基于虚拟现实技术的机器人外科手术模拟与培训系统研究

从中国神经外科手术的具体应用背景出发,结合我们研制的机器人辅助无框架立体定向手术系统（CRAS－BH3）,研究一种基于虚拟现实技术的机器人外科手术模拟与培训系统结构,改进和提高三维模型人机交互的显示速度,将立体显示HMD设备与自制的人机交互装置相结合,建立一个面向临床实际应用的机器人辅助外科手术模拟与培训演示系统。     

Local heating effect on film flow structure

Studies of fundamental regularities governing film flow regimes are of interest for wide range of practical problems appearing in projecting and optimization of technological plants in energetic, chemical industry and other branches of industry, including space technologies. The present work is devoted to theoretical study and numerical modeling of processes in film flow of fluid on inclined surface with local heat source. Experimental researches carried out at the Institute of Thermophysics SB RAS [1] show that the effect of thermocapillarity under certain conditions can significantly influence the regime of film flow. Forming of “roller” of fluid is observed in the experiments in the area with high gradient of film surface temperature. If the temperature (or surface tension) gradient exceeds certain critical level then the periodical 3-D flow structure appears. The main quantity of fluid is gathered in periodical streams (or “fingers”). Between the streams the thickness of film decreases significantly [2]. The authors’ previous theoretical results described 2-D regime of locally heated film flow [3, 4, 5]. Those results allow us to state the following hypothesis: 2-D flow structure becomes unstable and 3-D perturbations grow as the local arrest of liquid is achieved due to thermocapillary effect (in the frame of reference moving with the heat source) [6, 7]. The results of linear stability analysis and numerical modelling are presented.     

Fabrication and characterization of novel silicon-compatible high-density capacitors

System integration and miniaturization demands are driving component technologies towards integrated thin films with higher volumetric efficiencies and component densities. Among the various system components, achieving higher densities with capacitors, integrated in thin film form has been a major challenge for the past few decades. This paper reports the first proof-of-concept demonstration of a novel silicon-compatible high-density capacitor technology. The key novelty stems from the tremendous enhancement in surface area from thin and porous copper nanoelectrodes and conformal alumina dielectric on such nanoelectrodes. Atomic Layer Deposition was chosen as the dielectric process because of its self-limiting, defect-free and conformal deposition on 3-D structures. Alumina with its moderate permittivity and superior dielectric properties over large voltage ranges was employed as the representative dielectric. Thin copper particulate electrodes with conformal counter electrodes showed 10 times higher capacitance density compared to the planar devices, with similar leakage properties. Thicker electrodes showed enormous enhancement in surface area but inferior leakage properties. Combination of compositional and morphological techniques was used to show alumina conformality on complex 3-D structures of copper particulate electrode. Capacitance–Voltage and Current–Voltage characterizations were carried out to confirm the feasibility of the novel high density 3-D capacitor structure.     

Instability/collapse of polymeric materials and their structures in stimulus-induced shape/surface morphology switching

With the current development in 3-D printing and origami-inspired technologies, stimulus-induced shape/surface morphology switching becomes a novel approach to produce complex 2-D/3-D mechanisms/structures. This paper briefly discusses major instability/collapse phenomena in the shape change/memory effect based such switching in polymeric materials and their structures, from the beginning of fabrication and programming to the final step of shape/surface morphology switching. As shown here, stimulus-induced shape/surface morphology switching is essentially a mixture of mechanism and structure, so that on the one hand it shares many common features as in conventional mechanisms and structures, while on the other hand it has some unique characteristics; instability may happen during programming as well, and instability may be utilized as a powerful self-assembly technique for surface morphology switching. In most cases, traditional theories of mechanics may be applied directly in analysis/design to either avoid instability/collapse or purposely induce these phenomena for our intended purpose.     

