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This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various species, our visual system addresses traditional stereo vision limitations, i.e., immutable camera alignment with narrow fields of view, by introducing a reconfigurable stereo vision system to robotics. Our key innovations include the reconfigurable stereo vision strategy that allows dynamic camera alignment, a robust depth measurement system utilizing a nonrectified geometrical method combined with a deep neural network for feature matching, and a geometrical compensation technique to enhance visual accuracy. Implemented on a metamorphic robot, this vision system demonstrates its great adaptability to various scenarios by switching its configurations of 316{\deg} monocular with 79{\deg} binocular field for fast target seeking and 242{\deg} monocular with 150{\deg} binocular field for detailed close inspection., Comment: 7 pages, 8 figures, submitted to IEEE ICRA 2025

True muonium (TM) -- the bound state of $\mu^+\mu^-$ -- has not been discovered yet. It was demonstrated that searching for TM via $\gamma\gamma$ fusions in heavy ion collisions is feasible due to the enhancement of the atom number. We study the production of the true para-muonium (pTM) in the collisions of linearly polarized photons in the experiments of heavy-ion collisions, calculate the production rate as well as the transverse spectrum of pTM, and explore the discovery potential in nuclear experiments. Our results show that there is a significant correlation between the linearly polarized photon distribution and the transverse momentum distribution of pTM. The optimal kinematic region of the generated pTM is identified, which can provide a theoretical guide to the detection of pTM in experiments., Comment: 7 pages, 10 figures, 1 table. Accepted for publication in Physical Review D

This paper focuses on the classification task of breast ultrasound images and researches on the reliability measurement of classification results. We proposed a dual-channel evaluation framework based on the proposed inference reliability and predictive reliability scores. For the inference reliability evaluation, human-aligned and doctor-agreed inference rationales based on the improved feature attribution algorithm SP-RISA are gracefully applied. Uncertainty quantification is used to evaluate the predictive reliability via the Test Time Enhancement. The effectiveness of this reliability evaluation framework has been verified on our breast ultrasound clinical dataset YBUS, and its robustness is verified on the public dataset BUSI. The expected calibration errors on both datasets are significantly lower than traditional evaluation methods, which proves the effectiveness of our proposed reliability measurement.

This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's unique metamaterial structure, which facilitates omni-directional passive adaptation during grasping, protecting delicate objects across diverse scenarios. A compact in-finger camera captures high-framerate images of the finger's deformation during contact, extracting crucial tactile data in real-time. We present a volumetric discretized model of the soft finger and use the geometry constraints captured by the camera to find the optimal estimation of the deformed shape. The approach is benchmarked using a motion capture system with sparse markers and a haptic device with dense measurements. Both results show state-of-the-art accuracies, with a median error of 1.96 mm for overall body deformation, corresponding to 2.1% of the finger's length. More importantly, the state estimation is robust in both on-land and underwater environments as we demonstrate its usage for underwater object shape sensing. This combination of passive adaptation and real-time tactile sensing paves the way for amphibious robotic grasping applications., Comment: 24 pages, 11 figures, 1 table, Conditionally Accepted for the Special Collection on Tactile Robotics in IEEE Transactions on Robotics

In the realm of natural supersymmetric models, higgsinos are typically the lightest electroweakinos. In gauge-mediated supersymmetry breaking models, the lightest higgsino-dominated particles decay into a $Z$-boson or a Higgs boson ($h$), along with an ultra-light gravitino ($\tilde{G}$) serving as the lightest supersymmetric particle (LSP). This scenario suggests a significant non-resonant $hh$ production. Basing on the recent global fitting results of the $\tilde{G}$-EWMSSM (MSSM with light electroweakinos and an eV-scale gravitino as the LSP) performed by the \textsf{GAMBIT} collaboration, which support a higgsino dominated electroweakino as light as 140 GeV, we develop two simplified models to evaluate their detection potential at the high-luminosity LHC (HL-LHC) with $\sqrt{s} = 14~{\rm TeV}$ and an integrated luminosity of $3000~{\rm fb}^{-1}$. The first model examines the processes where heavier higgsino-dominated states decay into soft $W/Z$ bosons, while the second focuses on direct decays of all three higgsino-dominated electroweakinos into $W/Z/h$ plus a $\tilde{G}$. Our study, incorporating both models and their distinct decay channels, utilizes detailed Monte Carlo simulations for signals and standard model backgrounds. We find that the HL-LHC can probe higgsinos up to 575 GeV, potentially discovering or excluding the natural SUSY scenario in the context of a gravitino LSP. Further, we reinterpret this discovery potential using the GAMBIT global fit samples, and find that the entire parameter space of $|\mu| \leq 500~{\rm GeV}$ with an electroweak fine-tuning measure ($\Delta_{\rm EW}$) under 100 in $\tilde{G}$-EWMSSM is accessible at the HL-LHC., Comment: 31 pages, 12 figures, and 6 tables

Inspired by the recent precise data, we perform model-independently an isospin decomposition of the timelike octet baryons electromagnetic form factors. As noted in our previous work, the relative magnitude of isoscalar and isovector component is determined with the input of data on various isospin channels. Herein we further assert that {their relative phase can be constraint by the phase difference of oscillatory modulation of effective form factors} between isospin channels. The framework is extended to analyze the data of differential cross sections and applied to the form factors of nucleon and hyperons with detail and isospin non-conservation of charmonium decay into baryon-anti-baryon as well. We address that isospin analysis is meaningful when the isospin broken scale is compared to or smaller than the uncertainties of data., Comment: 12 pages, 7 figures, accepted version

Megabar pressures are of crucial importance for cutting-edge studies of condensed matter physics and geophysics. With the development of diamond anvil cell, laboratory studies of high pressure have entered the megabar era for decades. However, it is still challenging to implement in-situ magnetic sensing under ultrahigh pressures. Here, we demonstrate optically detected magnetic resonance of diamond nitrogen-vacancy (NV) centers, a promising quantum sensor of strain and magnetic fields, up to 1.4 Mbar. We quantify the reduction and blueshifts of NV fluorescence under high pressures. We demonstrate coherent manipulation of NV electron spins and extend its working pressure to the megabar region. These results shed new light on our understanding of diamond NV centers and will benefit quantum sensing under extreme conditions., Comment: 9 pages, 4 figures

The integration of NMR and high pressure technique brings unique opportunities to study electronic, structural and dynamical properties under extreme conditions. Despite a great degree of success has been achieved using coil-based schemes, the contradictory requirement on sample volume of these two techniques remains an outstanding challenge. In this letter, we introduce diamond nitrogen-vacancy (NV) centers, as the source and probe of in-situ nuclear spin polarization, to address the sample volume issue. We demonstrate hyperpolarization and coherent control of $^{14}$N nuclear spins under high pressures. NMR spectra of a micro-diamond are measured up to 16.6 GPa, and unexpected pressure shift of the $^{14}$N nuclear quadrupole and hyperfine coupling terms are observed. Our work contributes to quantum sensing enhanced spectrometry under extreme conditions., Comment: 6 pages, 4 figures