The possible ways and progress of infrared or red laser pumped green and blue laser emissions from a single solid state material doped by rare earth ions are outlined. The green and blue lasers realized from infrared ...The possible ways and progress of infrared or red laser pumped green and blue laser emissions from a single solid state material doped by rare earth ions are outlined. The green and blue lasers realized from infrared laser pumped rare earth doped nonlinear laser crystals by means of self frequency conversion and from infrared laser pumped rare earth doped bulk, fiber and microsphere materials by means of frequency upconversion are introduced in detail. Other kinds of devices and methods are also compared. The typical nonlinear laser crystals such as YAl 3(BO 3) 4, GdAl 3(BO 3) 4, YCa 4O(BO 3) 3 , GdCa 4O(BO 3) 3, and the typical upconversion fluoride fibers are compared and analyzed. The major problems remaining to be solved and the developing trends in the area are also discussed.展开更多
A novel method of codoping the Er^3＋, Yb^3＋, and Ho^3＋ ions in tellurite glasses is demonstrated to obtain a high efficiency of infrared-to-visible upconversion. Three intense emission bands observed in Er^3＋, Yb^...A novel method of codoping the Er^3＋, Yb^3＋, and Ho^3＋ ions in tellurite glasses is demonstrated to obtain a high efficiency of infrared-to-visible upconversion. Three intense emission bands observed in Er^3＋, Yb^3＋, and Ho^3＋ codoped tellurite glasses centred at 525, 547, and 657nm correspond to Er^3＋： ^2H11/2 -4 ^4I15/2, Er^3＋： ^4S3/2 →^4I15/2＋Ho^3＋： ^5S2（^5F4） → ^5Is, and Er^3＋： ^4Sa/2 → ^4I15/2＋Ho^3＋： ^5F5 → ^5Is transitions, respectively. No visible upconversion quenching phenomenon is observed when three rare-earth ions are codoped together in tellurite glasses. In contrast, the upconversion intensity of red and green emissions in Er^3＋, Yb^3＋, and Ho^3＋ codoped glasses is enhanced largely when compared with Er^3＋ /Yb^3＋-codoped glasses. The dependence of upconversion intensities on excitation power and the possible upconversion mechanisms are evaluated. The three emissions are based on two-photon absorption processes.展开更多
Praseodymium-ion-doped gain materials have the superiority of lasing at various visible wavelengths directly.Simple and compact visible lasers are booming with the development of blue laser diodes in recent years.In t...Praseodymium-ion-doped gain materials have the superiority of lasing at various visible wavelengths directly.Simple and compact visible lasers are booming with the development of blue laser diodes in recent years.In this Letter, we demonstrate the watt-level red laser with a single blue laser diode and Pr:YLiF4 crystal.On this basis,the passively Q-switched pulse lasers are obtained with monolayer graphene and Co:ZnO thin film as the Q-switchers in the visible range.展开更多
We propose and experimentally demonstrate a recorded 1-m bidirectional 20.231-Gbit/s tricolor R/G/B laser diode(LD) based visible-light communication(VLC) system supporting signal remodulation. In the signal remodulat...We propose and experimentally demonstrate a recorded 1-m bidirectional 20.231-Gbit/s tricolor R/G/B laser diode(LD) based visible-light communication(VLC) system supporting signal remodulation. In the signal remodulation system, an LD source is not needed at the client side. The client reuses the downstream signal sent from the central office(CO) and remodulates it to produce the upstream signal. As the LD sources are located at the CO, the laser wavelength and temperature managements at the cost-sensitive client side are not needed.This is the first demonstration, to our knowledge, of a >20 Gbit∕s data rate tricolor R/G/B VLC signal transmission supporting upstream remodulation.展开更多
Perception and manipulation tasks for robotic manipulators involving highly-cluttered objects have become increasingly indemand for achieving a more efficient problem solving method in modern industrial environments.B...Perception and manipulation tasks for robotic manipulators involving highly-cluttered objects have become increasingly indemand for achieving a more efficient problem solving method in modern industrial environments.But,most of the available methods for performing such cluttered tasks failed in terms of performance,mainly due to inability to adapt to the change of the environment and the handled objects.Here,we propose a new,near real-time approach to