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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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恒河流域水文模型SWAT模型标定技术的比较

Nikita Shivhare,Prabhat Kumar Singh Dikshit,Shyam Bihari Dwivedi

《工程（英文）》 2018年第4卷第5期页码 643-652 doi: 10.1016/j.eng.2018.08.012

摘要：

The Ganga河流是印度最长的河流，人为活动和气候变化极为严峻，特别是在瓦拉纳西地区。预期的气候变化和人口增长将进一步阻碍水的有效利用。在这项研究中，将水文模型应用到北方邦南部15 161.612 km ²恒河流域的土壤和水评估工具（SWAT）模型中。这项研究的主要目标是：①为了测试SWAT模型在预测径流和泥沙产量方面的执行性和适用性；和②比较和确定三种流行算法中的最佳校准算法。

关键词：遥感，地理信息系统，水土评估工具，水文模拟，SUFI-2，GLUE，ParaSol，产沙量

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Interactions between remote ischemic conditioning and post-stroke sleep regulation

《医学前沿（英文）》 2021年第15卷第6期页码 867-876 doi: 10.1007/s11684-021-0887-9

摘要： Sleep disturbances are common in patients with stroke, and sleep quality has a critical role in the onset and outcome of stroke. Poor sleep exacerbates neurological injury, impedes nerve regeneration, and elicits serious complications. Thus, exploring a therapy suitable for patients with stroke and sleep disturbances is imperative. As a multi-targeted nonpharmacological intervention, remote ischemic conditioning can reduce the ischemic size of the brain, improve the functional outcome of stroke, and increase sleep duration. Preclinical/clinical evidence showed that this method can inhibit the inflammatory response, mediate the signal transductions of adenosine, activate the efferents of the vagal nerve, and reset the circadian clocks, all of which are involved in sleep regulation. In particular, cytokines tumor necrosis factor α (TNFα) and adenosine are sleep factors, and electrical vagal nerve stimulation can improve insomnia. On the basis of the common mechanisms of remote ischemic conditioning and sleep regulation, a causal relationship was proposed between remote ischemic conditioning and post-stroke sleep quality.

关键词： remote ischemic conditioning sleep regulation stroke

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全极化微波辐射计遥感海面风场的关键技术和科学问题

王振占,姜景山,刘璟怡,殷晓斌

《中国工程科学》 2008年第10卷第6期页码 76-86

摘要：

全极化微波辐射计是一种新型的微波遥感器，它不但测量目标微波辐射信号的两个正交极化分量，并且测量两个正交极化分量的复相关量。这些相关信息对于表面微波辐射的各向异性更加敏感，这样就提供了测量海面风场的一种手段。文章在介绍国内外全极化微波辐射计现状和特点的基础上，首先对于全极化微波辐射计遥感海面风场的原理及其影响因素进行分析；然后，从全极化微波辐射计的硬件设计和定标两个方面论述了硬件实现的关键技术问题；最后，对于风场反演的有关科学问题进行分析，重点论述了风场反演算法建立的关键，主要技术指标对于风场反演误差的影

关键词：全极化微波辐射计风场反演全极化定标

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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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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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Design and realization of a remote monitoring and diagnosis and prediction system for large rotating

Shaohong WANG, Tao CHEN, Jianghong SUN

《机械工程前沿（英文）》 2010年第5卷第2期页码 165-170 doi: 10.1007/s11465-009-0090-1

摘要： Traditional on-site fault diagnosis means cannot meet the needs of large rotating machinery for its performance and complexity. Remote monitoring and diagnosis technology is a new fault diagnosis mode combining computer technology, communication technology, and fault diagnosis technology. The designed remote monitoring and diagnosis and prediction system for large rotating machinery integrates the distributed resources in different places and breaks through shortcomings as the offline and decentralized information. The system can make further implementation of equipment prediction technology research based on condition monitoring and fault diagnosis, provide on-site analysis results, and carry out online actual verification of the results. The system monitors real-time condition of the equipment and achieves early fault prediction with great significance to guarantee safe operation, saves maintenance costs, and improves utilization and management of the equipment.

