基于CT序列图像的活体距骨分割及三维重建

了解距骨的解剖结构及空间关系,可为对其进行非侵入式运动学研究打下基础,对后足的疾病诊断具有重要意义。本文基于活体后足的CT序列图像,采用阈值、数学形态学和交互式操作相结合的手段从图像中分割出距骨,并用体绘制方法对距骨进行三维重建。实验表明,本文提出的分割方法简单且自动化程度较高。     

距骨的交互式快速图像分割算法

距骨的图像分割是对其进行三维可视化及运动学研究的基础.提出一种距骨的交互式图像分割算法,由三部分组成:(1)提出一种改进的迭代阈值法,从一组足部CT图像序列中分割出所有骨骼.(2)提出一种加速的live-wire分割算法,断开距骨与其他骨骼的连接线,该方法与原Live-wire算法相比,代价计算量大为减小且缩短了最优路径搜索时间.(3)用形态学操作提取距骨.实验结果表明,该算法能以较少的交互次数快速地进行距骨图像分割,也可用于其他骨骼的分割.     

一种聚类挖掘结果的可视化方法

简要介绍了数据挖掘、聚类分析及多维数据可视化,提出将Kmeans算法输出的多维结果集通过主分量分析转换为3D空间点坐标,实现数据挖掘结果的可视化。     

基于Tchebichef不变距的图形识别

论文提出一种新的基于Tchebichef不变距的图形识别方法,Tchebichef不变距通过对图像进行大小归一化、平移处理以及旋转处理并结合Tchebichef正交距得到;利用提出的Tchebichef不变距作为特征进行图形的识别,和采用Hu不变距以及Zernike不变矩的识别方法相比,无论是在无噪声还是在有噪声的情况下都有更高的识别精度;仿真试验证实了本方法的可行性。     

融合正余弦优化与跳距优化的DV-Hop定位算法

针对DV-Hop定位算法中跳距计算不精确以及最小二乘法求解不能达到最优无偏状态导致定位不准确的问题,提出一种融合正余弦优化与跳距优化的DV-Hop定位算法,并给出了最优化锚节点的概念.该算法首先选取每个未知节点周围所有锚节点中平均跳距最小的锚节点作为最优化锚节点;然后选取其余任一锚节点与未知节点构成三角形,将最优化锚节...     

基于核主分量分析的脸谱识别方法

此文提出了一种新的脸谱识别方法--基于核主分量分析(KPCA)的脸谱识别方法.首先利用KPCA方法提取脸谱图象的特征,然后利用线性支持向量机进行识别.KPCA的基本思想就是首先经过一个非线性映射,将输入空间的数据映射到一个高维的特征空间中,以求数据在特征空间中线性可分(或近似线性可分),然后在特征空间中进行标准的PCA提取主元,作为特征向量.同时,我们将脸谱识别的经典方法主分量分析(PCA)(特征脸方法)和最近提出的独立分量分析(ICA)脸谱识别方法与新方法进行了比较,并利用ORL脸谱库进行实验,实验结果显示,新的方法具有较高的识别率.     

基于图像的危化品堆垛三维几何动态建模

安全生产部门对危化品仓储堆垛五距(堆距、墙距、顶距、柱距和通道距)有严格的规定,通过对堆垛的三维动态几何建模描述其在仓库中位置的变化,可以达到动态的监管要求。提出了基于图像的堆垛三维几何动态建模,为建立像点与物点的对应关系,首先构建了五元组成像模型并提出了两点标定法,在标定好参数基础上首先求得物点坐标的解空间,再结合约束条件得到真实解空间,实现堆垛静态三维几何重建。然后对图像序列中堆垛箱体跟踪识别并三维几何重建,最终实现动态几何建模。     

佳能EOS 5D Mark Ⅲ大理游记 七彩云南 梦幻洱海

云南,一个美丽、丰饶、神奇的地方,被外界称为"秘境",吸引着世界各地的游客。"上关花,下关风,下关风吹上关花;苍山雪,洱海月,洱海月照苍山雪。"大理的洱海宛如一轮新月,静静地依卧在苍山和大理坝子之间。本期杂谈我们一起来欣赏摄影师步恩撒用佳能EOS 5D Mark Ⅲ在云南大理拍摄的精美作品。     

基于DV-Hop的大规模WSN定位方法研究

DV-Hop是大规模无线传感器网络(WSN)典型定位算法,通过测量节点之间的信号传输距离和经过的中继节点数,实现节点的位置估计。针对传统DV-Hop算法中存在的平均跳距误差较大和最小跳数难以确定等问题,通过引入加权平均跳距和基于节点分布的最小跳数,改进了传统DV-Hop算法。仿真结果表明,改进的DV-Hop算法在提高定位精度方面优于传统DV-Hop算法。     

FET仪器电子节模拟控制系统研究

地层测试评价仪简称FET(formation evaluation tool)是地层压力测试、地层流体取样分析的重要仪器,由上下电子短节和机械节组成,机械节负责FET井下的所有动作和取样,上下电子短节是控制和检测机械节的主要设备。为了对机械节进行检测、检修维护提供有效的手段,文中实际研制了一种模拟上电子节和下电子节功能的控制系统并且已经应用到海油油田的测井中,其能够很好地解决机械节检修和维护的问题,具有广阔的应用前景。     

Variations of anatomical elements contributing to subtalar joint stability: intrinsic risk factors for post-traumatic lateral instability of the ankle?

