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Instrumented toys for assessing spatial cognition in infants

Domenico CAMPOLO, Fabrizio TAFFONI, Domenico FORMICA, Flavio KELLER, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年第6卷第1期页码 82-88 doi: 10.1007/s11465-011-0208-0

摘要：

This paper describes an interdisciplinary approach to the assessment on infants’ behavior, with a focus on the technology. The goal is an objective, quantitative analysis of concurrent maturation of sensory, motor and cognitive abilities in young children, in relation to the achievement of developmental milestones. An instrumented block-box toy specifically developed to assess the ability to insert objects into holes is presented. The functional specifications are derived from experimental protocols devised by neuroscientists to assess spatial cognition skills. Technological choices are emphasized with respect to ecological requirements. An ad hoc calibration procedure is also presented which is suitable to unstructured environments. Finally, preliminary tests carried out at a local day-care with 12–24 months old infants are presented which prove the in-field usability of the proposed technology.

关键词： inertial-magnetic sensing in-field calibration neuro-developmental engineering ecological assessment

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光场成像技术：模型、标定、重建及应用 Review

Hao ZHU, Qing WANG, Jingyi YU

《信息与电子工程前沿（英文）》 2017年第18卷第9期页码 1236-1249 doi: 10.1631/FITEE.1601727

摘要：光场成像是计算摄像学领域一项新兴技术。基于对成像模型和光路的创新设计，光场相机不仅记录了三维物体的空间强度，而且捕获了物理世界中的角度信息。这为解决三维重建、显著区域检测、目标识别等计算机视觉问题提供了新途径。本文首先回顾了光场相机的三个关键问题，包括成像模型、标定理论以及重建方法。然后，系统介绍了光场成像技术在信息学、物理学、医学和生物学等领域的应用现状。最后，讨论了光场成像目前存在的问题，并展望了光场成像技术的应用前景。

关键词：光场成像；全光函数；成像模型；标定；重建

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适用于大视场红外地球敏感器的相机标定方法 Research Article

邓华健1,2,王昊1,2,韩晓亚3,刘洋1,2,金仲和1,2

《信息与电子工程前沿（英文）》 2023年第24卷第1期页码 141-153 doi: 10.1631/FITEE.2200079

摘要：相机的几何精度不足是制约大视场红外地球敏感器精度提升的主要因素。红外地球敏感器相机超大的视场与中心的盲区极大地限制了传统几何标定方法的准确性与可行性。本文提出并验证了一种新型的适用于红外地球敏感器的相机标定方法。三个红外靶标被用作控制点，而相机被安装于双轴转台上。随着转台的旋转，这些控制点将均匀地分布在整个相机视场中。与传统的平行光管与转台配合方法相比，传统方法无法有效覆盖大视场且需要苛刻的实验设备，而该方法更易于实施且成本较低。本文还提出了相应的三步参数估计算法，从而不需要精确测量相机和控制点的位置。本文用10台红外地球敏感器进行了实验，以验证标定方法的有效性。结果表明，所提出的方法是高度稳定可靠的，标定精度与现有其他方法相比提升至少30%。

关键词：红外地球敏感器；全景红外相机；相机标定

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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