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Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0686-2

摘要： With the proposal of intelligent mines, unmanned mining has become a research hotspot in recent years. In the field of autonomous excavation, environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance. In this study, an unmanned electric shovel (UES) is developed, and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented. Initially, the point cloud of the material surface is collected and reconstructed by polynomial response surface (PRS) method. Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption. Based on optimal trajectory command, the UES performs autonomous excavation. The experimental results show that the proposed surface reconstruction method can accurately represent the material surface. On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency. Compared with the common excavation trajectory planning approaches, the proposed method tends to be more capable in terms of mining time and energy consumption, ensuring high-performance excavation of the UES in practical mining environment.

关键词： autonomous excavation unmanned electric shovel point cloud excavation trajectory planning

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A multiscale-contour-based interpolation framework for generating a time-varying quasi-dense point cloud

Chu-hua HUANG,Dong-ming LU,Chang-yu DIAO

《信息与电子工程前沿（英文）》 2016年第17卷第5期页码 422-434 doi: 10.1631/FITEE.1500316

摘要： To speed up the reconstruction of 3D dynamic scenes in an ordinary hardware platform, we propose an efficient framework to reconstruct 3D dynamic objects using a multiscale-contour-based interpolation from multi-view videos. Our framework takes full advantage of spatio-temporal-contour consistency. It exploits the property to interpolate single contours, two neighboring contours which belong to the same model, and two contours which belong to the same view at different times, corresponding to point-, contour-, and model-level interpolations, respectively. The framework formulates the interpolation of two models as point cloud transport rather than non-rigid surface deformation. Our framework speeds up the reconstruction of a dynamic scene while improving the accuracy of point-pairing which is used to perform the interpolation. We obtain a higher frame rate, spatio-temporal-coherence, and a quasi-dense point cloud sequence with color information. Experiments with real data were conducted to test the efficiency of the framework.

关键词： Multi-view video Free-viewpoint video Point-pair Multiscale-contour-based interpolation Spatio-temporal-contour Consistency Time-varying point cloud sequence

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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

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 594-606 doi: 10.1631/FITEE.14a0260

摘要： 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.

关键词： Bionic robot Robotic mapping Surface fusion

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基于双目立体匹配和B样条的三维人脸点云孔洞修补算法 Research Articles

黄源1,2,达飞鹏1,2

《信息与电子工程前沿（英文）》 2022年第23卷第3期页码 398-408 doi: 10.1631/FITEE.2000508

摘要：在基于结构光的三维人脸点云数据采集过程中，由于环境、遮挡以及光照强度等因素影响，采集到的数据往往会出现孔洞区域，从而影响后续识别效果。本文提出一种采用立体匹配技术结合B样条的孔洞修补方法。算法首先利用光栅投影过程中获取的相位信息定位点云中的孔洞区域，同时提取边界点集。然后将立体匹配算法获取的人脸点云数据同光栅投影法采集的数据进行配准，在孔洞处选取初始修补控制点。再利用B样条曲线形状可由少数关键点大致描述这一特性，将控制点作为关键点放入孔洞区域进行曲面重建迭代计算。仿真使用光滑陶瓷杯和人脸模型进行，结果表明，该算法能够准确再现被测物体表面的细节和复杂形状。同时也说明所提方法具有强鲁棒性，能够在完全无先验信息的情况下对物体复杂区域实现孔洞修补，并且修补后的点云更加接近原始数据。该方法可广泛应用于需要精确人脸识别的领域。

关键词：三维点云；孔洞修补；立体匹配；B样条

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两相分配生物反应器——浊点系统在生物转化中的应用

王志龙

《中国工程科学》 2005年第7卷第5期页码 73-78

摘要：

利用两相分配生物反应器可以控制底物由非水相向水相释放，增加底物的溶解度和解除底物对微生物的抑制，保护产物降解，降低下游分离费用；论述了两相分配生物反应器的基本原理和发展概况，并以胆固醇边链切除生物转化为例，介绍了新开发的浊点系统两相分配生物反应器的巨大潜力。

