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Visual tracking techniques based on stereo endoscope are developed to measure tissue motion in robot-assisted minimally invasive surgery. However, accurate 3D tracking of tissue surfaces remains challenging due to complicated deformation, poor imaging conditions, specular reflections and other dynamic effects during surgery. This study employs a robust and efficient 3D tracking scheme with two independent recursive processes, namely kernel-based inter-frame motion estimation and model-based intra-frame 3D matching. In the first process, target region is represented in joint spatial-color space for robust estimation. By defining a probabilistic similarity measure, a mean-shift-based iterative algorithm is derived for location of the target region in a new image. In the second process, the thin-plate spline model is used to fit the 3D shape of tissue surfaces around the target region. An iterative algorithm based on an efficient second-order minimization technique is derived to compute optimal model parameters. The two processes can be computed in parallel. Their outputs are combined to recover 3D information about the target region. The performance of the proposed method is validated using phantom heart videos and in vivo videos acquired by the daVinci® surgical robotic platform and a synthesized data set with known ground truth. 相似文献
116.
Summary: A new technique, ultrasonically initiated in situ emulsion polymerization, was employed to prepare intercalated polystyrene/Na+‐MMT nanocomposites. FTIR, XRD, and TEM results confirm that the hydrophobic PS can easily intercalate into the galleries of hydrophilic montmorillonite via ultrasonically initiated in situ emulsion polymerization, taking advantages of the multi‐effects of ultrasonic irradiation, such as dispersion, pulverization, activation, and initiation. Properly reducing SDS concentration is beneficial to widen the d‐spacing between clay layers. However, the Na+‐MMT amount has little effect on the d‐spacing of nanocomposites. The glass transition temperature of nanocomposites increased as the percentage of clay increased, although the average molecular weight of PS decreased, and the decomposition temperature of the 1obtained nanocomposites moves to higher temperature.
117.
Yuan‐Hsiang Yu Chien‐Chih Jen Hsiu‐Ying Huang Pei‐Chi Wu Chao‐Cheng Huang Jui‐Ming Yeh 《应用聚合物科学杂志》2004,91(6):3438-3446
A series of heterocyclically conjugated polymer–clay nanocomposite (PCN) materials that consisted of organic poly(3‐hexylthiophene) (P3HT) and inorganic montmorillonite (MMT) clay platelets were prepared by in situ oxidative polymerization with FeCl3 as an oxidant. The as‐synthesized PCN materials were characterized by Fourier transform infrared (FTIR) spectroscopy, wide‐angle powder X‐ray diffraction (WAXRD), and transmission electron microscopy (TEM). The effects of the material composition on the anticorrosion, gas barrier, thermal stability, flammability, mechanical strength, and electrical conductivity properties of the P3HT and PCN materials were studied by electrochemical corrosion measurements, gas‐permeability analysis (GPA), thermogrametric analysis (TGA), limiting oxygen index (LOI) measurements, dynamic mechanical analysis (DMA), and a four‐point probe technique, respectively. The molecular weights of extracted and bulk P3HT were determined by gel permeation chromatography (GPC) with THF as an eluant. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 91: 3438–3446, 2004 相似文献
118.
通过BaFe12O19硅烷偶联剂改性,聚乙二醇1000、甲苯二异氰酸酯在二甲苯溶液中预聚合,预聚物溶液在分散剂聚乙烯吡咯烷酮K30的水溶液中悬浮聚合,三步合成了BaFe12O19/聚氨酯复合微球.用扫描电镜、红外光谱仪、热重-差示扫描同步热分析仪和振动样品磁强计对微球的形貌、结构、玻璃化温度(Tg)和磁性能进行了表征.结果表明:合成的微球以BaFe12O19颗粒为核聚氨酯为壳.表面分布有微孔,微球粒径在400μm左右,粒径大小可通过控制反应条件调节.微球中磁性物质BaFe12O19的含量为11.11%(质量分数),Tg在290 ℃左右,耐热性能好,微球的饱和磁化强度为3.36×103 A/m,矫顽力为3.06×104 A/m.该复合微球是一种有潜在应用价值的新型血管内栓塞材料. 相似文献
119.
Deutsch–Jozsa algorithm has been implemented via quantum adiabatic evolutions by Das et al. (Phys Rev A 65:062310, 2002) and Wei et al. (Phys Lett A 354:271, 2006). In the latter literature, the authors have shown a modified version of the adiabatic evolution which can improve the performance of the algorithm of S. Das et al’s to constant time. In this paper, we also improve the algorithm of S. Das et al’s in a constant time but by using a different construction of adiabatic evolution, i.e., adding ancillary qubits. The algorithm in this paper provides an alternative option to potential users. 相似文献
120.
In this paper, we first uncover a fact that a partial adiabatic quantum search with \(O(\sqrt{N/M})\) time complexity is in fact optimal, in which \(N\) is the total number of elements in an unstructured database, and \(M\) ( \(M\ge 1\) ) of them are the marked ones(one) \((N\gg M)\) . We then discuss how to implement a partial adiabatic search algorithm on the quantum circuit model. From the implementing procedure on the circuit model, we can find out that the approximating steps needed are always in the same order of the time complexity of the adiabatic algorithm. 相似文献