关键词： large rotating machinery remote monitoring fault diagnosis prediction system

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我国遥感数据的集成与共享研究

周成虎,欧阳,李增元

《中国工程科学》 2008年第10卷第6期页码 51-55

摘要：

随着在轨运行服务卫星数量地不断增加和数据获取能力地不断增强，可利用的遥感数据成倍数增加，遥感数据集成与共享成为时代的潮流。在分析国际发展现状的基础上，进一步总结出国际发展的全球化、系统化、规范化、网络化等特征；在分析评价我国现有遥感数据资源和集成共享现状的基础上，进一步提出了我国开展遥感数据集成与共享的几点建议和设想。

关键词：遥感数据集成共享

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海洋光学遥感技术的发展和前沿

潘德炉,李炎

《中国工程科学》 2003年第5卷第3期页码 39-43

摘要：

空间遥感与信息技术已经发展成为满足人类对海洋资源和环境不同尺度和不同层次连续、动态的信息需求的必要手段。海洋光学遥感在实施大范围海面瞬间信息监测、数年至几十年长序列全球海洋数据采集等方面，发挥了常规调查方法所不能替代的优势。从20世纪70年代开始，国际上发展了利用测量离水辐射率的原理，用现代的卫星遥感技术来实时监测海洋水色环境。80年代以来，我国对该项高技术也十分重视，并有了长足进展。文章回顾我国近20年来海洋光学遥感技术的发展；讨论了当前国家在海洋权益、防灾减灾、海洋资源管理和开发等方面的进一步需求；论述了该技术在环境监测应用导向下的前沿，如：高精度分析和定量化、高频率长序列监测和业务化趋向、多平台监测数据同化和核心技术合成。

关键词：海洋光学遥感技术发展前沿

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Image analyses for video-based remote structure vibration monitoring system

Yang YANG,Xiong (Bill) YU

《结构与土木工程前沿（英文）》 2016年第10卷第1期页码 12-21 doi: 10.1007/s11709-016-0313-6

摘要： Video-based vibration measurement is a cost-effective way for remote monitoring the health conditions of transportation and other civil structures, especially for situations where accessibility is restricted and does not allow installation of conventional monitoring devices. Besides, video-based system is global measurement. The technical basis of video-based remote vibration measurement system is digital image analysis. Comparison of the images allow the field of motion to be accurately delineated. Such information is important to understand the structure behaviors including the motion and strain distribution. This paper presents system and analyses to monitor the vibration velocity and displacement field. The performance is demonstrated on a testbed of model building. Three different methods (i.e., frame difference method, particle image velocimetry, and optical Flow Method) are utilized to analyze the image sequences to extract the feature of motion. The Performance is validated using accelerometer data. The results indicate that all three methods can estimate the velocity field of the model building, although the results can be affected by factors such as background noise and environmental interference. Optical flow method achieved the best performance among these three methods studied. With further refinement of system hardware and image processing software, it will be developed into a remote video based monitoring system for structural health monitoring of transportation infrastructure to assist the diagnoses of its health conditions.

关键词： structure health monitoring velocity estimation frame difference PIV optical-flow method

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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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Detecting large-scale underwater cracks based on remote operated vehicle and graph convolutional neural

Wenxuan CAO; Junjie LI

《结构与土木工程前沿（英文）》 2022年第16卷第11期页码 1378-1396 doi: 10.1007/s11709-022-0855-8

摘要： It is of great significance to quickly detect underwater cracks as they can seriously threaten the safety of underwater structures. Research to date has mainly focused on the detection of above-water-level cracks and hasn’t considered the large scale cracks. In this paper, a large-scale underwater crack examination method is proposed based on image stitching and segmentation. In addition, a purpose of this paper is to design a new convolution method to segment underwater images. An improved As-Projective-As-Possible (APAP) algorithm was designed to extract and stitch keyframes from videos. The graph convolutional neural network (GCN) was used to segment the stitched image. The GCN’s m-IOU is 24.02% higher than Fully convolutional networks (FCN), proving that GCN has great potential of application in image segmentation and underwater image processing. The result shows that the improved APAP algorithm and GCN can adapt to complex underwater environments and perform well in different study areas.

关键词： underwater cracks remote operated vehicle image stitching image segmentation graph convolutional neural network

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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