Abstract: This application provides a bullet-screen comment display method, where the bullet-screen comment display method includes: determining bullet-screen comment area basic information corresponding to a target bullet-screen comment from a target picture; identifying an invalid pixel set of the target picture; determining a bullet-screen comment filling area corresponding to the target bullet-screen comment based on the bullet-screen comment area basic information and the invalid pixel set; and filling the bullet-screen comment filling area with the target bullet-screen comment.

Abstract: Disclosed are a shield tunnel segment structure and a construction method thereof. The shield tunnel segment structure includes segment blocks sequentially spliced in a circumferential direction. Each segment block forms a closed annular segment structure, and outer diameters of adjacent annular segment structures gradually increase in an axial direction. At least two adjacent segment blocks of the same annular segment structure form an annular inner groove, and at least one segment block of the adjacent annular segment structures is provided with an inner bump which matches the annular inner groove. At least two adjacent segment blocks of the same annular segment structure form an annular outer groove, and at least one segment block of the adjacent annular segment structures is provided with an outer bump which matches the annular outer groove. The annular outer grooves and the annular inner grooves are staggered in the circumferential direction.

Abstract: A method for constructing a multistage network includes: deploying a plurality of nodes; constructing the upper network with at least one node of the plurality of nodes; and in response to determining there is an isolated node, determining an intermediate node for the isolated node and adding the isolated node into the upper network or one of the at least one sub-network according to the intermediate node.

Abstract: Disclosed is a battery swapping system, comprising a battery swapping device, a signal transmission unit, a position sensor, and a detection section. The battery swapping device comprises a master control unit and a battery pack disassembly and assembly unit. The battery pack disassembly and assembly unit is used for clamping the battery pack, the master control unit is used for controlling the battery pack disassembly and assembly unit to move along a preset path. The position sensor is used for generating a stopping instruction upon sensing of the detection section, sending the stopping instruction to the master control unit which is used for stopping moving the battery pack disassembly and assembly unit according to the stopping instruction. According to the present invention, whether a battery pack is mounted in place can be accurately detected, the accuracy and safety of battery pack swapping is ensured and the costs are low.

Abstract: Disclosed is a method for improving an interface of composite solid electrolyte in situ relates to the field of composite solid electrolyte. By cooling and solidifying the first trans-crystalline solidified liquid, a first trans-gauche isomeric plastic crystal layer is constructed between the positive electrode and the composite solid electrolyte; by cooling and solidifying the second trans-crystalline solidified liquid, a second trans-gauche isomeric plastic crystal layer is constructed between the composite solid electrolyte and the negative electrode; the first trans-crystalline solidified liquid includes trans-gauche isomeric plastic crystals and lithium salt, and the second trans-crystalline solidified liquid includes trans-gauche isomeric plastic crystals, lithium salt and additives.

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

Abstract: The present disclosure provides a photographing method and apparatus, an electronic device, and a computer readable storage medium, relating to the technical field of image processing. Said method is applied to a first terminal. Said method comprises: in a cooperative photographing process, transmitting, to a second terminal, a preview image acquired by the first terminal; receiving cooperative photographing information inputted by the second terminal on the basis of the preview image, the cooperative photographing information being used for performing photographing control on the first terminal; executing a cooperative photographing operation corresponding to the cooperative photographing information; and outputting a target image obtained by the first terminal after executing the cooperative photographing operation. The implementation of the present disclosure is beneficial for improving the image photographing quality, and reducing operation cost when a user performs photographing by himself/herself.

Abstract: A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.

Abstract: A robot calibration method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining operation space information of the execution end of the robot; obtaining operation space points after gridding an operation space of the robot by gridding the operation space based on the operation space information; obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement; and calibrating the hand and the image detection device of the robot based on the obtained calibration data. In this manner, the operation space points are determined by gridding the operation space based on the operation space information, and the execution end can be automatically controlled to move to the operation space points that meet the preset requirements so as to obtain the calibration data in an automatic and accurate manner, thereby simplifying the calibration process and improving the efficiency.

Abstract: Embodiments of this application provide an application starting method and apparatus, and an electronic device. For any application that is installed in the electronic device and that supports multi-window display, based on configurations of an application layer and an application framework layer in a software system of the electronic device, the electronic device that supports a floating window and split-screen display may have a single-application multi-instance feature. In this way, the Dock triggers any application to start the multi-instance feature of the application, and the electronic device may simultaneously display a plurality of windows of the application on a display in a plurality of window combination forms, so that multi-instance coordination processing and operation may be performed on a same application.

Abstract: The present disclosure provides a photographing method and apparatus, an electronic device, and a computer readable storage medium, relating to the technical field of image processing. Said method is applied to a first terminal. Said method comprises: in a cooperative photographing process, transmitting, to a second terminal, a preview image acquired by the first terminal; receiving cooperative photographing information inputted by the second terminal on the basis of the preview image, the cooperative photographing information being used for performing photographing control on the first terminal; executing a cooperative photographing operation corresponding to the cooperative photographing information; and outputting a target image obtained by the first terminal after executing the cooperative photographing operation. The implementation of the present disclosure is beneficial for improving the image photographing quality, and reducing operation cost when a user performs photographing by himself/herself.

