Abstract: A method includes: calculating a first difference between a current actual attitude of a fuselage and a desired attitude and a second difference between an actual depth and a desired depth; inputting the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface; using the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and using an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law; performing power distribution for each propeller of a propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller; and controlling the propellers of the underwater submersible robot.

Abstract: Disclosed herein are embodiments of a composition comprising at least three layers. Layers one and two each either comprises a sensitizer or an emitter, typically a metal ion or a dye, and the third layer may or may not comprise a sensitizer or emitter. Upon exposure to light, such as infrared light, the composition produces visible and/or UV light. The composition may further comprise a capping moiety, a therapeutic agent, an uptake enhancer, a detection moiety that binds to a desired target, a quenching moiety, or a combination thereof. The composition may be a particle, such as a nanoparticle, or it may be a planar composition. Also disclosed are embodiments of a method for using the composition, including, but not limited to, a method for delivering a therapeutic agent, or a method for detecting a target, such as a biological target.

Abstract: The invention relates to the field of barbell clamping technologies and particularly to a barbell clamping assembly including a barbell clamping body. A replaceable core is inserted into the barbell clamping body. Press blocks are inserted into the replaceable core. The replaceable core is connected to the press blocks through first springs. A hexagon bolt is inserted into the barbell clamping body. A rotating rod is inserted into the hexagon bolt. A handle is sleeved onto the rotating rod. A fixing block is disposed on a side of the handle. A clamping structure is inserted into the barbell clamping body and includes first and second clamping blocks inserted into the barbell clamping body. The first and seconds clamping blocks are connected to the barbell clamping body by second springs, and an arc fixing groove is disposed in the barbell clamping body and between the first and second clamping blocks.

Abstract: An energy harvesting device based on wave energy comprises: a box body; a swing rod hinged with the box body, wherein one end of the swing rod extends into the box body, and a float is fixed at the other end of the swing rod; a base layer disposed inside the box body and provided with a plurality of piezoelectric patches in a length direction; and an energy transmission assembly fixed inside the box body and located between the swing rod and the base layer, one side of the energy transmission assembly is connected with one end of the swing rod extending into the box body, and the other side of the energy transmission assembly is in transmission connection with the base layer, wherein the energy transmission assembly converts the swinging of the swing rod into squeezing to the base layer.

Abstract: The invention relates to the field of barbell clamping technologies and particularly to a barbell clamping assembly including a barbell clamping body. A replaceable core is inserted into the barbell clamping body. Press blocks are inserted into the replaceable core. The replaceable core is connected to the press blocks through first springs. A hexagon bolt is inserted into the barbell clamping body. A rotating rod is inserted into the hexagon bolt. A handle is sleeved onto the rotating rod. A fixing block is disposed on a side of the handle. A clamping structure is inserted into the barbell clamping body and includes first and second clamping blocks inserted into the barbell clamping body. The first and seconds clamping blocks are connected to the barbell clamping body by second springs, and an arc fixing groove is disposed in the barbell clamping body and between the first and second clamping blocks.

Abstract: A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.

Abstract: The invention discloses a binocular robot for bridge underwater detection based on 5G communication. The robot includes a body, a base, a power arm, a video collection component, a communication component and a power component. The underwater part of the bridge may be collected in the form of a video by the configured video collection component, and the robot may be driven by the power component to move underwater. Driven by a first motor, a binocular camera may rotate to observe various orientations underwater, and meanwhile may drive a cleaning component coordinated with an electric top block to wipe the lens of the binocular camera, so that the video information may be collected clearly underwater. Finally, the video information may be transmitted to a worker on the water through the communication component to achieve the effect of remote detection, which saves the underwater detection cost and improves detection efficiency.

Abstract: Disclosed herein are embodiments of a composition comprising at least three layers. Layers one and two each either comprises a sensitizer or an emitter, typically a metal ion or a dye, and the third layer may or may not comprise a sensitizer or emitter. Upon exposure to light, such as infrared light, the composition produces visible and/or UV light. The composition may further comprise a capping moiety, a therapeutic agent, an uptake enhancer, a detection moiety that binds to a desired target, a quenching moiety, or a combination thereof. The composition may be a particle, such as a nanoparticle, or it may be a planar composition. Also disclosed are embodiments of a method for using the composition, including, but not limited to, a method for delivering a therapeutic agent, or a method for detecting a target, such as a biological target.