Ankle sprains are frequently followed by chronic lateral instability, often with talar hypermobility. This might be due to subtalar instability. Among intrinsic risk factors, anatomical variants are generally overlooked. In the subtalar region, anatomical variation is particularly frequent. On the talus as well as on the calcaneus, the anterior articular facets may be missing or fused with the medial facets, giving rise to three subtalar joint configurations: a three-joint configuration, a fused configuration with a relatively large anteromedial joint, and a twojoint configuration without anterior joint. Osteometry was performed on these joint facets (134 calcanei, 122 tali), demonstrating significant differences in the surface of these configurations and the existence of a supplementary supporting surface with grossly transverse orientation in the three-joint configuration. There are also several variants of stabilizing ligaments within the sinus tarsi. Some of these configurations might expose to increased risk of associated subtalar lesions, resulting in subtalar instability. A systematic look for these variants is recommended in order to evaluate the associated risk factors, eventually resulting in a better understanding, prevention and cure of sequellae.     

Variations of anatomical elements contributing to subtalar joint stability: intrinsic risk factors for post-traumatic lateral instability of the ankle?

Ankle sprains are frequently followed by chronic lateral instability, often with talar hypermobility. This might be due to subtalar instability. Among intrinsic risk factors, anatomical variants are generally overlooked. In the subtalar region, anatomical variation is particularly frequent. On the talus as well as on the calcaneus, the anterior articular facets may be missing or fused with the medial facets, giving rise to three subtalar joint configurations: a three-joint configuration, a fused configuration with a relatively large anteromedial joint, and a two-joint configuration without anterior joint. Osteometry was performed on these joint facets (134 calcanei, 122 tali), demonstrating significant differences in the surface of these configurations and the existence of a supplementary supporting surface with grossly transverse orientation in the three-joint configuration. There are also several variants of stabilizing ligaments within the sinus tarsi. Some of these configurations might expose to increased risk of associated subtalar lesions, resulting in subtalar instability. A systematic look for these variants is recommended in order to evaluate the associated risk factors, eventually resulting in a better understanding, prevention and cure of sequellae.     

Development of vehicles with legs and wheels

This paper deals with the design of the foot trajectory for a quadruped walking machine. Such walking machines should be capable of both uneven terrain walking and high-speed flat surface walking. The static walking method was used for uneven terrain walking and the dynamic walking method was used for plane walking. In the case of dynamic walking, the relative speed between the foot and the ground causes instability in the balance of the body. A foot trajectory is designed based on two points: the kinematics of foot motion and the relationship between joint motion and joint driving torque. A method for reducing the impact force upon initial contact with a floor by designing a periodic foot trajectory based on the wave motion of a cam is discussed. In this method, vertical and horizontal motions of the foot trajectory were generated independently using cycloidic motion. We named this trajectory the composite cycloid foot trajectory. We further developed a modified cycloidic foot trajectory by smoothing the joint angular acceleration.     

带主动腰关节的四足机器人平稳运动控制

针对四足机器人在对角小跑运动时出现的后腿“拖地”、机体振荡的现象,提出了一种基于偏航方向上主动腰关节摆动的解决方法。通过D-H法对机器人各关节进行运动学建模,获得其运动学方程,并采用Kuramoto振荡器模型作为扩展的CPG耦合网络振子,实现对腰、腿关节的统一控制。仿真实验表明,经过腰关节控制优化后的机器人在对角小跑时,相对于刚体躯干的机器人,姿态角变化幅度显著减小,抬腿高度明显增加,有效地提高了机器人的运动稳定性,证明了方法的可行性。     

Multi-Segment Foot for Human Modelling and Simulation

Realistic modelling of a human-like character is one of the main topics in computer graphics to simulate human motion physically and also look realistically. Of the body parts, a human foot interacts with the ground, and plays an essential role in weight transmission, balancing posture and assisting ambulation. However, in the previous researches, the foot model was often simplified into one or two rigid bodies connected by a revolute joint. We propose a new foot model consisting of multiple segments to reproduce human foot shape and its functionality accurately. Based on the new model, we develop a foot pose controller that can reproduce foot postures that are generally not obtained in motion capture data. We demonstrate the validity of our foot model and the effectiveness of our foot controller with a variety of foot motions in a physics-based simulation.     

Walking and steering control for a 3D biped robot considering ground contact and stability

This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given.     

Two walking gaits for a planar bipedal robot equipped with a four-bar mechanism for the knee joint

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements, and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. Two kinds of cyclic walking gaits are considered. The first gait is composed of successive single support phases with stance flat-foot on the ground separated by impacts. The second gait is a succession of finite time double support phases, single support phases, and impacts. During the double support phase, both feet rotate. This phase is ended by an impact of the toe of the forward foot, while the rear foot is taking off. The single support phase is ended by an impact of the swing foot heel, the other foot keeping contact with the ground through its toe. For both gaits, the reference trajectories of the rotational joints are prescribed by cubic spline functions in time. A parametric optimization problem is presented for the determination of the parameters corresponding to the optimal cyclic walking gaits. The main contribution of this paper is the design of a dynamical stable walking gait with double support phases with feet rotation, impacts, and single support phases for this bipedal robot.     

具有7自由度和双球型髋关节的仿人机器人下肢运动分析与规划

提出了具有7自由度和双球型髋关节的仿人机器人下肢机构．它和传统的6自由度双足步行机构相比，具有下述两大优点．首先双球型髋关节使机器人在不增加腰部关节的情况下实现腰部的基本运动功能，使机器人能够直立行走；其次在给定腰和足部位置时，它也能和人类一样实现转动双腿的动作．本文还对该复杂机构进行了运动特性分析、运动学求解、运动规划和实验验证．