Abstract: Disclosed are a battery charging method, a battery charging device, and a battery charging apparatus. The battery charging method, comprising: determining a direct current resistance (DCR) curve of a rechargeable battery in response to a charging instruction for the rechargeable battery; obtaining a real-time impedance of the rechargeable battery, and determining an impedance interval in the DCR curve corresponding to the real-time impedance; and determining a current charging strategy for the rechargeable battery according to the impedance interval corresponding to the real-time impedance, and charging the rechargeable battery by using the current charging strategy.

Abstract: An anti-corrosive coating and a preparation method therefor are provided. The method includes the following steps: (1) dispersing graphite and a modifier in water to prepare a pretreated graphite dispersion; (2) stripping and modifying the pretreated graphite dispersion obtained in step (1) to prepare a modified graphene dispersion; and (3a) mixing the modified graphene dispersion obtained in the step (2) with epoxy resin and a cationic photoinitiator, standing, carry out phase splitting, removing a water phase, further deeply removing water to obtain a graphene/epoxy resin mixture, and curing the obtained mixture to obtain the anti-corrosive coating. By means of a phase transfer method, the application of a modified graphene aqueous dispersion in resin can be realized without drying graphene first, so that uniform dispersion of modified graphene in epoxy resin can be ensured, and additionally, stacking of the modified graphene in the drying process can be avoided.

Abstract: The present disclosure provides a radio frequency apparatus, an antenna and an electronic device, and belongs to the field of communication technology. The radio frequency apparatus includes first and second dielectric substrates opposite to each other, first and second phase shifting structures between the first and second dielectric substrates; wherein the radio frequency apparatus further includes a first connection electrode and a second connection electrode; the first phase shifting structure and the second phase shifting structure each have a first end and a second end, the first ends of the first phase shifting structure and the second phase shifting structure are electrically connected to each other by the first connection electrode; the second ends of the first phase shifting structure and the second phase shifting structure are electrically connected to each other by the second connection electrode, to form a ring circuit structure.

Abstract: An antisense oligonucleotide for regulating BCL2L12 expression, and a method and drug for treating BCL2L12-related diseases.

Abstract: Various embodiments include methods for improving navigation by a processor of a robotic device equipped with an image sensor and an optical flow sensor. The robotic device may be configured to capture or receive two image frames from the image sensor, generate a homograph computation based on the image frames, receive optical flow sensor data from an optical flow sensor, and determine a scale estimation value based on the homograph computation and the optical flow sensor data. The robotic device may determine the robotic device pose (or the pose of the image sensor) based on the scale estimation value.

Abstract: A sensor configuration method, an apparatus, computer equipment and a storage medium are disclosed. The method includes acquiring connection configuration information generated based on user input, querying for a target sensor driver matched with a target sensor represented by the sensor identifier in a device driver set, calling a target communication port driver matched with the target communication port represented by the communication port identifier and establishing communications with the target sensor by the target sensor driver and the target communication port driver. The connection configuration information includes a sensor identifier and a communication port identifier. The device driver set is pre-stored with a number of sensor drivers corresponding to a number of sensors.

Abstract: A method, device, computer equipment and storage medium for GNSS time synchronization are disclosed. The method includes: receiving data packet of NMEA protocol, reading a valid UTC time from data packet of NMEA protocol, and storing the read valid UTC time in a time synchronization controller; receiving PPS signal, capturing a local time output by local clock when PPS signal is generated, and storing the local time in the time synchronization controller; reading a last local time stored before the current local time and reading the stored latest UTC time as a UTC time corresponding to the last local time when the time synchronization controller receives the current local time; and determining, by the time synchronization controller, a local time correction amount according to the last local time and the UTC time corresponding to the last local time, and correcting the local clock according to the local time correction amount.

Abstract: The present invention provides a mechanical prosthetic limb, which relates to the technical field of medical devices. The mechanical prosthetic limb includes a prosthetic limb shank, a fixed component for connecting the prosthetic limb shank with a human body, a power-driven first drive mechanism that is installed on the prosthetic limb shank, and a prosthetic limb sole that is connected to the bottom of the prosthetic limb shank; the fixed component is rotationally connected with the prosthetic limb shank through the first drive mechanism; and the prosthetic limb shank is rotationally connected with the prosthetic limb sole through the first drive mechanism. It can relieve the burdens of the disabled in the automatic advance way, thereby improving convenience.

Abstract: A sensor configuration method, an apparatus, computer equipment and a storage medium are disclosed. The method includes acquiring connection configuration information generated based on user input, querying for a target sensor driver matched with a target sensor represented by the sensor identifier in a device driver set, calling a target communication port driver matched with the target communication port represented by the communication port identifier and establishing communications with the target sensor by the target sensor driver and the target communication port driver. The connection configuration information includes a sensor identifier and a communication port identifier. The device driver set is pre-stored with a number of sensor drivers corresponding to a number of sensors.

Abstract: Various embodiments include methods for improving navigation by a processor of a robotic device equipped with an image sensor and an optical flow sensor. The robotic device may be configured to capture or receive two image frames from the image sensor, generate a homograph computation based on the image frames, receive optical flow sensor data from an optical flow sensor, and determine a scale estimation value based on the homograph computation and the optical flow sensor data. The robotic device may determine the robotic device pose (or the pose of the image sensor) based on the scale estimation value.