suction-based grasp point estimation in a highly cluttered environment by employing an affordance-based approach.Compared to the state-of-the-art,our proposed method offers two distinctive contributions.First,we use a modified deep neural network backbone for the input of the semantic segmentation,to classify pixel elements of the input red,green,blue and depth(RGBD)channel image which is then used to produce an affordance map,a pixel-wise probability map representing the probability of a successful grasping action in those particular pixel regions.Later,we incorporate a high speed semantic segmentation to the system,which makes our solution have a lower computational time.This approach does not need to have any prior knowledge or models of the objects since it removes the step of pose estimation and object recognition entirely compared to most of the current approaches and uses an assumption to grasp first then recognize later,which makes it possible to have an object-agnostic property.The system was designed to be used for household objects,but it can be easily extended to any kind of objects provided that the right dataset is used for training the models.Experimental results show the benefit of our approach which achieves a precision of 88.83%,compared to the 83.4%precision of the current state-of-the-art.展开更多
This paper describes a brain-inspired simultaneous localization and mapping （SLAM） system using oriented features from accelerated segment test and rotated binary robust independent elementary （ORB） features of R...This paper describes a brain-inspired simultaneous localization and mapping （SLAM） system using oriented features from accelerated segment test and rotated binary robust independent elementary （ORB） features of RGB （red, green, blue） sensor for a mobile robot. The core SLAM system, dubbed RatSLAM, can construct a cognitive map using information of raw odometry and visual scenes in the path traveled. Different from existing RatSLAM system which only uses a simple vector to represent features of visual image, in this paper, we employ an efficient and very fast descriptor method, called ORB, to extract features from RCB images. Experiments show that these features are suitable to recognize the sequences of familiar visual scenes. Thus, while loop closure errors are detected, the descriptive features will help to modify the pose estimation by driving loop closure and localization in a map correction algorithm. Efficiency and robustness of our method are also demonstrated by comparing with different visual processing algorithms.展开更多
The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) g...The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.展开更多
为了研究高压脉冲电场对毛发染色效果的影响,试验以18~28岁年龄段人群的黑色头发和染发剂为试材,以染发后毛发的RGB(red green blue)模型提取值作为响应值,并采用等响应面试验法设计试验,以构建和分析高压脉冲电场的电场强度、脉冲宽度...为了研究高压脉冲电场对毛发染色效果的影响,试验以18~28岁年龄段人群的黑色头发和染发剂为试材,以染发后毛发的RGB(red green blue)模型提取值作为响应值,并采用等响应面试验法设计试验,以构建和分析高压脉冲电场的电场强度、脉冲宽度以及脉冲个数对毛发染色效果影响的数学模型和机理。试验结果表明:高压脉冲电场同时处理头发和染发剂后最高可提升RGB参数中的蓝色通道值B为3.7%,对应的最优化工艺化参数为:电场强度1125 V/mm、脉冲宽度175μs、脉冲个数52个。因此,高压脉冲电场对头发和染发剂进行处理后再进行染色可改善着色效果,并为毛发染色工艺优化奠定一定基础。展开更多
提出一种融合RGBD(red,green,blue and depth)信息和明暗恢复形状(SFS)的三维(3D)数字化方法。首先在室内自然光环境下使用Kinect深度相机获取被测物体表面的彩色图和深度图,其次对采集到的深度图进行双边滤波处理,并估计处理后深度图...提出一种融合RGBD(red,green,blue and depth)信息和明暗恢复形状(SFS)的三维(3D)数字化方法。首先在室内自然光环境下使用Kinect深度相机获取被测物体表面的彩色图和深度图,其次对采集到的深度图进行双边滤波处理,并估计处理后深度图的表面法向量,然后建立光照模型并对其求解,最后构建全局代价函数,以完成对目标物体深度信息的优化求解。实验结果表明:该方法可以在室内自然光环境下较好地恢复出重建物体的细节信息。展开更多
文摘The possible ways and progress of infrared or red laser pumped green and blue laser emissions from a single solid state material doped by rare earth ions are outlined. The green and blue lasers realized from infrared laser pumped rare earth doped nonlinear laser crystals by means of self frequency conversion and from infrared laser pumped rare earth doped bulk, fiber and microsphere materials by means of frequency upconversion are introduced in detail. Other kinds of devices and methods are also compared. The typical nonlinear laser crystals such as YAl 3(BO 3) 4, GdAl 3(BO 3) 4, YCa 4O(BO 3) 3 , GdCa 4O(BO 3) 3, and the typical upconversion fluoride fibers are compared and analyzed. The major problems remaining to be solved and the developing trends in the area are also discussed.
基金Supported by the Science and Technology Department of Zhejiang Province under Grant No 2006C21082, the Natural Science Foundation of Zhejiang Province under Grant No 601011.
