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arXiv 2025年

作者： Sun, Yuhao Zhang, Shixin Li, Wenzhuang Zhao, Jie Shan, Jianhua Shen, Zirong Chen, Zixi Sun, Fuchun Guo, Di Fang, Bin School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing100083 China Beijing100083 China School of International Beijing University of Posts and Telecommunications Beijing100876 China School of Mechanical Engineering Anhui University of Technology China Zhili College Tsinghua University Beijing100084 China Biorobotics Institute The Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa56127 Italy Institute for Artificial Intelligence Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China

With the development of robotics technology, some tactile sensors, such as vision-based sensors, have been applied to contact-rich robotics tasks. However, the durability of vision-based tactile sensors significantly increases the cost of tactile information acquisition. Utilizing simulation to generate tactile data has emerged as a reliable approach to address this issue. While data-driven methods for tactile data generation lack robustness, finite element methods (FEM) based approaches require significant computational costs. To address these issues, we integrated a pinhole camera model into the low computational cost vision-based tactile simulator Tacchi that used the Material Point Method (MPM) as the simulated method, completing the simulation of marker motion images. We upgraded Tacchi and introduced Tacchi 2.0. This simulator can simulate tactile images, marked motion images, and joint images under different motion states like pressing, slipping, and rotating. Experimental results demonstrate the reliability of our method and its robustness across various vision-based tactile sensors. © 2025, CC BY.

关键词： Pinhole cameras

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Imaging the evolution of lithium-solid electrolyte interface using operando scanning electron microscopy

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Nature Communications 2025年第1期16卷 1-11页

作者： Zhao, Lihong Feng, Min Wu, Chaoshan Guo, Liqun Chen, Zhaoyang Risal, Samprash Ai, Qing Lou, Jun Fan, Zheng Qi, Yue Yao, Yan Department of Electrical and Computer Engineering and Texas Center for Superconductivity at the University of Houston University of Houston Houston TX United States School of Engineering Brown University Providence RI United States Materials Science and Engineering Program University of Houston Houston TX United States Department of Materials Science and Nanoengineering and the Rice Advanced Materials Institute Rice University Houston TX United States Department of Engineering Technology University of Houston Houston TX United States

The quality of Li–solid electrolyte interface is crucial for the performance of solid-state lithium metal batteries, particularly at low stack pressure, but its dynamics during cell operation remain poorly understood due to a lack of reliable operando characterization techniques. Here, we report the evolution of Li–electrolyte interface with high spatial resolution using operando scanning electron microscopy under realistic operating conditions. By tracking the stripping process of both Li and Li-rich Li-Mg alloy anodes, we show that multiple voids coalesce into a single gap and eventually delaminate the interface in Li, whereas the voids split and collapse to partially recover interfacial contact in Li-Mg. Density functional theory calculations show that the stronger Mg-S interaction at the metal–electrolyte interface attracts Mg toward the interface and repels Li-vacancies into the bulk, resulting in a reduced number of voids. The pressure-dependent voltage profiles of Li and Li-Mg stripping suggest that loss of contact due to void formation, rather than Mg accumulation at the interface, is the origin of high overpotential that limits the utilization of metal anodes. Improved interfacial contact enables stable cycling of all-solid-state lithium full cell at low stack pressure (1 MPa) and moderate rate (2 mA cm⁻²) simultaneously. The real-time visualization of Li–electrolyte interface dynamics provides critical insights into the rational design of solid-state battery interfaces. © The Author(s) 2025.

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Adaptive Interactive Navigation of Quadruped Robots using Large Language Models

arXiv

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arXiv 2025年

作者： Zhou, Kangjie Mu, Yao Song, Haoyang Zeng, Yi Wu, Pengying Gao, Han Liu, Chang Department of Advanced Manufacturing and Robotics College of Engineering Peking University China AI Institute School of Computer Science Shanghai Jiao Tong University China