基于虚拟现实技术的测量数据可视化方法

在从数据可视化的角度对测量数据进行分类的基础上,对两种重要类型的测量数据给出了三维建模方法。然后利用CAVE技术和3D技术,结合以映射、绘制为主线的数据可视化基本流程,提出了一种具有沉浸感和立体感的通用型测量数据可视化方案。技术方案以建立三维模型为基础,以对视图的控制为核心,以场景设置为辅助,实现并验证了测量数据可视化。     

风力机叶片的非定常气动特性计算方法的改进

该文从日常的风力机气动设计和研究出发,在考虑非定常条件下翼型绕流物理特性的基础上改进动态失速的半经验模型,先得到二维时的计算结果(即不考虑旋转影响的计算结果),再在考虑紊流的情况下分析离心力和哥氏力对附面层分离的影响来计算风力机叶片的非定常气动特性,得到三维时的计算结果(即考虑旋转影响的计算结果)。分析比较二维和三维时的计算结果,可知采用考虑旋转影响的计算方法改善了原来二维时的计算方法,所得结果与实验值吻合得较好。     

Depth Transfer by an Imaging System

In many applications such as three-dimensional (3-D) data acquisition, the scanning of 3-D objects or 3-D display, it is necessary to understand how an imaging system can be used to obtain information on the structure of an object in the direction perpendicular to the image plane, i.e. depth information. In certain cases the formation of a 3-D image can be described by a theory based on optical transfer functions (OTF): the image intensity distribution is given by the 3-D convolution of the object and a 3-D point spread function (PSF); equivalently, in 3-D Fourier space the image spectrum is the product of the object spectrum and a 3-D OTF. This paper investigates the 3-D PSFs and OTFs that are associated with different pupil functions of the imaging system.     

In-plane Compressive Behaviors of 3-D Textile Composites at Various Strain Rates

The in-plane compressive behaviors of 3-D textile composites, which including 3-D woven composite, multi-axial multi-layer warp knitted (MMWK) composite and 3-D braided composite, were studied at quasi-static and high strain rate compression loading. The compression behaviors at high strain rates (600∼2,500/s) were tested with split Hopkinson pressure bar (SHPB). The quasi-static compressive tests were conducted on a MTS 810.23 tester and compared with the results at high strain rates. The comparisons indicate that the compression stiffness, failure stress and failure strain for the three kinds of 3-D textile composites are sensitive to strain rate. The MMWK composite has higher failure stress than the 3-D woven composite and 3-D braided composite at the same strain rate; however, the failure strain of the 3-D braided composites is higher than that of the 3-D woven composite and 3-D knitted composite at quasi-static compression because of the quasi-isotropic structure feature in the 3-D braided composite. The compressive failure modes of the 3-D woven composite, MMWK composite and 3-D braided composite are totally different because of the different preform structure.     

Alternative tissue engineering scaffolds based on starch: processing methodologies, morphology, degradation and mechanical properties

An ideal tissue engineering scaffold must be designed from a polymer with an adequate degradation rate. The processing technique must allow for the preparation of 3-D scaffolds with controlled porosity and adequate pore sizes, as well as tissue matching mechanical properties and an appropriate biological response.

This communication revises recent work that has been developed in our laboratories with the aim of producing 3-D polymeric structures (from starch-based blends) with adequate properties to be used as scaffolds for bone tissue engineering applications. Several processing methodologies were originally developed and optimised. Some of these methodologies were based on conventional melt-based processing routes, such as extrusion using blowing agents (BA) and compression moulding (combined with particulate leaching). Other developed technologies included solvent casting and particle leaching and an innovative in situ polymerization method.

By means of using the described methodologies, it is possible to tailor the properties of the different scaffolds, namely their degradation, morphology and mechanical properties, for several applications in tissue engineering. Furthermore, the processing methodologies (including the blowing agents used in the melt-based technologies) described above do not affect the biocompatible behaviour of starch-based polymers. Therefore, scaffolds obtained from these materials by means of using one of the described methodologies may constitute an important alternative to the materials currently used in tissue engineering.     

