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| || | ||  /_   _// | || | ||   / _ \\   /_   _// 
| '--' ||   -| ||-  | '--' ||  / //\ \\  `-| |,-  
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`-`  `-`   `-----`  `-`  `-`  `-`   `-`    `-`'

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發送短信 : Dual-mode human-robot collaboration with guaranteed safety using time-varying zeroing control barrier functions and quadratic program