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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand−eye calibration intuitive control surgical robot dual quaternion

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一种机械臂在线标定装置开发 Research Article

万梓威1,2,周春琳1,3,张昊天4,吴俊1

《信息与电子工程前沿（英文）》 2023年第24卷第2期页码 217-230 doi: 10.1631/FITEE.2200172

摘要：

提出一种名为MultiCal的新型接触式三维测量装置，可用于机械臂的现场标定和在线精度测量，具有使用方便、成本低（低于5000美元）、性能可靠等优点。该设备可灵活地设置在机械臂的工作环境中进行微米级精度三维测量。在标定过程中，通过一个三维位移测量装置，让机械臂的工具中心点运动至一个固定点，之后再绕该点旋转运动至不同姿态角并测量各关节角度（单点约束测量）。然后采用一个创新设计的夹具，将三维位移测量装置精确地安装在该夹具的不同工位上，并重复上述测量过程，从而实现多点约束测量。夹具上不同工位的相对位置在标定前已被精确测量，并作为标定的先验信息，以提高标定的精度与鲁棒性。理论分析表明，在相同水平的测量误差下，MultiCal的理论标定精度与传统的非接触式三维或六维测量设备（如激光跟踪器）相比降低10%—20%。而在Staubli TX90机械臂上进行的实际标定实验结果表明，MultiCal实际标定精度仅比带激光扫描仪的测量臂低7%—14%，时间效率比六维双目视觉测量系统低21%—30%，标定后的机械臂的最大和平均绝对定位误差分别为0.831 mm和0.339 mm。

关键词：标定装置；运动学标定；现场标定；绝对定位精度

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Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

《机械工程前沿（英文）》 2010年第5卷第3期页码 316-321 doi: 10.1007/s11465-010-0021-1

摘要： According to the deficiencies of remote calibration mode based on material object reference, a new model of a remote calibration system for frequency based on in-place benchmark is introduced, which is made of a calibration subsystem on the spot and a remote management subsystem. The key technology of some key problems for the remote calibration system is particularly discussed, including the time and frequency benchmark receiving module based on global positioning system (GPS), frequency comparison based on a phase method, frequency division based on dual high-frequency phase locked loop (PLL), and remote calibration based on the web. The results show that the system possesses some characteristics, such as high precision, good versatility, and no limitation of time and place.

关键词： remote calibration in-place benchmark frequency comparison global position system (GPS)

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

《机械工程前沿（英文）》 2022年第17卷第1期页码 3-3 doi: 10.1007/s11465-021-0659-x

摘要： Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment. The limited space for robot manipulation restricts structure volume and motion. In this paper, an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation, needle positioning, and needle insertion. A novel parallel structure is employed in the robot system for space saving, structural rigidity, and collision avoidance. The particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure accurately. The method identifies parameters in the modified kinematic model stepwise according to parameter discernibility. Verification experiments prove that the robot system can realize motions needed in targeting. By applying the calibration method, a reasonable, reliable forward kinematic model is built, and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point, respectively.

关键词： ultrasound image guidance prostate percutaneous intervention parallel robot kinematics identification particle swarm optimization informative value

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Edge detection of steel plates at high temperature using image measurement

Qiong Zhou, Qi An

《机械工程前沿（英文）》 2009年第4卷第1期页码 77-82 doi: 10.1007/s11465-009-0013-1

摘要： An edge detection method for the measurement of steel plate’s thermal expansion is proposed in this paper, where the shrinkage of a steel plate is measured when temperature drops. First, images are picked up by an imaging system; a method of regional edge detection based on grayscales’ sudden change is then applied to detect the edges of the steel plate; finally, pixel coordinates of the edge position are transformed to physical coordinates through calibration parameters. The experiment shows that the real-time, high precision, and non-contact measurement of the steel plate’s edge position under high temperature can be realized using the imaging measurement method established in this paper.

