摘要：【中文】本发明提出的是一种无人机飞控多传感器姿态置信解算方法，通过对无人机飞控系统中内置的传感器进行数据预测，建立数学观测模型，通过角速度数学模型阶导求得当前状态角速度与数学模型预测量，确定误差与预测误差后建立冗余系统，进行数据比对并确定出现异常的传感器编号。本发明采用多传感器数据融合处理方法，扩展了时空覆盖范围，改善了系统的可靠性，对目标或事件的确认增加了可信度，减少了信息的模糊性；算法相对简单可靠，可有效降低硬件成本和对处理器性能的要求；节约计算时间，可实现计算测量无缝切换。 【EN】The invention provides an unmanned aerial vehicle flight control multi-sensor attitude confidence solution method, which comprises the steps of carrying out data prediction on a built-in sensor in an unmanned aerial vehicle flight control system, establishing a mathematical observation model, obtaining angular velocity and mathematical model prediction quantity of a current state through angular velocity mathematical model order derivation, establishing a redundancy system after determining errors and prediction errors, carrying out data comparison and determining the number of the sensor with abnormality. The invention adopts a multi-sensor data fusion processing method, expands the space-time coverage range, improves the reliability of the system, increases the credibility for confirming the target or event, and reduces the ambiguity of information; the algorithm is relatively simple and reliable, and the hardware cost and the requirement on the performance of the processor can be effectively reduced; the computing time is saved, and seamless switching of computing and measuring can be realized.

摘要：本发明属于模数混合集成电路技术领域，具体为一种采用双比较器的高速SAR ADC。本发明在SAR ADC的转换过程中，通过两个比较器交替工作对电容阵列上极板电压进行比较；在完成比较之后，开关控制逻辑直接根据比较结果进行开关切换，使得SAR Logic中对比较器比较结果的锁存操作与电容下极板开关切换操作并行进行。本发明可以保证SAR ADC在量化每一位时，有且仅有一个开关控制模块接受比较器的比较结果，保证开关切换的正确性；并且SAR Logic中的移位存储操作与开关切换操作并行进行，从而使得SAR ADC的环路延时仅为比较器的比较时间tcomparator、开关切换时间tsw和电容阵列建立时间tcdac，大大提高了SAR ADC的工作速度。

摘要：【中文】本发明提出的是一种物流无人机的控制方法，将货物由AGV小车运送至无人机起降场，通过视觉识别与精准降落技术控制无人机降落至AGV小车抓取货物，并通过双目视觉或标准航线控制，配合RTK‑GPS技术控制无人机飞往目的地，通过视觉识别与精准降落技术控制无人机降落至配送平台自动放置货物，并发送物流状态至快递平台，通知客户完成配送，之后自主返回机库。本发明通过将无人机设备进行专门维护，避免非专业人员对无人机进行不当操作，提高使用寿命，降低安全隐患；无人机的作业过程完成全自主抓取和投递，与现有物流行业的分拣过程和AGV小车网络无缝贴合；通过视觉降落和RTK技术，实现精准起降，降低起降地要求和成本。 【EN】The invention provides a control method of a logistics unmanned aerial vehicle, which is characterized in that goods are conveyed to an unmanned aerial vehicle take-off and landing field from an AGV, the unmanned aerial vehicle is controlled to land to the AGV through visual identification and accurate landing technologies to grab the goods, the unmanned aerial vehicle is controlled to fly to a destination through binocular vision or standard air line control in cooperation with an RTK-GPS technology, the unmanned aerial vehicle is controlled to land to a delivery platform through the visual identification and accurate landing technologies to automatically place the goods, a logistics state is sent to an express platform, a client is informed of completing delivery, and then the client autonomously returns to a machine library. According to the unmanned aerial vehicle maintenance system, the unmanned aerial vehicle equipment is specially maintained, so that the unmanned aerial vehicle is prevented from being improperly operated by non-professionals, the service life is prolonged, and potential safety hazards are reduced; the unmanned aerial vehicle finishes fully autonomous grabbing and delivering in the operation process, and is seamlessly attached to the sorting process and the AGV trolley network in the existing logistics industry; through visual landing and RTK technology, realize accurate take off and land, reduce take off and land ground requirement and cost.

