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A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots.
Biomimetics (Basel)
December 2024
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.
Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization.
View Article and Find Full Text PDFDevelopment of a CT image-based virtual atelectasis simulation model and noninvasive lung nodule localization system.
J Thorac Dis
November 2024
Department of Thoracic and Cardiovascular Surgery, Ansan Hospital, Korea University College of Medicine, Ansan-si, Republic of Korea.
Background: In the process of video-assisted thoracoscopic surgery (VATS) for lung nodule resection, lung is leaded to atelectasis. However, preoperative computed tomography (CT) images are taken during inspiration, which means they differ significantly from the lung status observed during surgery. Consequently, this discrepancy can make the localization of small or subsolid nodules challenging during the operation.
View Article and Find Full Text PDFDuality Constraints on Thermal Spectra of 3D Conformal Field Theories and 4D Quasinormal Modes.
Phys Rev Lett
November 2024
Higgs Centre for Theoretical Physics, University of Edinburgh, Edinburgh EH8 9YL, Scotland.
Thermal spectra of correlation functions in holographic 3D large-N conformal field theories (CFTs) correspond to quasinormal modes of classical gravity and other fields in asymptotically anti-de Sitter black hole spacetimes. Using general properties of such spectra along with constraints imposed by the S duality (or the particle-vortex duality), we derive a spectral duality relation that all such spectra must obey. Its form is universal and relates infinite products over QNMs with bulk algebraically special frequencies.
View Article and Find Full Text PDFApproximate Quantum Error Correcting Codes from Conformal Field Theory.
Phys Rev Lett
November 2024
Perimeter Institute for Theoretical Physics, Waterloo, Ontario N2L 2Y5, Canada.
The low-energy subspace of a conformal field theory (CFT) can serve as a quantum error correcting code, with important consequences in holography and quantum gravity. We consider generic (1+1)D CFT codes under extensive local dephasing channels and analyze their error correctability in the thermodynamic limit. We show that (i) there is a finite decoding threshold if and only if the minimal nonzero scaling dimension in the fusion algebra generated by the jump operator of the channel is larger than 1/2 and (ii) the number of protected logical qubits k≥Ω(loglogn), where n is the number of physical qubits.
View Article and Find Full Text PDFSoft Gripping Fingers Made of Multi-Stacked Dielectric Elastomer Actuators with Backbone Strategy.
Biomimetics (Basel)
August 2024
Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, 79110 Freiburg, Germany.
Soft grippers, a rapidly growing subfield of soft robotics, utilize compliant and flexible materials capable of conforming to various shapes. This feature enables them to exert gentle yet, if required, strong gripping forces. In this study, we elaborate on the material selection and fabrication process of gripping fingers based on the dielectric elastomer actuation technique.
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