Usefulness of ultrasonic strain measurement-based shear modulus reconstruction for diagnosis and thermal treatment

We previously reported an ultrasonic strain measurement-based one-dimensional (1-D) shear modulus reconstruction technique using a regularization method for differential diagnosis of malignancies on human superficial tissues (e.g., breast tissues). Here, ultrasonic strain measurement-based 2-D and 3-D shear modulus reconstruction techniques are described, and the 1-D technique is reviewed and subsequently applied to various human in vivo tissues, including deeply situated tissues (e.g., liver). Because soft tissues are deformed in 3-D space by externally situated arbitrary mechanical sources, the accuracy of the low-dimensional (i.e., 1-D or 2-D) reconstructions is lower to that of 3-D reconstruction due to occurrence of erroneous reconstruction artifacts (i.e., the reconstructed modulus is different than reality). These artifacts are confirmed on simulated inhomogeneous cubic phantoms containing a spherical homogenous inclusion using numerically calculated deformation data. The superiority of quasi-real-time imaging of the shear modulus is then demonstrated by comparing it with conventional B-mode imaging and strain imaging from the standpoints of monitoring the effectiveness of minimally invasive thermal therapy as well as differential diagnosis. Because the 2-D and 3-D techniques require special ultrasonic (US) equipment, the 1-D technique using conventional US imaging equipment is used, even though erroneous artifacts will occur. Specifically, the 1-D technique is applied as a diagnostic tool for differentiating malignancies in human in vivo liver and breast tissue, and a monitoring technique for determining the effectiveness of interstitial electromagnetic wave (micro and rf) thermal therapy on human in vivo liver and calf in vitro liver. Even when using the 1-D technique, reconstructed shear moduli were confirmed to be a suitable measure for monitoring thermal treatment as well as differential diagnosis. These results are encouraging in that they will promote use of 2-D and 3-D reconstruction techniques.     

Prediction of inter-laminar stresses in composite honeycomb sandwich panels under mechanical loading using Variational Asymptotic Method

This work focuses on the formulation of an asymptotically correct theory for symmetric composite honeycomb sandwich plate structures. In these panels, transverse stresses tremendously influence design. The conventional 2-D finite elements cannot predict the thickness-wise distributions of transverse shear or normal stresses and 3-D displacements. Unfortunately, the use of the more accurate three-dimensional finite elements is computationally prohibitive. The development of the present theory is based on the Variational Asymptotic Method (VAM). Its unique features are the identification and utilization of additional small parameters associated with the anisotropy and non-homogeneity of composite sandwich plate structures. These parameters are ratios of smallness of the thickness of both facial layers to that of the core and smallness of 3-D stiffness coefficients of the core to that of the face sheets. Finally, anisotropy in the core and face sheets is addressed by the small parameters within the 3-D stiffness matrices. Numerical results are illustrated for several sample problems. The 3-D responses recovered using VAM-based model are obtained in a much more computationally efficient manner than, and are in agreement with, those of available 3-D elasticity solutions and 3-D FE solutions of MSC NASTRAN.     

STRESS INTENSITY FACTOR SOLUTIONS FOR SEMI-ELLIPTICAL WELD-TOE CRACKS IN T-BUTT GEOMETRIES

Abstract— Weld toe magnification factors are widely used in the evaluation of stress intensity factors for cracks in welded structures. Traditionally, the weld magnification factor has been determined from 2-D plane strain models containing edge cracks. However, it has long been recognised that a semi-elliptical weld toe crack cannot be accurately represented by a 2-D approximation due to the 3-D nature of the geometry. As a consequence, some recent research has been carried out using 3-D numerical modelling, which highlights the limitations of the 2-D approach. Nevertheless, 3-D solutions are still scarce and are of limited validity due to the difficulties associated with creating the numerical models. This paper reports the most extensive 3-D numerical investigation of semi-elliptical cracks in T-butt geometries to date. Based on the numerical results, new and accurate equations for weld magnification factors were derived, which quantify the 3-D effects present and emphasise the importance of the attachment. The results obtained from these equations are then used in an assessment of existing solutions.     

