Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation

This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. Multiple stages of pipeline in field-programmable gate array (FPGA) are developed to recognize the targets in both left and right image planes and to give each target a unique label. The pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. A parallel distortion correction method is proposed and implemented in a dual-core DSP. A suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core DSP. The proposed tracking system can track the 3-D coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. Furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. The accuracy of the proposed system can reach the scale of 0.37 mm RMS along the x- and y-directions and 0.45 mm RMS along the depth direction (the depth is from 0.8 to 0.45 m). The performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.

Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation

This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. Multiple stages of pipeline in field-programmable gate array (FPGA) are developed to recognize the targets in both left and right image planes and to give each target a unique label. The pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. A parallel distortion correction method is proposed and implemented in a dual-core DSP. A suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core DSP. The proposed tracking system can track the 3-D coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. Furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. The accuracy of the proposed system can reach the scale of 0.37 mm RMS along the x- and y-directions and 0.45 mm RMS along the depth direction (the depth is from 0.8 to 0.45 m). The performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.

新型蛇形机器人蜿蜒运动的动力学分析

为提高蛇形机器人执行各种运动的能力,研制了新型蛇形机器人系统.重点研究了该蛇形机器人的动力学.建立了机器人的运动学模型,并根据运动学模型提出了控制蛇形机器人蜿蜒运动的复合运动控制方法.用拉格朗日方法建立动力学模型,对不同参数下蛇形机器人的关节力矩特性和摩擦力特性进行了分析比较,为蛇形机器人的有效运动提供了理论依据.

蛇形机器人侧向运动的研究

本文提出了一种新型蛇形机器人机构 ,建立了其空间运动学模型 ,实现了蛇形机器人的两种侧向运动 :侧向蜿蜒运动和侧向滚动 ,前者通过调节两个异相波的频率比 ,实现了任意方向的侧向运动 .后者通过控制运动波的幅值变化 ,实现了各种形式的纯侧向移动 ,当幅值足够大时 ,这种侧向滚动可以跨越障碍

轮桨腿一体两栖机器人爬行步态规划研究

爬行运动为轮桨腿一体两栖机器人基本运动模式之一。以机器人爬行运动为研究对象，分析了两栖机器人爬行运动机理，并建立了其典型驱动单元的运动学模型；根据机器人不同爬行运动状态，提出了基于轮桨和足板不同步态形式的运动规划策略；采用虚拟样机技术，对不同爬行状态下的步态规划效果进行了仿真试验分析和验证。试验结果表明，在规划的步态下，轮桨腿一体两栖机器人具有良好的爬行稳定性、转向机动性和越障能力。

