A robot hand-eye calibration method of line laser sensor based on 3D reconstruction

In the robotic eye-in-hand measurement system, a hand-eye calibration method is essential. From the perspective of 3D reconstruction, this paper first analyzes the influence of the line laser sensor hand-eye calibration error on the 3D reconstructed point clouds error. Based on this, considering the influence of line laser sensor measurement errors and the need for high efficiency and convenience in robotic manufacturing systems, this paper proposes a 3D reconstruction-based robot line laser hand-eye calibration method. In this method, combined with the point cloud registration technique, the newly defined error-index more intuitively reflects the calibration result than traditional methods. To raise the performance of the calibration algorithm, a Particle Swarm Optimization - Gaussian Process (PSO-GP) method is adopted to improve the efficiency of the calibration. The experiments show that the Root Mean Square Error (RMSE) of the reconstructed point cloud can reach 0.1256 mm when using the proposed method, and the reprojection error is superior to those using traditional hand-eye calibration methods.     

嵌入式虚拟仪器软件可重构设计技术研究

嵌入式虚拟仪器(EVI)软件可重构是指框架和功能的重构;结合面向对象技术和组件技术,系统地阐述了软件可重构模块化设计的原理、软件可重构算法、可重构软件结构框架设计和可重构软件开发方法;通过分析可重构软件的设计原理和设计思路,提出了一套比较详细的可重构软件的开发方法;经工程实践应用,设计方法合理可行,有效提高了嵌入式虚拟仪器软件的开发效率,达到软件复用及重构的目的。     

立式钻铣床动力头设计与三维造型

多工位钻铣床实现了一台机床对一个零件做不同加工的功能,节省了机床,也缩小了占地面积,同时提高了加工精度和生产率,对工人劳动强度也降低很多。本设计中,钻头的固定采用拉杆式楔形固定,钻头采用套筒及主轴轴面为拉杆的结构,套筒外侧用绝缘胶固定了一个支撑架,钻头的动力由同步齿形带传递到钻头,比起万向轴传递动力要准确且刚性好。动力采用行星轮的传递方式,保证了各工位的同步工作,节省空间,本机构紧凑,各啮合齿轮之间中心距不超过100 mm,因而,用齿轮传动可以满足要求,这样可以用标准件对机床快速装配完工,对缩短加工周期有很大好处。     

考虑客户画像和能量枢纽的配电网多目标抢修重构模型

随着大规模风电以及能量枢纽接入配电网,配电网故障后抢修重构面临新挑战,提出一种考虑客户画像和能量枢纽的配电网多目标多故障抢修重构模型。通过对配电网用电客户多因素精准画像,确定权重,建立兼顾客户画像和能量枢纽的配电网多目标抢修重构模型,提出一种改进NSGA-II算法以适应对模型求解,从而获得Pareto解集,并利用模糊最大满意度进行决策。算例仿真表明所提模型正确有效,与传统模型相比更加精细而客观。     

深度学习的人体图像半自动标注系统

针对目前数据标注过于依赖硬件、手动数据标注效率低下的问题,提出了基于深度学习的人体图像半自动标注系统.系统通过对算法进行改进,增加人体关键点个数进行特征提取和加入运动信息的约束,提高了视频分阶段标注的准确率.使用真实数据集仿真实验证明了通过深度学习算法进行数据标注的可行性,并且使用半自动标注的速度快、准确率高.     

强度传输方程和神经网络融合的三维重构算法

针对原有强度传输方程法所恢复的相位精度不够精确的缺点,提出强度传输方程和神经网络融合的三维重构算法. 利用强度传输方程求解出物体不同角度的初始相位,利用神经网络算法进行优化,根据不同角度的最终恢复相位结合乘法技术重构出三维体信息. 该算法具有精度高的特点,可以为三维成像技术的应用提供参考. 对于实验中的示例图像,该算法将强度传输方程得到的相位误差从21.40%降低为5.26%,重构三维物体与模拟真实物体的相关程度为显著相关.     

基于截面特征相容的曲面约束重构

为了从点云中重建高品质的曲面模型,提出一种基于截面特征相容的曲面重构方法.该方法将由点云切片获取的截面曲线分层次表达为直线、圆弧、B样条等基本曲线元和特征点的集合,并基于曲线微分几何属性,建立截面曲线特征点对应的数学模型,采用动态规划法求解并确定其初始对应关系,以曲线元特征匹配准则优化对应,逐步确立截面曲线间的特征对应关系,将特征对应关系映射为参数对应即可利用成熟算法逼近生成蒙皮曲面.实例表明,该算法获取的曲面模型不但满足精度和光顺性要求,而且忠实地反映了原始物理样件所蕴含的特征信息.     

电缆化配电系统高频谐振频移方法

为解决电缆化配电网高频谐振问题,提出了一种基于配电网阻抗重构的高频谐振频移方法。首先,分析了电缆化配电网高次谐波源与高频谐振的产生机理。其次,给出了电缆化配电网阻抗重构的高频谐振频移方法,并比较不同无源阻抗重构后的频移及谐振峰抑制效果。然后,结合实际工程案例,利用系统函数绘出伯德图与根轨迹评价该方法对高频谐振治理效果以及系统稳定性的影响,验证了基于电缆化配电网阻抗重构的高频谐振频移方法的有效性,最后研究了无源阻抗参数变化对配电网高频谐振的影响。     

Lipofilling in Breast Oncological Surgery: A Safe Opportunity or Risk for Cancer Recurrence?

Lipofilling (LF) is a largely employed technique in reconstructive and esthetic breast surgery. Over the years, it has demonstrated to be extremely useful for treatment of soft tissue defects after demolitive or conservative breast cancer surgery and different procedures have been developed to improve the survival of transplanted fat graft. The regenerative potential of LF is attributed to the multipotent stem cells found in large quantity in adipose tissue. However, a growing body of pre-clinical evidence shows that adipocytes and adipose-derived stromal cells may have pro-tumorigenic potential. Despite no clear indication from clinical studies has demonstrated an increased risk of cancer recurrence upon LF, these observations challenge the oncologic safety of the procedure. This review aims to provide an updated overview of both the clinical and the pre-clinical indications to the suitability and safety of LF in breast oncological surgery. Cellular and molecular players in the crosstalk between adipose tissue and cancer are described, and heterogeneous contradictory results are discussed, highlighting that important issues still remain to be solved to get a clear understanding of LF safety in breast cancer patients.     

Visualizing Extracellular Vesicles and Their Function in 3D Tumor Microenvironment Models

Extracellular vesicles (EVs) are cell-derived nanostructures that mediate intercellular communication by delivering complex signals in normal tissues and cancer. The cellular coordination required for tumor development and maintenance is mediated, in part, through EV transport of molecular cargo to resident and distant cells. Most studies on EV-mediated signaling have been performed in two-dimensional (2D) monolayer cell cultures, largely because of their simplicity and high-throughput screening capacity. Three-dimensional (3D) cell cultures can be used to study cell-to-cell and cell-to-matrix interactions, enabling the study of EV-mediated cellular communication. 3D cultures may best model the role of EVs in formation of the tumor microenvironment (TME) and cancer cell-stromal interactions that sustain tumor growth. In this review, we discuss EV biology in 3D culture correlates of the TME. This includes EV communication between cell types of the TME, differences in EV biogenesis and signaling associated with differing scaffold choices and in scaffold-free 3D cultures and cultivation of the premetastatic niche. An understanding of EV biogenesis and signaling within a 3D TME will improve culture correlates of oncogenesis, enable molecular control of the TME and aid development of drug delivery tools based on EV-mediated signaling.