Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.

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 memory management method and system for an Android system, and a storage medium. The Android system includes a framework layer, a native layer and a kernel layer; the memory management system includes a service component on the framework layer, a memory manager on the native layer and an interface reclaimer on the kernel layer; the service component communicates with the memory manager and the interface reclaimer, respectively; the memory manager is configured to determine a memory event based on pressure stall information (PSI) obtained from a hook on a memory reclaim path, and report the memory event to the service component; and the service component is configured to call the interface reclaimer in response to the memory event being an event of reclaiming memory based on a process, and shut down a corresponding process interface by the interface reclaimer.

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.

Abstract: A ternary water control and gas recovery method suitable for an unconsolidated siltstone gas reservoir is provided. It includes the following steps: first, running a silt control screen pipe manufactured by an interface hydrophobic modification into a wellbore to realize wellbore water control and silt control; second, filling a surface hydrophobic modified gravel in an annular space between the silt control screen pipe and the wellbore to form a hydrophobic gravel packing layer for water control and silt control; third, injecting a wetting agent aqueous solution into a stratum, and performing a hydrophobic modification on a gas reservoir seepage channel surface to realize in-situ waterblocking and silt migration of the unconsolidated siltstone gas reservoir, and then closing a well for a preset time before exploitation.

Abstract: A ternary water control and gas recovery method suitable for an unconsolidated siltstone gas reservoir is provided. It includes the following steps: first, running a silt control screen pipe manufactured by an interface hydrophobic modification into a wellbore to realize wellbore water control and silt control; second, filling a surface hydrophobic modified gravel in an annular space between the silt control screen pipe and the wellbore to form a hydrophobic gravel packing layer for water control and silt control; third, injecting a wetting agent aqueous solution into a stratum, and performing a hydrophobic modification on a gas reservoir seepage channel surface to realize in-situ water blocking and silt migration of the unconsolidated siltstone gas reservoir, and then closing a well for a preset time before exploitation.

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: A screen display method and an electronic device. The method includes: displaying interfaces of at least two applications, including a first interface of a first application and a second interface of a second application, where the first interface is an interface displayed in full screen mode, and the second interface is a floating window displayed in the first interface; receiving a first operation performed on the first interface; and automatically displaying the second interface in a minimized state in the first interface in response to the first operation, where the second interface in the minimized state is any one of a floating ball, an icon of the second application, a contact avatar, and a video pop-up window.

Abstract: An operation method for an electronic device and an electronic device are provided, and relate to the field of electronic devices. In a split-screen display scenario, a function of quickly opening a specific interface by using an entered gesture is implemented. When a screen of the electronic device is split for display, the electronic device receives different operations for a side that is of a single window and that is closely adjacent to another window, and the electronic device may execute a corresponding event only for the window, for example, display a previous-level interface of a current interface in the window, display a desktop in the window, or display a task list interface in the window, and an interface displayed in the another window remains unchanged.

Abstract: The present invention discloses method and apparatus for collecting signals, tracking cells, and imaging control using a photosensitive chip, wherein the method for acquiring signals by a photosensitive chip comprises: closely attaching a luminous surface of a membrane carrying a light signal to be acquired to a photosensitive chip, placing the photosensitive chip attached with the membrane carrying the light signal to be acquired in a darkroom, acquiring the light signal on the photosensitive chip in the darkroom, and performing signal processing on the acquired light signal and outputting the light signal. In the method and the apparatus for acquiring signals by a photosensitive chip provided by the present invention, human participation is not needed in the whole process, the convenience and timeliness of the imaging control process are improved, and the imaging precision and efficiency are effectively improved.

Abstract: The nondestructive determination of core size of a hollow-core photonic bandgap fiber (HC-PBF) using Fabry-Perot (FP) interference is performed with an apparatus including a tunable laser source (TLS), a 1×2 single-mode (SM) coupler, an SM collimator, a six-axis translation stage, an optical detector, and an oscilloscope. The light from the TLS passes through the 1×2 SM coupler and the SM collimator to perpendicularly enter two parallel air-SiO2 interfaces of the core of the fiber and is reflected, while the TLS is tuned from one wavelength to another. Then the reflected spectrum is guided to the optical detector, where its interference intensity is converted into voltage intensity to be displayed at the oscillator and fitted with a least-squares method to obtain the distance between the two air-SiO2 interfaces. The core size of the fiber can be obtained by rotating the fiber and repeating the procedure at multiple angular positions.