Accommodative responses to stereoscopic three-dimensional display

Experimental examination of the accommodative responses to a stereoscopic 3-D display found that accommodation was elicited by convergence and moved to the stereoscopic distance of the 3-D image. Immediately after the depth of the target was changed, the magnitude of response was smaller than that for a real target, but when the subjects fixated on the 3-D images, the responses were in almost the same position as the position of 3-D images. Measurement of accommodation response time after the subjects viewed 3-D images showed an afteraffect on the far-to-near accommodation response. The results are discussed in terms of the mismatch of accommodation and convergence in stereoscopic 3-D images and of the interaction between accommodation and convergence in human eyes.     

A 2-D model that accounts for 3-D fringing in MEMS devices

MEMS devices such as comb drives and rotary drives are geometrically simple in that each of the components may be represented as a ‘sweep’ of a 2-D cross-section through a given height. This simplicity leads to simpler CAD requirements, geometric robustness, faster visualization, etc. Further, 3-D electrostatic simulation may be simplified to a 2-D problem over the cross-section if one neglects 3-D fringing. Such 2-D simulations provide a quick feedback to the designer on various parameters such as capacitance and electrostatic forces.However, as is well known, 3-D simulations cannot be avoided if fringing is significant, or when these devices need to be fully optimized. Such 3-D simulations unfortunately involve constructing the full 3-D geometry, volume/surface mesh, etc.In this paper, we demonstrate that one can pose and solve a 2-D problem that accounts for 3-D fringing. The proposed technique does not require the construction of the 3-D CAD model or surface/volume mesh. Instead, the 3-D electrostatics problem is collapsed to 2-D via a novel dimensional reduction method. Once the 2-D problem is solved, the full 3-D field and associated charges/forces can be recovered, as a post-processing step. The simplicity and computational efficiency of the technique lends itself well to parametric study and design optimization.     

一种三维纺织复合材料的本构关系及其性能分析

本文对一种三维增强纤维复合材料的结构与性能进行了研究.通过对手工纺织的三向纤维增强复合材料的分析,建立了其细观力学模型,并在此基础上导出了反映其宏观力学性能的本构关系,同时采用具有相同纺织结构的试件进行试验,对本文的理论结果进行了验证.此外,通过对三维复合材料与层合板的力学性能进行对比试验,说明三维增强复合材料的综合性能,尤其是层间剪切性能得到了很大的改善和提高.     

Multi-scale modeling, stress and failure analyses of 3-D woven composites

The very complex, multi-level hierarchical construction of textile composites and their structural components commonly manifests via significant property variation even at the macro-level. The concept of a “meso-volume” (introduced by this author in early 1990s) is consistently applied in this work to 3-D stress/strain and failure analyses of 3-D woven composites at several levels of structural hierarchy. The meso-volume is defined as homogeneous, anisotropic block of composite material with effective elastic properties determined through volumetrically averaged 3-D stress and strain fields computed at a lower (“finer”) level of structural hierarchy and application of generalized Hooke’s law to the averaged fields. The meso-volume can represent a relatively large, homogenized section of a composite structural component, a lamina in laminated composite structure, a homogenized assembly of several textile composite unit cells, a single homogenized unit cell, a resin-impregnated yarn, a single carbon fiber, even a carbon nanotube assembly. When composed together, distinct meso-volumes constitute a 3-D Mosaic model at the respective hierarchy level. A multi-scale methodology presented in this paper first illustrates 3-D stress/strain analysis of the Mosaic unidirectional composite, computation of its effective elastic properties and their further use in 3-D stress/strain analysis of the Mosaic model of 3-D woven composite Unit Cell. The obtained 3-D stress/strain fields are then volumetrically averaged within the Unit Cell, and its effective elastic properties are computed. The predicted effective elastic properties of 3-D woven composite are compared with experimental data and show very good agreement. Further, those effective elastic properties are used in 3-D simulations of three-point bending tests of 3-D woven composite; theoretical predictions for central deflection show excellent agreement with experimental data. Finally, a 3-D progressive failure analysis of generic 3-D Mosaic structure is developed using ultimate strain criterion and illustrated on the 3-D woven composite Unit Cell. The predicted strength values are compared to experimental results. The presented comparisons of theoretical and experimental results validate the adequacy and accuracy of the developed material models, mathematical algorithms, and computational tools.     