Abstract: A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.

Abstract: A large gear involute artifact assembled with mandrel used as physical datum of precision traceability and measurement transmission for large gear involute is proposed. The artifact comprises a large gear involute artifact stripe, a mandrel, a backing plate, a counterweight shaft, an adjustable counterweight ring, the adjustable screws of counterweight, the connecting screws for backing plate, the connecting screws for artifact and an eccentric multi-ball bearing. The structure and the rolled length of the large gear involute artifact assembled with mandrel fit the basic requirements of class-1 accuracy in the national standard of gear involute artifact GB/T 6467-2010 in China. It has advantages of long rolled length, adjustable center of mass, uniform datum, compact structure, and portability. It adopts lightweight design, which can be installed and transported by one person manually, and is suitable for the structural design of large gear involute artifact with base-circle diameter greater than 500 mm.

Abstract: A cooperative photographing method is provided, which includes: acquiring a first image captured by a first terminal and a second image captured by a second terminal, and composing a third image based on the first image and the second image. In the third image, a first object in the first image and a second object in the second image are used as foreground objects and superimposed on a specified background image. The first object is a foreground object of the first image, and the second object is a foreground object of the second image.

Abstract: Disclosed is a bias circuit for a radio frequency power amplifier, including a resistor voltage divider network, a power amplifier coupled with the resistor voltage divider network and a bias voltage adjusting loop coupled to the resistor voltage divider network and including one voltage divider resistor and one transistor pair; one terminal of the voltage divider resistor is connected with a reference voltage, and an other terminal is coupled with a gate of the first metal oxide semiconductor transistor; the transistor pair includes a first metal oxide semiconductor transistor and a second metal oxide semiconductor transistor, where a gate of the second metal oxide semiconductor transistor is coupled to the gate of the first metal oxide semiconductor transistor.

Abstract: Embodiments of the present application provide a method for predicting envelope features. The method includes: according to baseband data or data after modulation mapping, a peak value of a radio frequency envelope signal, a time point corresponding to the peak value, a valley point of the radio frequency envelope signal and a time point corresponding to the valley point are predicted; according to the valley point and the time point corresponding thereto, a generated reference value is sent to a low-bandwidth control signal generating module to obtain a control signal; according to adjacent valley point and peak point, and time points corresponding thereto, generated status information is sent to a high-bandwidth control signal generating module to obtain a control switch signal; and when in an ascending status, according to a key information string, a slope k of a connecting line is determined, and a corresponding filter inductor is turned on.

Abstract: Disclosed is a dual-band coupling low-noise amplifying circuit and an amplifier, which comprises an input frequency dividing circuit, a high-frequency amplifying circuit, a low-frequency amplifying circuit and an output combining circuit. The input frequency dividing circuit includes a first duplexer, a first capacitor and a second capacitor, and the output combining circuit includes a second duplexer, a third capacitor and a fourth capacitor. The input frequency dividing circuit divides the received radio frequency signals into high-frequency signals and low-frequency signals, then inputs the high-frequency signals into the high-frequency amplifying circuit for power amplification, and inputs the low-frequency signals into the low-frequency amplifying circuit for power amplification, and outputs the high-frequency signals and the low-frequency signals after power amplification through the output combining circuit.

Abstract: A path generation method for a robot includes: based on a scene model of a current scene and a machine model corresponding to the robot, combined with multiple configurations of the robot, determining a plurality of initial points between a start point and an end point in the scene model; removing redundant points from the plurality of the initial points to obtain necessary points among the initial points; and connecting the necessary points to obtain a path between the start point and the end point.

Abstract: Embodiments of this application provide an application starting method and apparatus, and an electronic device. For any application that is installed in the electronic device and that supports multi-window display, based on configurations of an application layer and an application framework layer in a software system of the electronic device, the electronic device that supports a floating window and split-screen display may have a single-application multi-instance feature. In this way, the Dock triggers any application to start the multi-instance feature of the application, and the electronic device may simultaneously display a plurality of windows of the application on a display in a plurality of window combination forms, so that multi-instance coordination processing and operation may be performed on a same application.

Abstract: Disclosed is a low-power negative voltage generator for RF switches, which is provided with a monostable trigger and a voltage-controlled oscillator before a non-overlapping clock circuit and a charge pump. The monostable trigger can change from a stable state to a transient state when a switch channel selection signal jumps; the clock frequency of the voltage controlled oscillator will be increased during the transient state of the monostable trigger, and after the monostable trigger returns to a stable state, its clock frequency will be reduced to the initial state, thereby ensuring that the circuit power consumption is reduced while the transient characteristic is high.