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within free space, struggling in environments lacking viable paths to the goal, such as disaster zones or cluttered warehouses. To address this gap, we propose an adaptive interactive navigation approach that proactively interacts with environments to create feasible paths to reach originally unavailable goals. Specifically, we present a primitive tree for task planning with large language models (LLMs), facilitating effective reasoning to determine interaction objects and sequences. To ensure robust subtask execution, we adopt reinforcement learning to pre-train a comprehensive skill library containing versatile locomotion and interaction behaviors for motion planning. Furthermore, we introduce an adaptive replanning method featuring two LLM-based modules: an advisor serving as a flexible replanning trigger and an arborist for autonomous plan adjustment. Integrated with the tree structure, the replanning mechanism allows for convenient node addition and pruning, enabling rapid plan modification in unknown environments. Comprehensive simulations and experiments have demonstrated our method’s effectiveness and adaptivity in diverse scenarios. The supplementary video is available at page: https://***/W5ttPnSap2g. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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A novel spatial-temporal image fusion method for augmented reality-based endoscopic surgery

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Medical Image Analysis 2025年 103卷 103609页

作者： Shi, Haochen Xu, Jiangchang Li, Haitao Jiang, Shuanglin Lei, Chaoyu Zhou, Huifang Li, Yinwei Chen, Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200241 China Department of Ophthalmology Shanghai Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Shanghai200011 China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200241 China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai200011 China

Augmented reality (AR) has significant potential to enhance the identification of critical locations during endoscopic surgeries, where accurate endoscope calibration is essential for ensuring the quality of augmented images. In optical-based surgical navigation systems, asynchrony between the optical tracker and the endoscope can cause the augmented scene to diverge from reality during rapid movements, potentially misleading the surgeon—a challenge that remains unresolved. In this paper, we propose a novel spatial–temporal endoscope calibration method that simultaneously determines the spatial transformation from the image to the optical marker and the temporal latency between the tracking and image acquisition systems. To estimate temporal latency, we utilize a Monte Carlo method to estimate the intrinsic parameters of the endoscope's imaging system, leveraging a dataset of thousands of calibration samples. This dataset is larger than those typically employed in conventional camera calibration routines, rendering traditional algorithms computationally infeasible within a reasonable timeframe. By introducing latency as an independent variable into the principal equation of hand-eye calibration, we developed a weighted algorithm to iteratively solve the equation. This approach eliminates the need for a fixture to stabilize the endoscope during calibration, allowing for quicker calibration through handheld flexible movement. Experimental results demonstrate that our method achieves an average 2D error of 7±3 pixels and a pseudo-3D error of 1.2±0.4mm for stable scenes within 82.4±16.6 seconds—approximately 68% faster in operation time than conventional methods. In dynamic scenes, our method compensates for the virtual-to-reality latency of 11±2ms, which is shorter than a single frame interval and 5.7 times shorter than the uncompensated conventional method. Finally, we successfully integrated the proposed method into our surgical navigation system and validated its fe

关键词： Endoscopy

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Towards Automated Provisioning and Emergency Handling in Renewable Energy Powered Datacenters

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Journal of computer science & Technology 2014年第4期29卷 618-630页

作者：李超王锐胡杨周睿晋刘铭刘龙军袁景凌李涛钱德沛 ACM IEEE Department of Electrical and Computer Engineering University of Florida Gainesville FL 32611 U.S.A. CCF School of Computer Science and Engineering Beihang University Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University School of Computer Science and Technology Wuhan University of Technology

Designing eco-friendly system has been at the forefront of computing research. Faced with a growing concern about the server energy expenditure and the climate change, both industry and academia start to show high interest in computing systems powered by renewable energy sources. Existing proposals on this issue mainly focus on optimizing resource utilization or workload performance. The key supporting hardware structures for cross-layer power management and emergency handling mechanisms are often left unexplored. This paper presents GreenPod, a research framework for exploring scalable and dependable renewable power management in datacenters. An important feature of GreenPod is that it enables joint management of server power supplies and virtualized server workloads. Its interactive communication portal between servers and power supplies allows dataeenter operators to perform real-time renewable energy driven load migration and power emergency handling. Based on our system prototype, we discuss an important topic： virtual machine （VM） workloads survival when facing extended utility outage and insufficient onsite renewable power budget. We show that whether a VM can survive depends on the operating frequencies and workload characteristics. The proposed framework can greatly encourage and facilitate innovative research in dependable green computing.