Research on Torque Calculation Method of Permanent-Magnet Spherical Motor Based on the Finite-Element Method

In this paper, the finite-element method (FEM) is used to calculate the spinning torque of the permanent-magnet (PM) spherical motor. Three-dimensional (3-D) FE model of the PM spherical motor is established. Spinning torque distribution on the spherical surface and its variation curve on the equator are obtained respectively. In order to avoid the complicated torque calculation process under 3-D magnetic field and thus reduce the computational burden, the torque calculation method based on the 2-D conversion model is proposed. This method equivalently simplifies the magnetic field of the spherical PMs and the shape of cylindrical stator windings to be simulation parameters of the 2-D conversion model. With these parameters, 2-D conversion model of the PM spherical motor is established. Spinning torque variation curves obtained by the 3-D model and the 2-D conversion model respectively are compared and the results agree extremely well. By comparing the maximum static torque (MST) obtained under different configuration parameters of the PM spherical motor, it is found that the errors are within the allowable range. Therefore, the reliability of the proposed torque calculation method in the paper is verified. Finally, based on the 2-D conversion model, variation curves of the MST with the length of the air gap, the ampere turns, the length of stator windings and the outer radius of stator windings are obtained, and they are validated by those based on the 3-D model. These results can provide the basis for the optimization of the PM spherical motor.      

Evaluation of three-dimensional effects in short deep beams using a rigid-body-spring-model

Three-dimensional (3-D) effects in short deep beams without stirrups that failed in shear were investigated experimentally and analytically. Two deep beams with a shear span to depth ratio (a/d) of 0.5 and with different beam widths were tested. The effect of beam width on load-carrying capacity, failure mode, crack pattern and 3-D behavior was investigated, and shape effect due to beam width was clarified. In addition, the beams were analyzed by the 3-D rigid-body-spring model (RBSM). RBSM is a discrete form of modeling that presents realistic behavior from cracking to failure, and 3-D RBSM is applicable to simulate 3-D behavior as well as the confinement effect of concrete. Analytical results in terms of load–displacement curves and crack pattern are compared with the experimental results. Three-dimensional deformations, strut widths and cross-sectional stress distribution are investigated analytically and compared with the experimental results to determine 3-D behavior in detail. The 3-D effects in short deep beams are clarified.     

Sampling 3-D seismic data

A 3-D seismic survey is usually achieved by recording a parallel profile network. The 3-D data thus obtained are sampled and processed in a cubic grid for which the sampling requirements are generally derived from the usual 1-D viewpoint. The spectrum of 3-D seismic data has a support (the region of the Fourier space in which the spectrum is not zero) that can be approximated by a domain bounded by two cones. Considering the particular shape of this support, we use a 3-D sampling theory to obtain results applicable to the recording and processing of 3-D seismic data. This naturally leads to weaker sampling requirements than the 1-D viewpoint does. We define the hexagonal non-cubic sampling grid and the triangular non-cubic sampling grid and show that fewer sample points are needed to represent 3-D seismic data with the same degree of accuracy. Thus, using the hexagonal non-cubic sampling grid we point out that the maximum value of the spatial sampling interval along the profiles is larger by 15.6% than the one of the cubic sampling grid. We also point out that the triangular non-cubic sampling grid requires a number of sample points equal to half the number required by a cubic sampling grid.