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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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无人车自主定位和障碍物感知的视觉主导多传感器融合方法 Article

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

《信息与电子工程前沿（英文）》 2017年第18卷第1期页码 122-138 doi: 10.1631/FITEE.1601873

摘要：人类驾驶与自主驾驶在对交通环境的理解方式上有着明显差别。首先，人主要通过视觉来理解交通场景，而机器感知需要融合多种异构的传感信息才能保证行车安全。其次，一个熟练的驾驶员可以轻松适应各种动态交通环境，但现有的机器感知系统却会经常输出有噪声的感知结果，而自主驾驶要求感知结果近乎100%准确。本文提出了一种用于无人车交通环境感知的视觉主导的多传感器融合计算框架，通过几何和语义约束融合来自相机、激光雷达（LIDAR）及地理信息系统（GIS）的信息，为无人车提供高精度的自主定位和准确鲁棒的障碍物感知，并进一步讨论了已成功集成到上述框架内的鲁棒的视觉算法，主要包括从训练数据收集、传感器数据处理、低级特征提取到障碍物识别和环境地图创建等多个层次的视觉算法。所提出的框架里已用于自主研发的无人车，并在各种真实城区环境中进行了长达八年的实地测试，实验结果验证了视觉主导的多传感融合感知框架的鲁棒性和高效性。

关键词：视觉感知；自主定位；地图构建；运动规划；无人车

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

《机械工程前沿（英文）》 2011年第6卷第2期页码 219-228 doi: 10.1007/s11465-011-0218-y

摘要：

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and joints. The main contribution of the paper is the comparative assessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic systems. Numerical simulations comprising both methods are carried out and results are discussed. Hence, advantages and disadvantages of each method are illustrated. Then, adding the joint flexibility to the system is dealt with and the obtained model is demonstrated. Finally, a brief description of the optimal motion generation is presented and the simulation is carried out to investigate the role of robot dynamic modeling in the control of robots.

关键词： 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

《结构与土木工程前沿（英文）》 2016年第10卷第2期页码 168-173 doi: 10.1007/s11709-015-0323-9

摘要： In the present study, chemical mapping on the hydration process of cement paste with water-to-cement ( / ) ratio of 0.60 was implemented by Raman spectroscopy (RS). The RS was applied to study the paste from 12 hours after mixing to 28 days. Cement ingredients and hydration products, including calcium silicates (C S and C S), calcium hydroxide (CH), and ettringite, were quantitatively studied. From the research, it is observed that calcium silicates were consumed gradually with the increased hydration age. Calcium hydroxide increased and tended to cluster in the pore vicinity during hydration. Ettringite was found to form on the surface of the unreacted particles, which was shown as a mixed zone of ettringite and calcium silicates in the maps. It is concluded from the study that chemical mapping was an effective method to assist in visualizing particle dispersion and connection on top of the quantitative analysis.

关键词： 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,

《机械工程前沿（英文）》 2010年第5卷第2期页码 130-142 doi: 10.1007/s11465-010-0011-3

摘要： There are three difficulties in topology optimization of continuum structures. 1) The topology under multiple load case is more difficult to be optimized than under single load case, because the former becomes a multiple objective based on compliance objective functions. 2) With local constraints, such as an elemental stress limit, the topology is more difficult to be solved than with global constraints, such as the displacement or frequency limits, because the sensitivity analysis of the former has very expensive computation. 3) With the phenomenon of load illness, which is similar with stiffness illness in the structural analysis, it is not easy to get the reasonable final topological structure, because it is difficult to consider different influences between the loads with small forces and big forces, and some topology paths of transferring small forces may disappear during the iteration process. To overcome difficulties above, four measures are adopted. 1) Topology optimization model is established by independent continuous mapping (ICM) method. 2) Based on the von Mises strength theory, all elements’ stress constraints are transformed into a structural energy constraint. 3) The phenomenon of load illness is divided to classify into three cases. 4) A strategy based on strain energy is proposed to adopt ICM method with stress globalization, and the problems of the above mentioned three cases of load illness are solved in terms of different complementary approaches. Several numerical examples show that the topology path of transferring forces can be obtained more easily by substituting global strain energy constraints for local stresses constraints, and the problem of load illness can be solved well by the weighting method that takes the structural energy as a weighting coefficient.

关键词： independent continuous mapping (ICM) method global stresses constraints topology optimization continuum structure load illness

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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

《机械工程前沿（英文）》 2011年第6卷第1期页码 45-60 doi: 10.1007/s11465-011-0205-3

摘要：

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.

关键词： 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

《机械工程前沿（英文）》 2011年第6卷第2期页码 182-196 doi: 10.1007/s11465-011-0221-3

摘要：

Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.

