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Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 7,   Pages 594-606 doi: 10.1631/FITEE.14a0260

Abstract: Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps: (1) generate a dense surface for every single scan of point cloud and its corresponding image(s) and (2) incrementally fuse the dense surface of a new scan into the whole map. In step (1) edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noise within the scan is reduced and a dense surface is generated. In step (2) the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

Keywords： Bionic robot     Robotic mapping     Surface fusion    

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Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic Article

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 1,   Pages 122-138 doi: 10.1631/FITEE.1601873

Abstract: Most state-of-the-art robotic cars’ perception systems are quite different from the way a human driverSecond, a robotic car requires nearly 100% correct perception results for its autonomous driving, whileefficiently processing sensor data, and extracting low-level features, to higher-level object and environment mappingThe proposed framework has been tested extensively in actual urban scenes with our self-developed robotic

Keywords： Visual perception     Self-localization     Mapping     Motion planning     Robotic car    

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 219-228 doi: 10.1007/s11465-011-0218-y

Abstract:

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and jointsmodes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic

Keywords： robotic arms     elastic link     elastic joint     nonlinear dynamics     optimal control    

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Chemical mapping of cement pastes by using confocal Raman spectroscopy

Fengjuan LIU,Zhihui SUN

Frontiers of Structural and Civil Engineering 2016, Volume 10, Issue 2,   Pages 168-173 doi: 10.1007/s11709-015-0323-9

Abstract: In the present study, chemical mapping on the hydration process of cement paste with water-to-cementIt is concluded from the study that chemical mapping was an effective method to assist in visualizing

Keywords： chemical mapping     Raman spectroscopy     calcium silicates     calcium hydroxide     ettringite    

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Independent continuous and mapping method of structural topology optimization based on the global stress

Yunkang SUI, Jili FENG, Hongling YE, Xirong PENG,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 2,   Pages 130-142 doi: 10.1007/s11465-010-0011-3

Abstract: four measures are adopted. 1) Topology optimization model is established by independent continuous mapping

Keywords： independent continuous mapping (ICM) method     global stresses constraints     topology optimization     continuum    

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract:

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.the three joint modules, in which the design objective is to maximize the matched workspace of the roboticA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrateWith a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 182-196 doi: 10.1007/s11465-011-0221-3

Abstract: p>Stiffness can be considered of primary importance in order to guarantee the successful use of any roboticfor carrying out both numerical and experimental estimations of stiffness performance for multibody robotic

Keywords： robotics     stiffness performance     numerical and experimental estimations    

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the

Keywords： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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A survey of photon mapping state-of-the-art research and future challenges

Chun-meng KANG,Lu WAN,Yan-ning XU,Xiang-xu MENG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 3,   Pages 185-199 doi: 10.1631/FITEE.1500251

Abstract: The photon mapping algorithm is an effective method for computing global illumination with its obviousThe deficiency of precise details and efficient rendering are still the main challenges of photon mappingof categories including radiance estimation, photon relaxation, photon tracing, progressive photon mappingThe goals of our report are giving readers an overall introduction to photon mapping and motivating further

Keywords： Global illumination     Photon mapping     Radiance estimation     Photon relaxation     Progressive photon mapping    

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and future research directions for the phytoremediation of heavy metal-contaminated soil: A knowledge mapping

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 6, doi: 10.1007/s11783-021-1507-2

Abstract:

• The overall global perspective of the PHMCS field was obtained.

Keywords： Heavy metal-contaminated soil     Hot topics     Knowledge mapping analysis     Knowledge base     Phytoremediation    

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Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 382-403 doi: 10.1007/s11684-020-0781-x

Abstract: dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical roboticlandscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic

Keywords： surgical robots     keyhole surgery     endoscopic surgery    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: The performance of controlling underactuated robotic systems can be further improved by the adoptionIn addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Frontiers of Medicine 2019, Volume 13, Issue 6,   Pages 723-729 doi: 10.1007/s11684-019-0716-6

Abstract: Robotic systems in surgery have developed rapidly.surgical corridors and can require repetitive tasks over lengthy periods of time — issues for which roboticTo date, the United States Food and Drug Administration (FDA) has approved 7 robotic systems across 4surgery is the design and implementation of rigorous comparative studies to interrogate the utility of roboticHere we discuss current applications of robotics in spine surgery, review robotic systems FDA-approved

Keywords： robotics     spine surgery     Mazor     ExcelsiusGPS     ROSA     pedicle screw    

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Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Frontiers of Medicine 2015, Volume 9, Issue 3,   Pages 356-360 doi: 10.1007/s11684-015-0404-0

Abstract:

Robotic system has been increasingly used in pancreatectomy.Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservationSimilar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approachHowever, robotic approach tended to have the advantages of less blood loss and shorter hospital stay.Further studies are necessary to determine the clinical position of robotic distal pancreatectomy.

Keywords： distal pancreatectomy     pancreatic neoplasm     robotic surgery    

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Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Frontiers of Agricultural Science and Engineering 2017, Volume 4, Issue 2,   Pages 135-145 doi: 10.15302/J-FASE-2017143

Abstract: Our objective was to employ electromagnetic induction (EMI) mapping in low apparent electrical conductivity

Keywords： soil electrical conductivity     soil texture mapping     temporal stability analysis    

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Title Author Date Type Operation

Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

Journal Article

Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Journal Article

Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Journal Article

Chemical mapping of cement pastes by using confocal Raman spectroscopy

Fengjuan LIU,Zhihui SUN

Journal Article

Independent continuous and mapping method of structural topology optimization based on the global stress

Yunkang SUI, Jili FENG, Hongling YE, Xirong PENG,

Journal Article

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Journal Article

A novel task-oriented framework for dual-arm robotic assembly task

Journal Article

A survey of photon mapping state-of-the-art research and future challenges

Chun-meng KANG,Lu WAN,Yan-ning XU,Xiang-xu MENG

Journal Article

and future research directions for the phytoremediation of heavy metal-contaminated soil: A knowledge mapping

Journal Article

Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Journal Article

Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Journal Article

Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Journal Article