关键词： thermal expansion image measurement edge detection image calibration

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Design and calibration of a new high-definition three-dimensional laparoscopic system

Jia TANG,Li-qiang WANG,Bo YUAN,Hong JIANG,Qi-ming ZHU

《信息与电子工程前沿（英文）》 2015年第16卷第1期页码 79-84 doi: 10.1631/FITEE.1400149

摘要： We present a high-definition (HD) 3D laparoscopic system including a dual channel optical system, two cameras, a camera control unit (CCU), and an HD 3D monitor. This laparoscopic system is capable of outputting dual high-definition videos and providing vivid 3D images. A modified pinhole camera model is used for camera calibration and a new method of depth measurement to improve precision. The average error of depth measurement measured by experiment (about 1.13 mm) was small in proportion to the large range in distance of the system (10-150 mm). The new method is applicable to any calibrated binocular vision system.

关键词： Dual optical channels Three dimensional Camera calibration Pinhole model Depth measurement Laparoscopic system

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Application of micro-genetic algorithm for calibration of kinetic parameters in HCCI engine combustion

HUANG Haozhong, SU Wanhua

《能源前沿（英文）》 2008年第2卷第1期页码 86-92 doi: 10.1007/s11708-008-0003-8

摘要： The micro-genetic algorithm (?GA) as a highly effective optimization method, is applied to calibrate to a newly developed reduced chemical kinetic model (40 species and 62 reactions) for the homogeneous charge compression ignition (HCCI) combustion of -heptane to improve its autoignition predictions for different engine operating conditions. The seven kinetic parameters of the calibrated model are determined using a combination of the Micro-Genetic Algorithm and the SENKIN program of CHEMKIN chemical kinetics software package. Simulation results show that the autoignition predictions of the calibrated model agree better with those of the detailed chemical kinetic model (544 species and 2 446 reactions) than the original model over the range of equivalence ratios from 0.1–1.3 and temperature from 300–3 000 K. The results of this study have demonstrated that the mGA is an effective tool to facilitate the calibration of a large number of kinetic parameters in a reduced kinetic model.

关键词： homogeneous different combustion autoignition compression

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New method for computer numerical control machine tool calibration: Relay method

LIU Huanlao, SHI Hanming, LI Bin, ZHOU Huichen

《机械工程前沿（英文）》 2007年第2卷第3期页码 301-304 doi: 10.1007/s11465-007-0053-3

摘要： Relay measurement method, which uses the kilogram-meter (KGM) measurement system to identify volumetric errors on the planes of computer numerical control (CNC) machine tools, is verified through experimental tests. During the process, all position errors on the entire plane table are measured by the equipment, which is limited to a small field. All errors are obtained first by measuring the error of the basic position near the original point. On the basis of that positional error, the positional errors far away from the original point are measured. Using this analogy, the error information on the positional points on the entire plane can be obtained. The process outlined above is called the relay method. Test results indicate that the accuracy and repeatability are high, and the method can be used to calibrate geometric errors on the plane of CNC machine tools after backlash errors have been well compensated.

关键词： positional volumetric information process repeatability

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HY-2A卫星大气校正微波辐射计在轨数据定标和检验研究

王振占,张德海,赵谨,李芸

《中国工程科学》 2013年第15卷第7期页码 44-52

摘要：

海洋二号（HY-2A）卫星大气校正微波辐射计（ACMR）是为雷达高度计提供大气路径延迟校正的微波辐射计。本文针对ACMR热真空定标试验的原理、方法、实施过程及试验结果进行了阐述和分析，得到了ACMR 3个频率的辐射传输系数和非线性系数，并进行了天线订正的发射前算法分析，给出了天线温度系数。利用这些系数对在轨数据进行了处理，得到了在轨天线温度转换系数，并与Jason-1、Jason-2卫星上搭载的微波辐射仪（JMR）进行了匹配比较，结果表明一致性良好。

关键词： HY-2A ACMR 定标和检验

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基于GPS的高度计海面高度定标浮标设计

陈春涛,闫龙浩,张晓旭,张倩,翟万林,朱建华

《中国工程科学》 2014年第16卷第6期页码 109-112

摘要：

全球定位系统（GPS）浮标是高度计海面高度定标的重要仪器。本文介绍了GPS浮标的组成和工作原理，分别对GPS浮标的外型设计、舱体设计、密封性设计、供电设计做了详细介绍，最后利用数值模拟的方式，对设计的GPS浮标在3 级海况下的摇摆和升沉响应进行模拟试验。结果表明自主设计的GPS浮标能够满足海上高度计海面高度定标的需求。