关键词： robotics stiffness performance numerical and experimental estimations

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

《机械工程前沿（英文）》 2021年第16卷第3期页码 528-545 doi: 10.1007/s11465-021-0638-2

摘要： In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： 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

《信息与电子工程前沿（英文）》 2016年第17卷第3期页码 185-199 doi: 10.1631/FITEE.1500251

摘要： Global illumination is the core part of photo-realistic rendering. The photon mapping algorithm is an effective method for computing global illumination with its obvious advantage of caustic and color bleeding rendering. It is an active research field that has been developed over the past two decades. The deficiency of precise details and efficient rendering are still the main challenges of photon mapping. This report reviews recent work and classifies it into a set of categories including radiance estimation, photon relaxation, photon tracing, progressive photon mapping, and parallel methods. The goals of our report are giving readers an overall introduction to photon mapping and motivating further research to address the limitations of existing methods.

关键词： 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

《环境科学与工程前沿（英文）》 2022年第16卷第6期 doi: 10.1007/s11783-021-1507-2

摘要：

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

关键词： 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

《医学前沿（英文）》 2020年第14卷第4期页码 382-403 doi: 10.1007/s11684-020-0781-x

摘要： Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits patients in terms of improved postoperative outcomes and short recovery time. The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades. This paper presents a systematic review of the state-of-the-art systems, picturing a detailed landscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures. The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.

关键词： 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

《机械工程前沿（英文）》 2021年第16卷第2期页码 353-362 doi: 10.1007/s11465-020-0620-4

摘要： This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

关键词： 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

《医学前沿（英文）》 2019年第13卷第6期页码 723-729 doi: 10.1007/s11684-019-0716-6

摘要： Robotic systems in surgery have developed rapidly. Installations of the da Vinci Surgical System (Intuitive Surgical, Sunnyvale, CA, USA), widely used in urological and gynecological procedures, have nearly doubled in the United States from 2010 to 2017. Robotics systems in spine surgery have been adopted more slowly; however, users are enthusiastic about their applications in this subspecialty. Spinal surgery often requires fine manipulation of vital structures that must be accessed via limited surgical corridors and can require repetitive tasks over lengthy periods of time — issues for which robotic assistance is well-positioned to complement human ability. To date, the United States Food and Drug Administration (FDA) has approved 7 robotic systems across 4 companies for use in spinal surgery. The available clinical data evaluating their efficacy have generally demonstrated these systems to be accurate and safe. A critical next step in the broader adoption of surgical robotics in spine surgery is the design and implementation of rigorous comparative studies to interrogate the utility of robotic assistance. Here we discuss current applications of robotics in spine surgery, review robotic systems FDA-approved for use in spine surgery, summarize randomized controlled trials involving robotics in spine surgery, and comment on prospects of robotic-assisted spine surgery.

关键词： robotics spine surgery Mazor ExcelsiusGPS ROSA pedicle screw

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

null

《医学前沿（英文）》 2015年第9卷第3期页码 356-360 doi: 10.1007/s11684-015-0404-0

摘要：

Robotic system has been increasingly used in pancreatectomy. However, the effectiveness of this method remains uncertain. This study compared the surgical outcomes between robot-assisted laparoscopic distal pancreatectomy and conventional laparoscopic distal pancreatectomy. During a 15-year period, 35 patients underwent minimally invasive approach of distal pancreatectomy in our center. Seventeen of these patients had robot-assisted laparoscopic approach, and the remaining 18 had conventional laparoscopic approach. Their operative parameters and perioperative outcomes were analyzed retrospectively in a prospective database. The mean operating time in the robotic group (221.4 min) was significantly longer than that in the laparoscopic group (173.6 min) (P = 0.026). Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservation rate (52.9% vs. 38.9%) (P = 0.505), operative blood loss (100.3 ml vs. 268.3 ml) (P = 0.29), overall morbidity rate (47.1% vs. 38.9%) (P = 0.73), and post-operative hospital stay (11.4 days vs. 14.2 days) (P = 0.46). Both groups also showed no perioperative mortality. Similar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approach. However, 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.

关键词： 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

《农业科学与工程前沿（英文）》 2017年第4卷第2期页码 135-145 doi: 10.15302/J-FASE-2017143

摘要： Knowledge of the spatial distribution of soil textural properties is important for determining soil moisture storage and soil hydraulic transport properties. Capturing field heterogeneity without exhaustive sampling and costly sample analysis is difficult. Our objective was to employ electromagnetic induction (EMI) mapping in low apparent electrical conductivity (EC ) soils at varying soil water contents to capture time invariant properties such as soil texture. Georeferenced EC measurements were taken using a ground conductivity meter on six different days where volumetric water content ( ) varied from 0.11 to 0.23. The 50 m × 50 m field included a subsurface gravelly patch in an otherwise homogeneous silt-loam alluvial soil. Ordinary block kriging predicted EC at unsampled areas to produce 1-m resolution maps. Temporal stability analysis was used to divide the field into three distinct EC regions. Subsequent ground-truthing confirmed the lowest conductivity region correlated with coarse textured soil parent materials associated with a former high-energy alluvial depositional area. Combining maps using temporal stability analysis gives the clearest image of the textural difference. These maps could be informative for modeling, experimental design, sensor placement and targeted zone management strategies in soil science, ecology, hydrology, and agricultural applications.

关键词： soil electrical conductivity soil texture mapping temporal stability analysis