Abstract: The present disclosure provides a magnetic nano-drug with double targeting vascular endothelial growth factor (VEGF)-vascular endothelial growth factor receptor (VEGFR), and a preparation method and application thereof, and belongs to the technical field of biomedicine. The magnetic nano-drug of the present disclosure includes aminated ZnFe2O4 hollow porous magnetic nano-particles, lactate dehydrogenase-silk fibroin (LDH-SF), ethylene dichloride (EDC), and n-hydroxy succinimide (NHS). A mass ratio of the aminated ZnFe2O4 hollow porous magnetic nano-particles to the EDC to the NHS to the LDH-SF is (5-10):(1-5):(1-6):(1-8). The magnetic nano-drug according to the present disclosure can position a VEGF ligand through magnetic targeting of hollow zinc ferrite particles, use magnetic particles to regulate reprogramming of macrophages in an intervertebral disc so as to indirectly regulate down-regulation of the VEGF, and inhibit angiogenesis.

Abstract: A method for quickly optimizing key mining parameters of an outburst coal seam as provided includes steps of constructing a graphic basic information model of the coal mine, giving coal mine characteristic information, performing mining simulation, constructing a CNN-LSTM predicating model, obtaining changes under different mining conditions, constructing a Lorenz chaotic primer, and the like. The model can be improved with continuous breakthroughs in theory, so that the model has a strong learning ability and can adapt to the constantly changing complex geological environment. The method has very good predictability for the determination of coal seam group parameters, and can efficiently select and output a set of candidate parameters.

Abstract: An unmanned vehicle includes a body and a gimbal assembly arranged at the body. The body includes a bottom cover arranged at a bottom of the body. The gimbal assembly includes a shock-absorbing structure arranged inside the body and fixedly mounted at an inner bottom wall of the bottom cover, and a gimbal arranged outside the body and coupled to the shock-absorbing structure. The inner bottom wall is arranged inside the body and faces towards a top of the body.

Abstract: A gimbal system includes a gimbal configured to support a load and including one or more motors configured to change an attitude of the load, one or more processors, and a memory coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the system to obtain a target control parameter of the one or more motors, and, in response to the gimbal switching from a power-on state to a powered-off state or a sleep state, control, according to the target control parameter, a torque of at least one of the one or more motors to decrease at a first speed within a first time period and to decrease at a second speed within a second time period after the first time period. The second speed is lower than the first speed.

Abstract: The present disclosure provides a load stabilization device, a control method thereof, and a computer readable storage medium. In the load stabilization device, a motion sensor, a processor, a stabilization motor, and a parallelogram mechanism constitute a closed-loop feedback control system. A control instruction for the stabilization motor is generated based on a velocity of a second end of the parallelogram mechanism in a direction of gravity relative to a ground, where the second end may carry a load, and the stabilization motor is controlled to drive, according to the control instruction, the parallelogram mechanism to rotate relative to a base, so as to at least partially offset or compensate for jitter of the load carried at the second end of the parallelogram mechanism in the direction of gravity, suppress disturbance generated at a first end of the parallelogram mechanism, and stabilize the load carried at the second end.

Abstract: A gimbal control method includes configuring, while a gimbal is in a power-on state, turning-off motor control parameters according to a mass of a camera device carried by the gimbal. The gimbal includes an electric motor. The turning-off motor control parameters are configured to control the electric motor when the gimbal is powered off or enters a sleep state. The method further includes, in response to the gimbal being powered off or entering the sleep state, controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.

Abstract: A dianthrone compound may be used in preparation of a medicament for prevention and/or treatment of myocardial ischemic diseases and related diseases thereof. The dianthrone compound includes trans-emodin dianthrone and/or cis-emodin dianthrone.

Abstract: A method of stabilizing a payload fitted in a carrier includes providing a first carrier component of the carrier, supporting a second carrier component of the carrier using the first carrier component, and supporting a third carrier component of the carrier using the second carrier component. The first carrier component is configured to permit rotation of the payload about a pitch axis. The second carrier component is configured to permit rotation of the payload about a yaw axis. The third carrier component is configured to permit rotation of the payload about a roll axis and connects to the payload.

Abstract: The invention relates to the field of pharmaceutical chemistry, and it particularly relates to a left-handed bicyclic morpholine and a pharmaceutically acceptable salt thereof, a preparation method therefor, a pharmaceutical composition and use thereof in the preparation of medicaments for preventing and/or treating liver diseases and the like.

Abstract: An unmanned aerial vehicle (UAV) includes a UAV body, and a stabilizing platform mounted on the UAV body and configured to stabilize a payload device. The stabilizing platform includes a frame assembly adapted to hold the payload device and a brushless motor coupled to the frame assembly. The brushless motor is configured to directly drive the frame assembly in response to one or more motor signals to allow the payload device to rotate around at least one of a pitch axis, a roll axis, or a yaw axis of the payload device. A brushless motor includes a rotor housing; a stator disposed within the rotor housing; and a linear Hall effect sensor. A posture of the payload device is controlled by adjusting a rotational angle of the brushless motor, and the rotational angle of the brushless motor is determined using the linear Hall effect sensor.

