Abstract: The provided is a data-driven bipartite consensus control method for multi-robot collaborative rotation of a large workpiece. The method includes: setting a multi-robot system; constructing and discretizing a dynamics model of a follower robot, and constructing a lateral error based on position information between the follower and leader robots; constructing an unknown nonlinear function with the lateral error and a control input as variables, and constructing a lateral error data model of the follower robot through a dynamic linearization technique; designing, based on a topological relationship of the multi-robot system and the lateral error, a bipartite consensus error; substituting the data model into a designed objective function to solve a data-driven bipartite consensus controller; designing a parameter estimation algorithm to estimate an unknown parameter in the controller; allowing an estimated value to participate in a controller update; and calculating a front wheel steering angle control signal.

Abstract: The provided is a data-driven bipartite consensus control method for multi-robot collaborative rotation of a large workpiece. The method includes: setting a multi-robot system; constructing and discretizing a dynamics model of a follower robot, and constructing a lateral error based on position information between the follower and leader robots; constructing an unknown nonlinear function with the lateral error and a control input as variables, and constructing a lateral error data model of the follower robot through a dynamic linearization technique; designing, based on a topological relationship of the multi-robot system and the lateral error, a bipartite consensus error; substituting the data model into a designed objective function to solve a data-driven bipartite consensus controller; designing a parameter estimation algorithm to estimate an unknown parameter in the controller; allowing an estimated value to participate in a controller update; and calculating a front wheel steering angle control signal.

Abstract: Embodiments of this application provide a camera module and an electronic device. The camera module is configured to be mounted in the electronic device. The camera module includes a bracket, an optical image stabilization motor, an automatic focus motor, a reflecting prism, a camera lens, and a lens holder. The reflecting prism is disposed in the optical image stabilization motor, the camera lens is disposed in the automatic focus motor, and the camera lens is connected to the lens holder. The optical image stabilization motor, the automatic focus motor, and the lens holder are disposed within the bracket and are sequentially arranged in a first direction. The first direction is an optical axis direction of the camera lens, and a plane on which the lens holder is located is disposed perpendicular to the optical axis direction.

Abstract: The present disclosure is directed to probe sets for sequencing a mitochondrial genomic DNA, methods of sequencing a mitochondrial DNA using the probe sets, and methods of designing probe sets for sequencing a mitochondrial genomic DNA.

Abstract: The present invention provides a device for collecting information from face and the tongue for Chinese medicine, which includes a tank, a light source and a shooting structure. The light source and the shooting structure are positioned inside the tank, the shooting structure contains a guide column, a lifting component, a shooting component and an electrical component. The guide column and the electrical component are fixed in the tank, the shooting component fixed on the lifting component, the lifting component fixed on the guide column, which can achieve adjustment of the relative to the guide column by the electrical component. The present invention also provides a method for collecting information collection from face and tongue for Chinese medicine, which includes: 1. collect the information of the face with the camera lens perpendicular to the face plane; 2. tilt forward the camera's position while raising to the vertical plane with the tongue, collect the further information of the tongue.

Abstract: The present invention is to provide a monitoring device for inspection diagnosis in traditional Chinese medicine, comprising: a housing, a light source and a shooting structure, the said light source and shooting structure are positioned in the housing, a photoconductive component is positioned in the said housing, the said photoconductive component comprising at least one photoconductive layer, the said light source is positioned inside the photoconductive layer or on the side cross section of the photoconductive layer, with the diffuse reflection of the photoconductive component the said light source forms a area light source. In the present invention, as the photoconductive component is adopted in light transmission, the point light is converted to area light so that a soft, stable and uniform illumination environment similar to the natural light comes into being in the monitoring device.

Abstract: The present invention provides a device for collecting information from face and the tongue for Chinese medicine, which includes a tank, a light source and a shooting structure. The light source and the shooting structure are positioned inside the tank, the shooting structure contains a guide column, a lifting component, a shooting component and an electrical component. The guide column and the electrical component are fixed in the tank, the shooting component fixed on the lifting component, the lifting component fixed on the guide column, which can achieve adjustment of the relative to the guide column by the electrical component. The present invention also provides a method for collecting information collection from face and tongue for Chinese medicine, which includes: 1. collect the information of the face with the camera lens perpendicular to the face plane; 2. tilt forward the camera's position while raising to the vertical plane with the tongue, collect the further information of the tongue.