Abstract: A driving method of display panel, a display panel and a display device are disclosed. The driving method includes: in a single-frame display time, sequentially applying signals to a plurality of first sub-pixels connected to first data lines in a scanning direction so that: a signal polarity applied to each of a plurality of first white sub-pixels connected to first data lines is opposite to a signal polarity applied to a first sub-pixel which is located at an upstream of the first white sub-pixel along the scanning direction and is adjacent to the first white sub-pixel, and a signal polarity applied to each of a plurality of first colored sub-pixels is identical with a signal polarity applied to a first sub-pixel which is located at an upstream of the first colored sub-pixel along the scanning direction and is adjacent to the first colored sub-pixel.

Abstract: The present disclosure provides a method, system, device, and storage medium for determining whether there is a target road facility at an intersection. The method may include: obtaining trajectory data related to left-turn trajectories of moving objects at a target intersection; extracting information related to feature parameters associated with the target road facility from the trajectory data; determining whether there is the target road facility at the target intersection based on the information related to the feature parameters of the target intersection. The method may determine the road facility configuration of an intersection intelligently, reducing costs of human resources and time.

Abstract: The present disclosure provides a method and a device for driving a GOA circuit, a time controller and a display device. The method includes steps of: determining a bright-dark period for striped patterns on a display panel; and compensating for data signals at rows where the striped patterns are located periodically in accordance with the bright-dark period.

Abstract: The nondestructive determination of core size of a hollow-core photonic bandgap fiber (HC-PBF) using Fabry-Perot (FP) interference is performed with an apparatus including a tunable laser source (TLS), a 1×2 single-mode (SM) coupler, an SM collimator, a six-axis translation stage, an optical detector, and an oscilloscope. The light from the TLS passes through the 1×2 SM coupler and the SM collimator to perpendicularly enter two parallel air-SiO2 interfaces of the core of the fiber and is reflected, while the TLS is tuned from one wavelength to another. Then the reflected spectrum is guided to the optical detector, where its interference intensity is converted into voltage intensity to be displayed at the oscillator and fitted with a least-squares method to obtain the distance between the two air-SiO2 interfaces. The core size of the fiber can be obtained by rotating the fiber and repeating the procedure at multiple angular positions.

Abstract: The present disclosure provides a level shifting unit which includes, for example, a logic control module, an output module, an output control module and a feedback module. The logic control module is connected to a turn-on power supply, a driving power supply, an input signal terminal, and the output module. The feedback module is connected to an enable signal terminal, a signal output terminal, and the output control module. The output control module is connected to the output module and the driving power supply. The output module is connected to the signal output terminal. The feedback module controls to turn on or turn off the output module through the signals outputted from the enable signal terminal and the signal output terminal. If the signals outputted by two level shifting units are short circuited, the feedback module controls the output control module of the level shifting circuit to be disconnected.

Abstract: Embodiments of the present disclosure provide a clock signal transmission circuit, a driving method thereof, a gate driving circuit, and a display device. The clock signal transmission circuit includes an input circuit, a pull-up circuit, a reset circuit, a pull-down control circuit, a pull-down circuit, and a pull-up holding circuit. According to an embodiment of the present disclosure, the clock signal source can be disconnected from each shift register unit in the gate driving circuit before a screen is displayed, preventing malfunctions of the gate driving circuit caused by an undesired high voltage on the clock signal line.

Abstract: The present disclosure provides a level shifting unit which includes, for example, a logic control module, an output module, an output control module and a feedback module. The logic control module is connected to a turn-on power supply, a driving power supply, an input signal terminal, and the output module. The feedback module is connected to an enable signal terminal, a signal output terminal, and the output control module. The output control module is connected to the output module and the driving power supply. The output module is connected to the signal output terminal. The feedback module controls to turn on or turn off the output module through the signals outputted from the enable signal terminal and the signal output terminal. If the signals outputted by two level shifting units are short circuited, the feedback module controls the output control module of the level shifting circuit to be disconnected.

Abstract: Embodiments of the present disclosure provide a clock signal transmission circuit, a driving method thereof, a gate driving circuit, and a display device. The clock signal transmission circuit includes an input circuit, a pull-up circuit, a reset circuit, a pull-down control circuit, a pull-down circuit, and a pull-up holding circuit. According to an embodiment of the present disclosure, the clock signal source can be disconnected from each shift register unit in the gate driving circuit before a screen is displayed, preventing malfunctions of the gate driving circuit caused by an undesired high voltage on the clock signal line.