Abstract: A control method for a non-orthogonal gimbal includes obtaining an actual attitude of the gimbal, determining a target attitude of the gimbal according to the actual attitude of the gimbal and an angle between a first rotation axis of a first drive motor and a second rotation axis of a second drive motor, determining an attitude error according to the actual attitude and the target attitude, and controlling one or more of a plurality of drive motors according to the attitude error to cause the gimbal to approach the target attitude. The gimbal includes the plurality of drive motors including the first drive motor, the second drive motor, and the third drive motor. The gimbal further includes a base, a first axis arm, a second axis arm, and a third axis arm.

Abstract: The present disclosure provides a load stabilization device, a control method thereof, and a computer readable storage medium. In the load stabilization device, a motion sensor, a processor, a stabilization motor, and a parallelogram mechanism constitute a closed-loop feedback control system.

Abstract: A compensation method for a 3D printer is provided. The 3D printer includes an extruder and a detection device. The method includes causing the extruder to print a test pattern based on a preset printing scheme, wherein the preset printing scheme specifies that the extruder moves at at least two movement speeds during extrusion of materials to print the test pattern; detecting, using the detection device, an extrusion speed characteristic of the extruder from the test pattern; and determining, based on the detected extrusion speed characteristic, a compensation coefficient for compensating an extrusion speed of the extruder.

Abstract: A method of obtaining a mechanical position of a motor for an ESC includes obtaining magnetic field strengths of two or more Hall sensors respectively and determining the mechanical position of the motor based on the magnetic field strengths of the two or more Hall sensors. The magnetic field strengths are obtained by measuring a magnetic leakage of two or more pairs of magnetic poles by the two or more Hall sensors. The motor includes two or more Hall sensors and two or more pairs of magnetic poles. The motor is connected to the ESC; a phase difference between the two or more Hall sensors is a preset angle; and arrangements between each pair of magnetic poles and the two or more Hall sensors are different.

Abstract: A method for quickly optimizing key mining parameters of an outburst coal seam as provided includes steps of constructing a graphic basic information model of the coal mine, giving coal mine characteristic information, performing mining simulation, constructing a CNN-LSTM predicating model, obtaining changes under different mining conditions, constructing a Lorenz chaotic primer, and the like. The model can be improved with continuous breakthroughs in theory, so that the model has a strong learning ability and can adapt to the constantly changing complex geological environment. The method has very good predictability for the determination of coal seam group parameters, and can efficiently select and output a set of candidate parameters.

Abstract: An unmanned vehicle includes a body and a gimbal assembly arranged at the body. The body includes a bottom cover arranged at a bottom of the body. The gimbal assembly includes a shock-absorbing structure arranged inside the body and fixedly mounted at an inner bottom wall of the bottom cover, and a gimbal arranged outside the body and coupled to the shock-absorbing structure. The inner bottom wall is arranged inside the body and faces towards a top of the body.

Abstract: A method for controlling an attitude of a payload includes determining an input torque based on an input angle and one or more motion characteristics of the payload, determining an estimated disturbance torque based on one or more motion characteristics of a carrier to which the payload is coupled, and calculating an output torque based on the input torque and the estimated disturbance torque. The output torque is configured to effect movement of the carrier to achieve a desired attitude of the payload.

Abstract: A control method includes, when a landing gear of an unmanned aerial vehicle (UAV) is at a zero position, controlling a yaw-axis motor of a gimbal of the UAV to rotate to different positions according to a specific strategy that includes the landing gear following the yaw-axis motor to rotate synchronously, determining an angle relationship parameter between a landing gear motor of the UAV and the yaw-axis motor by controlling the yaw-axis motor to rotate to the different positions, in a mode where the landing gear follows the yaw-axis to rotate, obtaining a real-time rotation angle of the yaw-axis motor, and controlling rotation of the landing gear motor according to the angle relationship parameter and the real-time rotation angle of the yaw-axis motor.

Abstract: An unmanned aerial vehicle (UAV) includes a UAV body, and a stabilizing platform mounted on the UAV body and configured to stabilize a payload device. The stabilizing platform includes a frame assembly adapted to hold the payload device and a brushless motor coupled to the frame assembly. The brushless motor is configured to directly drive the frame assembly in response to one or more motor signals to allow the payload device to rotate around at least one of a pitch axis, a roll axis, or a yaw axis of the payload device. A brushless motor includes a rotor housing; a stator disposed within the rotor housing; and a linear Hall effect sensor. A posture of the payload device is controlled by adjusting a rotational angle of the brushless motor, and the rotational angle of the brushless motor is determined using the linear Hall effect sensor.