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 in order to provide intelligent calligraphy evaluation assistance system to cope with the processing conditions of calligraphy word documents under poor lighting conditions, we jointly established our own data set with a calligraphy teaching company, which are all written on the grid paper, and stored in electronic devices by scanning or photographing, etc., and then split to single-word pictures by using the segmentation method [26-27].

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We have utilized Ultrasound  (US) B-mode imaging to record single agents and collective swarms of microrobots in controlled experimental conditions.

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