摘要：本发明公开了一种汽车曲面玻璃底涂机械手动态轨迹优化方法，根据底涂机械手的半径来确定底涂间距，对玻璃的曲面长度进行等分；作出底涂轨迹中各轨迹线和玻璃轮廓线的交点，并记录交点坐标；选取轨迹线n所在的玻璃截面为平面A_n‑1,n；作轨迹线n与玻璃工作曲面的周边样条曲线的交点a_n，并以a_n做玻璃工作曲面的切线Φ_n；作轨迹线n+1与玻璃工作曲面的周边样条曲线的交点及切线；作切线Φ_n和Φ_n+1确定的平面B_n,n+1，在平面B_n,n+1上作摆线u_n,n+1。本发明采用玻璃曲面切出的切向量和最降速线摆线作为折返连接，得到直线段和摆线组成的空间“S”型曲线轨迹，从而保证了机械手底涂轨迹的连续光滑，使得机械手的底涂清洁过程中速度平滑，运动平稳。

摘要：【中文】本发明属于生物技术领域，具体涉及一种提高忍冬遗传转换效率的方法，包括如下步骤，S1、获得用于侵染的外植体；S2、获得含有目标基因的重组农杆菌菌液，使用该菌液侵染外植体；S3、培养侵染后的外植体，得到目标基因稳定表达的转基因植株。本发明的有益效果是：本发明的重组农杆菌介导的丁香叶忍冬遗传转化方法，该方法重复性强，不受基因型限制，侵染效率能够得到很大提高，转化效率至少为40％，可以提高丁香叶忍冬的转化率。 【EN】The invention belongs to the technical field of biology, and particularly relates to a method for improving genetic transformation efficiency of honeysuckle, which comprises the following steps of S1, obtaining an explant for infection; s2, obtaining recombinant agrobacterium tumefaciens bacterial liquid containing target genes, and infecting explants by using the bacterial liquid; and S3, culturing the infected explant to obtain a transgenic plant with the target gene stably expressed. The invention has the beneficial effects that: the genetic transformation method of the lonicera syringae mediated by the recombinant agrobacterium is strong in repeatability and free from restriction of genotypes, the infection efficiency can be greatly improved, the transformation efficiency is at least 40%, and the transformation rate of the lonicera syringae can be improved.

摘要：【中文】本发明公开了一种可提高金银花次生代谢产物的装置，其特征在于：包括培养容器、泡沫传感器、补充消泡剂单元、液位传感器、补充培养基单元、搅拌器、光照传感器、补充光照单元、酸碱度传感器、补充酸碱液单元、氧传感器、二氧化碳传感器、补充空气单元、温度传感器、压力传感器、加热冷却单元和控制器；该培养容器上设置有排气阀，该排气阀与控制器电连接。本发明可用于金银花在组织培养并能提高金银花次生代谢产物。另外，本发明还公开了一种使用所述可提高金银花次生代谢产物的装置的工作方法。 【EN】The invention discloses a device capable of improving secondary metabolites of honeysuckle, which is characterized in that: the device comprises a culture container, a foam sensor, a defoaming agent supplementing unit, a liquid level sensor, a culture medium supplementing unit, a stirrer, an illumination sensor, an illumination supplementing unit, a pH value sensor, an acid and alkali solution supplementing unit, an oxygen sensor, a carbon dioxide sensor, an air supplementing unit, a temperature sensor, a pressure sensor, a heating and cooling unit and a controller; the culture container is provided with an exhaust valve which is electrically connected with the controller. The invention can be used for tissue culture of honeysuckle and can improve the secondary metabolite of the honeysuckle. In addition, the invention also discloses a working method of the device for improving the secondary metabolites of honeysuckle.