关键词：两相分配生物转化非离子表面活性剂浊点系统生物反应器

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Isogeometric analysis based on geometric reconstruction models

《机械工程前沿（英文）》 2021年第16卷第4期页码 782-797 doi: 10.1007/s11465-021-0648-0

摘要： In isogeometric analysis (IGA), the boundary representation of computer-aided design (CAD) and the tensor-product non-uniform rational B-spline structure make the analysis of three-dimensional (3D) problems with irregular geometries difficult. In this paper, an IGA method for complex models is presented by reconstructing analysis-suitable models. The CAD model is represented by boundary polygons or point cloud and is embedded into a regular background grid, and a model reconstruction method is proposed to obtain the level set function of the approximate model, which can be directly used in IGA. Three 3D examples are used to test the proposed method, and the results demonstrate that the proposed method can deal with complex engineering parts reconstructed by boundary polygons or point clouds.

关键词： isogeometric analysis reconstruction model level set function trimmed element point cloud

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IN2CLOUD: A novel concept for collaborative management of big railway data

Jing LIN, Uday KUMAR

《工程管理前沿（英文）》 2017年第4卷第4期页码 428-436 doi: 10.15302/J-FEM-2017048

摘要： In the EU Horizon 2020 Shift2Rail Multi-Annual Action Plan, the challenge of railway maintenance is generating knowledge from data and/or information. Therefore, we promote a novel concept called “IN2CLOUD,” which comprises three sub-concepts, to address this challenge: 1) A hybrid cloud, 2) an intelligent cloud with hybrid cloud learning, and 3) collaborative management using asset-related data acquired from the intelligent hybrid cloud. The concept is developed under the assumption that organizations want/need to learn from each other (including domain knowledge and experience) but do not want to share their raw data or information. IN2CLOUD will help the movement of railway industry systems from “local” to “global” optimization in a collaborative way. The development of cutting-edge intelligent hybrid cloud-based solutions, including information technology (IT) solutions and related methodologies, will enhance business security, economic sustainability, and decision support in the field of intelligent asset management of railway assets.

关键词： railway intelligent asset management collaborative learning big data hybrid cloud Bayesian

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通过双RGB-D传感器融合增强对未知环境的自主探索和地图绘制 Article

于宁波, 王石荣

《工程（英文）》 2019年第5卷第1期页码 164-172 doi: 10.1016/j.eng.2018.11.014

摘要：

对未知环境的自主探索和地图构建具有广泛的应用价值和重要的现实意义。现有方法多采用距离传感器生成二维栅格地图。红/ 绿/ 蓝深度（red/green/blue-depth，RGB-D）传感器提供环境的颜色和深度信息，从而生成三维（three-dimensional，3D）点云地图，便于人类直观感知。本文提出了一种利用双RGB-D 传感器实现未知室内环境自动探测和测绘的系统方法。通过同步处理RGB-D数据，生成定位点，逐步构建三维点云图和二维栅格地图。紧接着，探索方法被建模为一个部分可观测的马尔科夫决策过程，将局部地图推演和全局边界搜索方法相结合进行自主探索，将动态行为约束用于运动控制。这有效避免了局部最优，保证了探测效果。在单连通和多分支区域的实验表明，该方法具有较好的鲁棒性和较高的效率。

关键词：自主探索 RGB-D 传感器融合点云局部地图推演全局边界搜索

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Toward resilient cloud warehousing via a blockchain-enabled auction approach

