 1.00?f1/f?1.50; 1.70?n1?2.20; ?2.00?f3/f4?2.00; 0.50?(R13+R14)/(R13?R14)?10.00; and 1.70?n2?2.20. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a positive refractive power; a third lens having a positive refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: 4.00?f1/f?6.00; and ?50.00?R5/d5??20.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens made of a glass material; a second lens made of a plastic material; a third lens made of a plastic material; a fourth lens made of a plastic material; a fifth lens made of a glass material; a sixth lens made of a plastic material; and a seventh lens made of a plastic material. The camera optical lens satisfies following conditions: 1.51?f1/f?2.50; 1.69?n1?2.20; 0.60?f3/f4?2.00; ?10.00?(R13+R–)/(R13?R14)?10.00; and 1.70?n5?2.20. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a negative refractive power; a third lens having a negative refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: ?3.00?f1/f2??1.00; and 2.00?R3/R4?50.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a negative refractive power; a third lens having a negative refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: ?3.00?f1/f2??1.00; and ?30.00?R3/R4??2.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens having a positive refractive power; a second lens having a positive refractive power; a third lens having a positive refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: 2.00?f2/f3?5.00; and 1.00?d3/d5?2.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens having a positive refractive power, a second lens having a negative refractive power, a third lens having a negative refractive power, a fourth lens, a fifth lens and a sixth lens. The camera optical lens satisfies following conditions: 2.00R3/R45.00; 1.50R1/d13.00; 0.30R2/R32.00; and 1.02n2/n31.20. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a negative refractive power; a third lens having a negative refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: ?5.00?f1/f2??2.00; and ?20.00?(R1+R2)/(R1?R2)??1.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a positive refractive power; a third lens having a negative refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: ?10.00?f1/f3??1.00; 3.00?R5/R6?20.00; and 100?(R3+R4)/(R3?R4). The camera optical lens can achieve a high imaging performance while obtaining a low TTL.

Abstract: The present disclosure discloses a camera optical lens. The camera optical lens including, in an order from an object side to an image side, a first lens, a second lens having a positive refractive power, a third lens having a negative refractive power, a fourth lens, a fifth lens, and a sixth lens. The first lens is made of plastic material, the second lens is made of plastic material, the third lens is made of plastic material, the fourth lens is made of plastic material, the fifth lens is made of plastic material, and the sixth lens is made of glass material. The camera optical lens further satisfies specific conditions.

Abstract: The present invention discloses a camera optical lens with seven-piece lenses including, from an object side to an image side in sequence, a first lens having a positive refractive power, a second lens having a negative refractive power, a third lens having a positive refractive power, a fourth lens having a negative refractive power, a fifth lens having a negative refractive power, a sixth lens having a positive refractive power and a seventh lens having a negative refractive power. The camera optical lens satisfies the following conditions: ?3?f3/f2??2 and ?4?(R1?R2)/(R3?R4)??1.5. The camera optical lens according to the present invention has excellent optical characteristics, such as large aperture, wide-angle, and ultra-thin.

Abstract: The present disclosure relates to the field of optical lenses and provides a camera optical lens. The camera optical lens includes, from an object side to an image side: a first lens; a second lens having a positive refractive power; a third lens having a positive refractive power; a fourth lens; a fifth lens; and a sixth lens. The camera optical lens satisfies following conditions: 1.00?f1/f2?3.00; and 2.00?(R1+R2)/(R1?R2)?15.00. The camera optical lens can achieve a high imaging performance while obtaining a low TTL.