摘要：【中文】本发明公开了一种题目推送方法，包括以下步骤：获取做题日志样本集，根据所述做题日志样本集构建题目分析模型；在接收到题目推送请求时，获取所述题目推送请求对应的账户标识，及所述账户标识关联的做题日志；将所述做题日志输入至所述题目分析模型进行日志信息分析，得到所述做题日志对应的题目特征数据；根据所述题目特征数据获取所述题目推送请求对应的练习题目并输出。本发明还公开了一种题目推送装置、设备和计算机可读存储介质。本发明中构建题目分析模型，在题目推送时基于题目分析模型分析用户的做题日志，得到题目特征数据，获得题目特征数据对应的练习题目，以实现题目准确地推送。 【EN】The invention discloses a question pushing method, which comprises the following steps: obtaining a problem making log sample set, and constructing a problem analysis model according to the problem making log sample set; when a topic pushing request is received, acquiring an account identifier corresponding to the topic pushing request and a topic making log associated with the account identifier; inputting the problem making log into the problem analysis model for log information analysis to obtain problem characteristic data corresponding to the problem making log; and acquiring an exercise topic corresponding to the topic pushing request according to the topic characteristic data and outputting the exercise topic. The invention also discloses a topic pushing device, equipment and a computer readable storage medium. According to the method and the device, a question analysis model is built, a question making log of a user is analyzed based on the question analysis model when the questions are pushed, question characteristic data are obtained, exercise questions corresponding to the question characteristic data are obtained, and accurate pushing of the questions is achieved.

摘要：【中文】本发明公开了一种铁–铱异核金属配合物及其制备方法和应用。其结构式如式（I）所示，R为氢、烷基和芳基。通过测试目标配合物对人类肺泡基底上皮癌细胞（A549）和子宫颈癌细胞（Hela）生长的抑制率实验，并与二茂铁联吡啶衍生物、金属铱二聚体，基础金属铱联吡啶配合物及顺铂对比，目标配合物均具有良好的抗癌活性，特别是顺式构型的配合物，证实了二茂铁与金属铱配合物的协同抗癌效果。取代基R由甲基→苯基，配合物的活性提升，证实了提高配体的供电子能力对提升目标配合物抗癌活性的协同作用。目标配合物可以在细胞内的溶酶体内积累，并导致溶酶体损伤，从而导致癌细胞凋亡。 【EN】The invention discloses an iron-iridium heteronuclear metal complex and a preparation method and application thereof. The structural formula is shown as a formula (I), and R is hydrogen, alkyl and aryl. Through testing the inhibition rate experiments of the target complex on the growth of human alveolar basement epithelial cancer cells (A549) and cervical cancer cells (Hela), and comparing the inhibition rate experiments with ferrocene bipyridyl derivatives, metal iridium dimers, basic metal iridium bipyridyl complexes and cisplatin, the target complex has good anticancer activity, and particularly the complex with cis-configuration proves the synergistic anticancer effect of ferrocene and the metal iridium complexes. The substituent R is methyl → phenyl, and the activity of the complex is improved, so that the synergistic effect of improving the electron supply capability of the ligand on improving the anticancer activity of the target complex is proved. The target complex may accumulate in intracellular lysosomes and cause lysosomal damage, leading to apoptosis of cancer cells.

摘要：本发明提供了一种用于压铸模具的定向时序抽气方法，包括如下步骤：步骤10、在压铸模具的浇口与分型面已经初步确定的情况下，确定充型的先后时序，找出制件难以成型的部位；步骤20、在难以成型部位设置抽气阀，该抽气阀由控制器控制启闭，设计控制器的时间时序，控制抽气阀门的抽气时序和气压；步骤30、将控制器与成型设备的工作过程相匹配。本发明采用定向时序抽气装置，结合抽气位置和时序与及抽气气压等配合进行制件的生产。其实质是根据压铸用金属液态合金的流动前沿与充型状态，在型腔的不同部位和不同时间形成不同的负气压，造成有利于充型的条件，使制件薄壁和筋肋部位能充满，并得到力学性能良好的制件。

摘要：本发明提供了一种式(Ⅰ)所示化合物及其制备和应用，所述化合物具有较强的脂肪酶抑制活性。