地幔对流理论及其在解释地球物理观测的应用

With the improving of mantle convection theory, the developing of computing method and increasing of the measurement data, we can numerically simulate more clearly about the effects on some geophysical observed phenomenons such as the global heat flow and global lithospheric stress field in the Earth's surface caused by mantle convection, which is the primary mechanism for the transport of heat from the Earth's deep interior to its surface and the underlying force mechanism of dynamics in the Earth.Chapter 1 reviews the historical background and present research state of mantle convection theory.In Chapter 2, the basic conception of thermal convection and the basic theory about mantle flow.The effects on generation and distribution of global lithospheric stres s field induced by mantle flow are the subject of Chapter 3. Mantle convection causes normal stress and tangential stresses at the bottom of the lithosphere, and then the sublithospheric stress field induces the lithospheric deformation as sixrface force and results in the stress field within the lithosphere. The simulation shows that the agreement between predictions and observations is good in most regions. Most of subduction zones and continental collisions are under compressive. While ocean ridges, such as the east Pacific ridge, the Atlantic ridge and the east African rift valley, are under tensile. And most of the hotspots preferentially occur in regions where calculated stress is tensile. The calculated directions of the most compressive principal horizontal stress are largely in accord with that of the observation except for some regions such as the NW-Pacifie subduction zone and Qinghai-Tibet Plateau, in which the directions of the most compressive principal horizontal stress are different. It shows that the mantel flow plays an important role in causing or affecting the large-scale stress field within the lithosphere.The global heat flow simulation based on a kinematic model of mantle convection is given in Chapter 4. Mantle convection velocities are calculated based on the internal loading theory at first, the velocity field is used as the input to solve the thermal problem. Results show that calculated depth derivatives of the near surface temperature are closely correlated to the observed surface heat flow pattern. Higher heat flow values around midocean ridge systems can be reproduced very well. The predicted average temperature as a function of function of depth reveals that there are two thermal boundary layers, one is close to the surface and another is close to the core-mantle boundary, the rest of the mantle is nearly isothermal. Although, in most of the mantle, advection dominates the heat transfer, the conductive heat transfer is still locally important in the boundary layers and plays an important role for the surface heat flow pattern. The existence of surface plates is responsible for the long wavelength surface heat flow pattern.In Chapter 5, the effects on present-day crustal movement in the China Mainland resulted from the mantle convection are introduced. Using a dynamic method, we present a quantitative model for the present-day crustal movement in China. We consider not only the effect of the India-Eurasia collision, the gravitational potential energy difference of the Tibet Plateau, but also the contribution of the shear traction on the bottom of the lithosphere induced by the global mantle convection. The comparison between our results and the velocity field obtained from the GPS observation shows that our model satisfactorily reproduces the general picture of crustal deformation in China. Numerical modeling results reveal that the stress field on the base of the lithosphere induced by the mantle flow is probably a considerable factor that causes the movement and deformation of the lithosphere in continental China with its eflfcet focuing on the Eastern China A numerical research on the small-scale convection with variable viscosity in the upper mantle is introduced in Chapter 6. Based on a two-dimensional model, small-scale convection in the mantle-lithosphere system with variable viscosity is researched by using of finite element method. Variation of viscosity in exponential form with temperature is considered in this paper The results show that if viscosity is strongly temperature-dependent, the upper part of the system does not take a share in the convection and a stagnant lid, which is identified as lithosphere, is formed on the top of system because of low temperature and high viscosity. The calculated surface heat flow, topography and gravity anomaly are associated well with the convection pattern, namely, the regions with high heat flow and uplift correspond to the upwelling flow, and vice versa.In Chapter 7, we give a brief of future research subject: The inversion of lateral density heterogeneity in the mantle by minimizing the viscous dissipation.

Two-Dimensional Kinematic Wave Model of Overland-Flow

A two-dimensional kinematic wave model was developed for simulating runoff generation and flow concentration on an experimental infiltrating hillslope receiving artificial rainfall. Experimental observations on runoff generation and flow concentration on irregular hillslopes showed that the topography of the slope surface controlled the direction and flow lines of overland flow. The model-simulated results satisfactorily compared with experimental observations. The erosive ability of the concentrated flow was found to mainly depend on the ratio of the width and depth of confluent grooves.

A kinematic subgrid scale model for large-eddy simulation of turbulence generated sound

In the hybrid approach of large-eddy simulation (LES) and Lighthill’s acoustic analogy for turbulence-generated sound, the turbulence source fields are obtained using an LES and the turbulence-generated sound at far fields is calculated from Lighthill’s acoustic analogy. As only the velocity fields at resolved scales are available from the LES, the Lighthill stress tensor, serving as a source term in Lighthill’s acoustic equation, has to be evaluated from the resolved velocity fields. As a result, the contribution from the unresolved velocity fields is missing in the conventional LES. The sound of missing scales is shown to be important and hence needs to be modeled. The present study proposes a kinematic subgrid-scale (SGS) model which recasts the unresolved velocity fields into Lighthill’s stress tensors. A kinematic simulation is used to construct the unresolved velocity fields with the imposed temporal statistics, which is consistent with the random sweeping hypothesis. The kinematic SGS model is used to calculate sound power spectra from isotropic turbulence and yields an improved result: the missing portion of the sound power spectra is approximately recovered in the LES.