关键词：卫星高度计定标 GPS浮标数值模拟

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Corrigendum to ‘‘A Comparison of SWAT Model Calibration Techniques for Hydrological Modeling in the Ganga Corrigendum

Nikita Shivhare, Prabhat Kumar Singh Dikshit, Shyam Bihari

《工程（英文）》 2019年第5卷第1期页码 181-181 doi: 10.1016/j.eng.2018.11.009

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高临场感多投影面虚拟环境系统的设计与实现

贾庆轩,宋荆洲,孙汉旭,高欣,姚福生

《中国工程科学》 2006年第8卷第8期页码 33-38

摘要：

给出了高临场感多投影面虚拟环境系统的体系结构，研究了系统构建中的立体显示、图形分割、画面同步、几何校正、颜色校正等关键问题；采用基于联网PC驱动的技术、利用中低端的投影机和低性能网络设备，构建了一个五通道的220度宽视场角多投影面虚拟环境应用验证系统，获得了良好的画面整体一致性效果和高度的沉浸感。

关键词：多投影面画面同步立体显示几何校正颜色校正

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Calibration of catalyst temperature in automotive engines over coldstart operation in the presence of

Nasser L. AZAD,Ahmad MOZAFFARI

《机械工程前沿（英文）》 2015年第10卷第4期页码 405-412 doi: 10.1007/s11465-015-0354-x

摘要：

The main scope of the current study is to develop a systematic stochastic model to capture the undesired uncertainty and random noises on the key parameters affecting the catalyst temperature over the coldstart operation of automotive engine systems. In the recent years, a number of articles have been published which aim at the modeling and analysis of automotive engines’ behavior during coldstart operations by using regression modeling methods. Regarding highly nonlinear and uncertain nature of the coldstart operation, calibration of the engine system’s variables, for instance the catalyst temperature, is deemed to be an intricate task, and it is unlikely to develop an exact physics-based nonlinear model. This encourages automotive engineers to take advantage of knowledge-based modeling tools and regression approaches. However, there exist rare reports which propose an efficient tool for coping with the uncertainty associated with the collected database. Here, the authors introduce a random noise to experimentally derived data and simulate an uncertain database as a representative of the engine system’s behavior over coldstart operations. Then, by using a Gaussian process regression machine (GPRM), a reliable model is used for the sake of analysis of the engine’s behavior. The simulation results attest the efficacy of GPRM for the considered case study. The research outcomes confirm that it is possible to develop a practical calibration tool which can be reliably used for modeling the catalyst temperature.

关键词： automotive engine calibration coldstart operation Gaussian process regression machine (GPRM) uncertainty and random noises

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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0732-0

摘要： To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface, a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid surface. To study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush, the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are conducted. The parameter calibration of the sampled particles is studied first, and the calibrated particle parameters are used in the numerical simulation of the sampling process. The sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds, and the effects of different parameter settings on the sampling efficiency are analyzed. In addition, a set of rotating symmetrical sampling wheel brush devices is built for the ground test, and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling process. The relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test results. Results indicate that when the rotating speed of the wheel brush is faster, the sampling efficiency is higher, and the driving torque required for the sampling wheel brush is greater. Moreover, a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition, and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower method. This research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler, which provides important reference value and engineering significance.

关键词： asteroid sampling wheel brush sampler discrete element method parameter calibration experimental research

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Long-term behavior and safety assessment of Sance Rockfill Dam

Marta DOLEZALOVA, Ivo HLADIK

《结构与土木工程前沿（英文）》 2011年第5卷第1期页码 79-89 doi: 10.1007/s11709-010-0010-9

摘要： Safety assessment of the 62 m high Sance Rockfill Dam based on long-term monitoring results and their simulation by numerical models is presented in the paper. Unexpectedly large settlements and horizontal movements of the crest together with the steep downstream slope questioned the safety of the dam. Calibrated 2D and 3D models fitting the monitoring results were applied for the safety assessment of the dam including slope stability analysis and estimation of the clay core cracking and hydraulic fracturing hazard. The modeling results contributed to the rehabilitation concept and project of the dam.

关键词： rockfill dam path dependence creep calibration cracking hydraulic fracturing hazard