关键词： data center server system renewable energy green computing

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Value Stream Mapping for Smart Pharmaceutical Management in a Thai Hospital

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Procedia computer science 2025年 253卷 495-504页

作者： Ganda Boonsothonsatit Rardchawadee Silapunt Supachai Vongbunyong Kamol Kaemarungsi Wirachchaya Chanpuypetch Nilubon Chonsawat Graduate School of Management and Innovation King Mongkut’s University of technology Thonburi Thailand Electronic and Telecommunication Engineering King Mongkut’s University of Technology Thonburi Thailand Hospital Automation Research Center Institute of Field Robotics King Mongkut’s University of Technology Thonburi Thailand National Electronics and Computer Technology Center National Science and Technology Development Agency Thailand Faculty of Agro-Industry Chiang Mai University Thailand Department of Agricultural Economy and Developement Faculty of Agriculture Chiang Mai University Thailand

The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical management systems in large and medium-sized hospitals in Thailand into smart systems using Value Stream Mapping (VSM) as a guiding tool. Traditional systems often face challenges such as inefficiencies and medication errors. VSM, rooted in lean management principles, offers a structured approach to visualize and optimize processes. Additionally, smart technologies like automated inventory systems and electronic health records enhance pharmaceutical management effectiveness. Through a comprehensive research methodology encompassing case studies, data collection, and VSM analysis, this study identifies inefficiencies and proposes evidence-based strategies for improvement. Results from a case study highlight the benefits of VSM implementation in enhancing pharmacy operations, emphasizing improved patient care and operational efficiency. The implementation of a smart medication dispensing system shows promising results in reducing workload and accommodating increased patient arrivals. Continued evaluation and refinement are crucial for maximizing benefits and addressing emerging challenges effectively.

关键词： lean management smart medication dispensing smart pharmaceutical smart technologies Value Stream Mapping

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Development of a navigation performance evaluation system

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science China(Information sciences) 2020年第12期63卷 263-265页

作者： Fangfang ZHAO Wei ZHANG Shuzhi Sam GE School of Computer Science and Engineering Center for RoboticsUniversity of Electronic Science and Technology of China Department of Electrical and Computer Engineering National University of Singapore Institute for Future (IFF) Qingdao University

Dear editor,Owing to little exploration experience and great technical difficulty of deep space exploration autonomous navigation, the corresponding navigation performance evaluation system is seldom perfected [1].

关键词： Autonomous navigation Performance evaluation Evaluation system Evaluation indicator Evaluation method

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Design of an Automatic Price Tag System for Web-Based Retail Business 9

Design of an Automatic Price Tag System for Web-Based Retail...

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9th International Conference on Information Management and Technology, ICIMTech 2024

作者： Liawatimena, Suryadiputra Gunawan, Devina Bina Nusantara University Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Jakarta11480 Indonesia Bina Nusantara University Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Jakarta11480 Indonesia

ISBN: (纸本)9798350390025

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper. © 2024 IEEE.

关键词： Sales

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POSITIONING OF UNKNOWN FLEXIBLE PAYLOADS FOR ROBOTIC ARMS USING A WRIST-MOUNTED FORCE/TORQUE SENSOR

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 1995年第2期3卷 189-201页

作者： JAIN, S KHORRAMI, F Control /Robotics Research Laboratory School of Electrical Engineering and Computer Science Polytechnic University Brooklyn NY USA

The Problem of control design for robotic arms manipulating unknown flexible payloads is considered in this paper, A novel scheme utilizing a force/torque sensor at the wrist of the manipulator is utilized, This choice of sensor is adequate to glean information about payload vibrations without outfitting the payload with sensors and offers the additional advantage of furnishing a minimum phase system, thus simplifying the control design, A controller utilizing wrist torque feedback from the sensor is designed as a function of the system parameters, An adaptive scheme for on-line identification of these parameters and adaptation of controller parameters is discussed, The proposed scheme is generic in regard to the nature of the flexible payload, as is shown through simulation studies, The scheme is implemented on a single-link manipulator carrying an unknown flexible payload, Simulation and experimental results validate the fact that the adaptive control maintains a robust performance for high speed slewing and varying payloads.

关键词： Payloads Arm Sensor systems Robot sensing systems Control design Wrist Adaptive control Force sensors Torque Manipulators

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A computer VISION TECHNIQUE FOR SURFACE CURVATURE GAUGING WITH PROJECTED GRATING

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1986年第2期33卷 158-161页

作者： HUNG, YY CHENG, SK LOH, NK Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image p... 详细信息

关键词： computer vision Gratings Surface topography Digital images Shape Inspection Data mining robotics and automation Computational modeling Productivity

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