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.

有限单元质量质心集中方法的探讨

提出利用单元质量质心集中方法来优化单元惯性效应表征、改善单元力学效应匹配的思想: 将单元质量质心集中能够建立精确描述单元质点系惯性效应的动力学方程, 进而达到优化单元惯性效应表征以及改善单元惯性和变形两种力学效应匹配的目的.本文通过一维问题的频散效应分析等对该方法的有效性进行了详细的分析和验证

Isoscalar Giant Monopole Resonance in Relativistic Continuum Random Phase Approximation

The isoscalar giant monopole resonance (ISGMR) in nuclei is studied in the framework of a fully consistent relativistic continuum random phase approximation (RCRPA). In this method the contribution of the continuum spectrum to nuclear excitations is treated exactly by the single particle Green's function technique. The negative energy states in the Dirac sea are also included in the single particle Green's function in the no-sea approximation. The single particle Green's function is calculated numerically by a proper product of the regular and irregular solutions of the Dirac equation. The strength distributions in the RCRPA calculations, the inverse energy-weighted sum rule m(-1) and the centroid energy of the ISGMR in Sn-120 and Pb-208 are analysed. Numerical results of the RCRPA are checked with the constrained relativistic mean field model and relativistic random phase approximation with a discretized spectrum in the continuum. Good agreement between them is achieved.

Relativistic Continuum Random Phase Approximation and Applications II. Applications

The fully consistent relativistic continuum random phase approximation (RCRPA) has been constructed in the momentum representation in the first part of this paper. In this part we describe the numerical details for solving the Bethe-Salpeter equation. The numerical results are checked by the inverse energy weighted sum rules in the isoscalar giant monopole resonance, which are obtained from the constraint relativistic mean field theory and also calculated with the integration of the RCRPA strengths. Good agreement between the misachieved. We study the effects of the self-consistency violation, particularly the currents and Coulomb interaction to various collective multipole excitations. Using the fully consistent RCRPA method, we investigate the properties of isoscalar and isovector collective multipole excitations for some stable and exotic from light to heavy nuclei. The properties of the resonances, such as the centroid energies and strength distributions are compared with the experimental data as well as with results calculated in other models.

1,1 '-dimethyl-4,4 '-(propane-1,3-diyl)-dipyridinium tetrabromidocadmate(II)

In the cation of the title compound, (C15H20N2)[CdBr4], the dihedral angle between the two pyridine rings is 70.85 (5)degrees. An intermolecular pi-pi interaction between the pyridine rings [centroid - centroid distance = 3.900 (4) angstrom] is observed. The Cd-II atom has a distorted tetrahedral coordination.

Preparation and luminescent properties of cubic Eu3+ : Y2O3 nanocrystals and comparison to bulk Eu3+ : Y2O3

Y2O3:Eu3+ nanocrystals were prepared by combustion synthesis. The particle size estimated by X-ray powder diffraction (XRD) was about 10 nm. A blue-shift of the charge-transfer (CT) band in excitation spectra was observed in Y2O3:Eu3+ nanocrystals compared with bulk Y2O3:Eu3+. The electronic structure Of Y2O3 is calculated by density functional method and exchange and correlation have been treated by the generalized gradient approximation (GGA) within the scheme due to Perdew-Burke-Ernzerhof (PBE). The calculated results show that the energy centroid of 5d orbital in nanocrystal has increasing trend compared with that in the bulk material. The bond length and bond covalency are calculated by chemical bond theory. The bond lengths of Y2O3:Eu3+ nanocrystal are shorter than those of the bulk counterpart and the bond covalency of Y2O3:Eu3+ nanocrystal also has an increasing trend. By combining centroid shift and crystal-field splitting, the blue-shift of the CT band is interpreted.

Spectral properties of rare-earth ions in nanocrystalline YAG : Re (Re = Ce3+, Pr3+, Tb3+)

Bulk and nanoscale powders of YAG:Re (Re = Ce, Pr, Tb) were synthesized by solid-state and sol-gel method. The changes of spectra and energy level were studied. Compared with the bulk YAG:Re (Re = Ce, Pr, Tb) crystals, the lattice parameter of YAG:Re (Re = Ce, Pr, Tb) nanocrystals decreases. It is also found that the excitation peaks of 5d energy levels shift in nanocrystals. The physical reason for spectral and energy level changes is a comprehensive result from the shift of energy centroid of the 5d orbit, the Coulomb interaction between 4f and 5d electrons and the crystal field splitting of the 5d energy level.

SYNTHESES AND CRYSTAL-STRUCTURES OF (C8H8)ND(C5H9C5H4)(THF)(2) AND [(C8H8)GD(C5H9C4H4(THF)][(C8H8)GD(C5H9C5H4(THF)(2)]

LnCl(3) (Ln = Nd, Gd) reacts with C5H9C5H4Na (or K2C8H8) in THF (C5H9C5H4 = cyclopentylcyclopentadienyl) in the ratio of 1:1 to give (C5H9C5H4)LnCl(2)(THF)(n) (or (C8H8)LnCl(2)(THF)(n)], which further reacts with K2C8H8 (or C5H9C5H4Na) in THF to form the title complexes. If Ln = Nd the complex (C8H8)Nd(C5H9C5H4)(THF)(2) (a) was obtained: when Ln = Gd the 1:1 complex [(C8H8)Gd(C5H9C5H4)(THF)][(C5H8)Gd(C5H9C5H4)(THF)(2)] (b) was obtained in crystalline form. The crystal structure analysis shows that in (C8H8)Ln(C5H9C5H4)(THF)(2) (Ln = Nd or Gd), the Cyclopentylcyclopentadienyl (eta(5)), cyclooctatetraenyl (eta(8)) and two oxygen atoms from THF are coordinated to Nd3+ (or Gd3+) with coordination number 10. The centroid of the cyclopentadienyl ring (Cp') in C5H9C5H4 group, cyclooctatetraenyl centroid (COT) and two oxygens (THF) form a twisted tetrahedron around Nd3+ (or Gd3+). In (C8H8)Gd(C5H9C5H4)(THF), the cyclopentyl-cyclopentadienyl (eta(5)), cyclooctatetraenyl (eta(8)) and one oxygen atom are coordinated to Gd3+ with the coordination number of 9 and Cp', COT and oxygen atom form a triangular plane around Gd3+, which is almost in the plane (dev. - 0.0144 Angstrom).

SYNTHESIS AND CRYSTAL-STRUCTURE OF (C9H7GDCL2.3THF)THF

The indenylpdolinium dichloride tristetrahydrofuranate (C9H7GdCl2.3THF)THF was prepared and its crystal structure (monoclinic space group P2(1)) determined by X-ray diffraction. In C9H7GdCl2.3THF, Gd, O(1), O(2), O(3) and the centroid of the five-membered indenyl ring form a plane, and Cl(1) and Cl(2) are located at two opposite sides of the plane to give a pseudo-octahedron. The coordination number of Gd is eight.

自主越障巡检机器人质心调节控制

巡检机器人在跨越障碍时,质量偏心产生的偏矩破坏了机器人车体的水平姿态.本文提出了一种质心调节方法,利用倾角传感器测量机器人车体与水平面之间的倾角,从而控制配重块移动电机的运动,将机器人的质心调节到悬挂于架空地线上的那只手臂上,因此能保证机器人车体保持水平姿态,确保需要脱线或上线的手臂完成相应的动作.最后,通过仿真试验验证了质心调节控制方法的可行性.