FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning

Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is proposed along with a real-time map construction algorithm for robot exploration. Specifically, the FHT-Map utilizes both RGB cameras and LiDAR information and consists of two types of nodes: main node and support node. Main nodes will store visual information compressed by convolutional neural network and local laser scan data to enhance subsequent relocalization capability. Support nodes retain a minimal amount of data to ensure storage efficiency while facilitating path planning. After map construction with robot exploration, the FHT-Map can be used by other robots for relocalization and path planning. Experiments are conducted in Gazebo simulator, and the results demonstrate that the proposed FHT-Map can effectively improve relocalization and path planning capability compared with other topological maps. Moreover, experiments on hierarchical architecture are implemented to show the necessity of two types of nodes.Comment: 8 pages, 7figures, 2 table

A 130nm 1Mb Embedded Phase Change Memory with 500kb/s Single Channel Write Throughput

Abstract A 130 nm 1Mb embedded phase change memory (PCM) has been achieved, requiring only three additional masks for phase change storage element, featuring 500 kb/s single channel write throughput and > 10 8 endurance. The prepare process has been optimized to reduce the cost and power. An 80 nm heat electrode has been prepared with 130 nm process. The optimal Read/Write circuit module is designed to realize the load/store function for PCM. The critical operation parameter is Reset/70 ns/2.5 mA and Set/1500 ns/1 mA, which means that the signal channel write throughput arrives to 500 kb/s

RESET Current Reduction for Phase Change Memory Based on Standard 0.13-μm CMOS Technology

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Measured and perceived impacts of evidence-based leadership in nursing: a mixed-methods systematic review protocol

Introduction Despite the abundance of existing literature on evidence-based nursing practice, knowledge regarding evidence-based leadership, that is, leadership supported by an evidence-based approach, is lacking. Our aim is to conduct a mixed-methods systematic review with qualitative and quantitative studies to examine how evidence is used to solve leadership problems and to describe the measured and perceived effects of evidence-based leadership on nurses and nurse leaders and their performance as well as on organisational and clinical outcomes. Methods and analysis We will search the following databases with no year limit or language restrictions: CINAHL (EBSCO), Cochrane Library, Embase (Elsevier), PsycINFO (EBSCO), PubMed (MEDLINE), Scopus (Elsevier) and Web of Science. In addition, the databases for prospectively registered trials and other systematic reviews will be screened. We will include articles using any type of research design as long as the study includes a component of an evidence-based leadership approach. Three reviewers will independently screen all titles, abstracts and full-text articles and two reviewers will extract the data according to the appropriate checklists. The quality of each study will be appraised using specific appraisal tool fitting in study design used in each study. The Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) grid, PRISMA Protocols, Synthesis Without Meta-analysis and ENTREQ will guide the study process and reporting. Outcomes related to individual or group performance of nurses or nurse managers regarding leadership skills (e.g., communication skills), organisational outcomes (e.g., work environment, costs) and clinical outcomes (e.g., patient quality of life, treatment satisfaction) will be extracted and synthesised. Ethics and dissemination This systematic review will not include empirical data, and therefore, ethics approval will not be sought. The results of the review will be disseminated in a peer-reviewed scientific journal and in a conference presentation. PROSPERO registration number CRD42021259624.</p

Comparison between two device structures of SPR enhanced UV detectors based on ZnO

Surface plasmon resonance can be exploited to greatly enhance the photo response of photo detectors. The enhancement is highly dependent on the device structure of the detector. In this paper, we compared two types of SPR enhanced UV detectors based on ZnO in terms of fabrication process, absorption, I–V curves, and spectral response. The peak responsivity is enlarged by 22–100 times due to SPR enhancement. The embedding type detector has an advantage in dark current controlling. However, the surface type detector has a simpler fabrication process and more importantly a more prominent responsivity enhancement. Therefore, the surface type is a more favourable structure to incorporate SPR with ZnO UV detectors to realize large enhancement of responsivity

The Effect of Knitting Parameter and Finishing on Elastic Property of PET/PBT Warp Knitted Fabric

This study investigated the elastic elongation and elastic recovery of the elastic warp knittedfabric made of PET( polyethylene terephthalate) and PBT(polybutylene terephthalate) filament. Using 50/24F PET and 50D/24F PBT in two threadingbars, the tricot, locknit and satin warp knitted fabrics were produced on the E28 tricot warpknitting machine. The knitting parameters influencing the elastic elongation under 100N wereanalyzed in terms of fabric structure, yarn run-in speed and drawing density set on machine.Besides, dyeing temperature and heat setting temperature/time were also examined in order toretain proper elastic elongation and elastic recovery. The relationship between elastic elongationand knitting parameter and finishing parameter were analyzed. Finally, the elastic recovery ofPET/PBT warp knitted fabric was examined to demonstrate the elastic property of final finishedfabric. This study could help us to further exploit the use of PET/PBT warp knitted fabric in thedevelopment of elastic garment in future

An Electric Gripper for Picking Brown Mushrooms with Flexible Force and In Situ Measurement

As brown mushrooms are both delicious and beneficial to health, the global production and consumption of brown mushrooms have increased significantly in recent years. Currently, to ensure the quality of brown mushrooms, selective manual picking is required, and the delicate surface of the mushrooms must not be damaged during the picking process. The labor cost of picking accounts for 50–80% of the total labor cost in the entire production process, and the high-humidity, low-temperature plant environment poses a risk of rheumatism for the laborers. In this paper, we propose a novel underactuated gripper based on a lead screw and linear bearings, capable of operating with flexible force control while simultaneously measuring the diameter of the mushrooms. The gripper features three degrees of freedom: lifting, grasping, and rotation, and enabling it to approach, grasp, and detach the mushroom. A thin-film force sensor is installed on the inner side of the fingers to achieve accurate grip force measurement. The use of a PID algorithm ensures precise grip force control, thereby protecting the brown mushrooms from damage. Experimental results demonstrate that the proposed gripper has a static grasping force error of 0.195 N and an average detachment force overshoot of 1.31 N during the entire picking process. The in situ measurement of the mushroom diameter achieves 97.3% accuracy, with a success rate of 98.3%. These results indicate that the gripper achieves a high success rate in harvesting, a low damage rate, and accurate diameter measurement