《工程管理前沿（英文）》页码 20-38 doi: 10.1007/s42524-022-0224-2

摘要： Cloud warehousing service (CWS) has emerged as a promising third-party logistics service paradigm driven by the widespread use of e-commerce. The current CWS billing method is typically based on a fixed rate in a coarse-grained manner. This method cannot reflect the true service value under the fluctuating e-commerce logistics demand and is not conducive to CWS resilience management. Accordingly, a floating mechanism can be considered to introduce more flexible billing. A CWS provider lacks sufficient credibility to implement floating mechanisms because it has vested interests in terms of fictitious demand. To address this concern, this report proposes a blockchain-enabled floating billing management system as an overall solution for CWS providers to enhance the security, credibility, and transparency of CWS. A one-sided Vickrey–Clarke–Groves (O-VCG) auction mechanism model is designed as the underlying floating billing mechanism to reflect the real-time market value of fine-grained CWS resources. A blockchain-based floating billing prototype system is built as an experimental environment. Our results show that the O-VCG mechanism can effectively reflect the real-time market value of CWSs and increase the revenue of CWS providers. When the supply of CWS providers remains unchanged, allocation efficiency increases when demand increases. By analyzing the performance of the O-VCG auction and comparing it with that of the fixed-rate billing model, the proposed mechanism has more advantages. Moreover, our work provides novel managerial insights for CWS market stakeholders in terms of practical applications.

关键词： resilient cloud warehousing blockchain technology floating billing management system auction mechanism third-party logistics

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Two-sided ultrasonic surface rolling process of aeroengine blades based on on-machine noncontact measurement

Shulei YAO, Xian CAO, Shuang LIU, Kaiming ZHANG, Xiancheng ZHANG, Congyang GONG, Chengcheng ZHANG

《机械工程前沿（英文）》 2020年第15卷第2期页码 240-255 doi: 10.1007/s11465-019-0581-7

摘要： As crucial parts of an aeroengine, blades are vulnerable to damage from long-term operation in harsh environments. The ultrasonic surface rolling process (USRP) is a novel surface treatment technique that can highly improve the mechanical behavior of blades. During secondary machining, the nominal blade model cannot be used for secondary machining path generation due to the deviation between the actual and nominal blades. The clamping error of the blade also affects the precision of secondary machining. This study presents a two-sided USRP (TS-USRP) machining for aeroengine blades on the basis of on-machine noncontact measurement. First, a TS-USRP machining system for blade is developed. Second, a 3D scanning system is used to obtain the point cloud of the blade, and a series of point cloud processing steps is performed. A local point cloud automatic extraction algorithm is introduced to extract the point cloud of the strengthened region of the blade. Then, the tool path is designed on the basis of the extracted point cloud. Finally, an experiment is conducted on an actual blade, with results showing that the proposed method is effective and efficient.

关键词： aeroengine blades on-machine noncontact measurement point cloud processing path planning surface strengthening

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云雷达反演层状云微物理参数及其与飞机观测数据的对比

刘黎平,宗蓉,齐彦斌,刘健

《中国工程科学》 2012年第14卷第9期页码 64-71

摘要：

首先根据滴谱假设分析了层状云降水回波强度、径向速度和速度谱宽与降水微物理参数的关系，检验了云雷达探测数据的可用性；然后在忽略空气上升速度和湍流对雷达观测的速度谱宽影响前提下，利用测云雷达观测的回波强度、粒子下落速度和速度谱宽数据进行了液态水含量和滴谱参数的反演试验，并与飞机观测的滴谱进行了对比分析。结果表明，8 mm雷达观测得到的3个量与雨滴谱分析得到的关系比较接近；层状云粒子尺度、数密度和含水量从云顶到云的回波强中心有明显的变化，粒子尺度的增加是回波强度增加的重要原因。毫米波雷达反演得到的降水微物理参数和飞机观测数据具有可比性。

关键词：云降水微物理参数毫米波云雷达和飞机观测降水粒子下落速度和谱宽

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基于云模型的信任评估研究

路峰,吴慧中

《中国工程科学》 2008年第10卷第10期页码 84-90

摘要：

讨论了信任关系的随机性和模糊性共存以及相互融合问题。分析云模型描述不确定性概念的方法和实现定性语意与定量数值相互转换的算法，提出了基于云理论的信任评估模型—信任云。该模型提出云特征参数表达的信任传递和合并算法，在精确描述信任期望值的同时，通过熵和超熵刻画了信任的不确定性。相对于传统的信任评估策略，该模型获取的信任值包含更多的语意信息，更适合作为信任决策的依据。

关键词：信任评估信任模型云模型云发生器

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Development of a cloud condensation nuclei (CCN) counter using a laser and charge-coupled device (CCD

Mikyung PARK, Jinkwan OH, Kihong PARK

《环境科学与工程前沿（英文）》 2011年第5卷第3期页码 313-319 doi: 10.1007/s11783-011-0346-y

摘要： A continuous flow streamwise thermal gradient cloud condensation nuclei (CCN) counter with an aerosol focusing and a laser-charge-coupled device (CCD) camera detector system was developed here. The counting performance of the laser-CCD camera detector system was evaluated by comparing its measured number concentrations with those measured with a condensation particle counter (CPC) using polystyrene latex (PSL) and NaCl particles of varying sizes. The CCD camera parameters (e.g. brightness, gain, gamma, and exposure time) were optimized to detect moving particles in the sensing volume and to provide the best image to count them. The CCN counter worked well in the particle number concentration range of 0.6–8000 #·cm and the minimum detectable size was found to be 0.5 μm. The supersaturation in the CCN counter with varying temperature difference was determined by using size-selected sodium chloride particles based on K?hler equation. The developed CCN counter was applied to investigate CCN activity of atmospheric ultrafine particles at 0.5% supersaturation. Data showed that CCN activity increased with increasing particle size and that the higher CCN activation for ultrafine particles occurred in the afternoon, suggesting the significant existence of hygroscopic or soluble species in photochemically-produced ultrafine particles.

关键词： aerosol cloud condensation nuclei (CCN) counter ultrafine particle

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STRENGTHENING NON-POINT SOURCE POLLUTION CONTROL TO PROMOTE AGRICULTURAL GREEN DEVELOPMENT

《农业科学与工程前沿（英文）》 2023年第10卷第4期页码 503-509 doi: 10.15302/J-FASE-2023528

摘要：

STRENGTHENING NON-POINT SOURCE POLLUTION CONTROL TO PROMOTE AGRICULTURAL GREEN DEVELOPMENT

关键词： GREEN AGRICULTURAL PROMOTE POLLUTION SOURCE DEVELOPMENT POINT STRENGTHENING CONTROL

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Analyzing the service availability of mobile cloud computing systems by fluid-flow approximation

Hong-wu LV,Jun-yu LIN,Hui-qiang WANG,Guang-sheng FENG,Mo ZHOU

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 553-567 doi: 10.1631/FITEE.1400410

摘要： Mobile cloud computing (MCC) has become a promising technique to deal with computation- or data-intensive tasks. It overcomes the limited processing power, poor storage capacity, and short battery life of mobile devices. Providing continuous and on-demand services, MCC argues that the service must be available for users at anytime and anywhere. However, at present, the service availability of MCC is usually measured by some certain metrics of a real-world system, and the results do not have broad representation since different systems have different load levels, different deployments, and many other random factors. Meanwhile, for large-scale and complex types of services in MCC systems, simulation-based methods (such as Monte-Carlo simulation) may be costly and the traditional state-based methods always suffer from the problem of state-space explosion. In this paper, to overcome these shortcomings, fluid-flow approximation, a breakthrough to avoid state-space explosion, is adopted to analyze the service availability of MCC. Four critical metrics, including response time of service, minimum sensing time of devices, minimum number of nodes chosen, and action throughput, are defined to estimate the availability by solving a group of ordinary differential equations even before the MCC system is fully deployed. Experimental results show that our method costs less time in analyzing the service availability of MCC than the Markov- or simulation-based methods.

关键词： Service availability Mobile cloud computing Fluid-flow approximation Ordinary differential equations