文摘A novel method of codoping the Er^3＋, Yb^3＋, and Ho^3＋ ions in tellurite glasses is demonstrated to obtain a high efficiency of infrared-to-visible upconversion. Three intense emission bands observed in Er^3＋, Yb^3＋, and Ho^3＋ codoped tellurite glasses centred at 525, 547, and 657nm correspond to Er^3＋： ^2H11/2 -4 ^4I15/2, Er^3＋： ^4S3/2 →^4I15/2＋Ho^3＋： ^5S2（^5F4） → ^5Is, and Er^3＋： ^4Sa/2 → ^4I15/2＋Ho^3＋： ^5F5 → ^5Is transitions, respectively. No visible upconversion quenching phenomenon is observed when three rare-earth ions are codoped together in tellurite glasses. In contrast, the upconversion intensity of red and green emissions in Er^3＋, Yb^3＋, and Ho^3＋ codoped glasses is enhanced largely when compared with Er^3＋ /Yb^3＋-codoped glasses. The dependence of upconversion intensities on excitation power and the possible upconversion mechanisms are evaluated. The three emissions are based on two-photon absorption processes.
基金supported by the National Key Research and Development Program of China(Nos.2016YFB0701002and 2016YFB1102301)the National Natural Science Foundation of China(NSFC)(Nos.51772173,51632004,51472257,and 51872307)
文摘Praseodymium-ion-doped gain materials have the superiority of lasing at various visible wavelengths directly.Simple and compact visible lasers are booming with the development of blue laser diodes in recent years.In this Letter, we demonstrate the watt-level red laser with a single blue laser diode and Pr:YLiF4 crystal.On this basis,the passively Q-switched pulse lasers are obtained with monolayer graphene and Co:ZnO thin film as the Q-switchers in the visible range.
基金Ministry of Science and Technology,Taiwan(MOST)(MOST-106-2221-E-009-105-MY3)Aim for the Top University PlanMinistry of Education(MOE),Taiwan,China
文摘We propose and experimentally demonstrate a recorded 1-m bidirectional 20.231-Gbit/s tricolor R/G/B laser diode(LD) based visible-light communication(VLC) system supporting signal remodulation. In the signal remodulation system, an LD source is not needed at the client side. The client reuses the downstream signal sent from the central office(CO) and remodulates it to produce the upstream signal. As the LD sources are located at the CO, the laser wavelength and temperature managements at the cost-sensitive client side are not needed.This is the first demonstration, to our knowledge, of a >20 Gbit∕s data rate tricolor R/G/B VLC signal transmission supporting upstream remodulation.
文摘Perception and manipulation tasks for robotic manipulators involving highly-cluttered objects have become increasingly indemand for achieving a more efficient problem solving method in modern industrial environments.But,most of the available methods for performing such cluttered tasks failed in terms of performance,mainly due to inability to adapt to the change of the environment and the handled objects.Here,we propose a new,near real-time approach to suction-based grasp point estimation in a highly cluttered environment by employing an affordance-based approach.Compared to the state-of-the-art,our proposed method offers two distinctive contributions.First,we use a modified deep neural network backbone for the input of the semantic segmentation,to classify pixel elements of the input red,green,blue and depth(RGBD)channel image which is then used to produce an affordance map,a pixel-wise probability map representing the probability of a successful grasping action in those particular pixel regions.Later,we incorporate a high speed semantic segmentation to the system,which makes our solution have a lower computational time.This approach does not need to have any prior knowledge or models of the objects since it removes the step of pose estimation and object recognition entirely compared to most of the current approaches and uses an assumption to grasp first then recognize later,which makes it possible to have an object-agnostic property.The system was designed to be used for household objects,but it can be easily extended to any kind of objects provided that the right dataset is used for training the models.Experimental results show the benefit of our approach which achieves a precision of 88.83%,compared to the 83.4%precision of the current state-of-the-art.
基金supported by National Natural Science Foundation of China(No.61673283)
文摘This paper describes a brain-inspired simultaneous localization and mapping （SLAM） system using oriented features from accelerated segment test and rotated binary robust independent elementary （ORB） features of RGB （red, green, blue） sensor for a mobile robot. The core SLAM system, dubbed RatSLAM, can construct a cognitive map using information of raw odometry and visual scenes in the path traveled. Different from existing RatSLAM system which only uses a simple vector to represent features of visual image, in this paper, we employ an efficient and very fast descriptor method, called ORB, to extract features from RCB images. Experiments show that these features are suitable to recognize the sequences of familiar visual scenes. Thus, while loop closure errors are detected, the descriptive features will help to modify the pose estimation by driving loop closure and localization in a map correction algorithm. Efficiency and robustness of our method are also demonstrated by comparing with different visual processing algorithms.
基金the National Natural Science Foundation of China (61720106012 and 61403215)the Foundation of State Key Laboratory of Robotics (2006-003)the Fundamental Research Funds for the Central Universities for the financial support of this work.
文摘The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.
文摘为了研究高压脉冲电场对毛发染色效果的影响,试验以18~28岁年龄段人群的黑色头发和染发剂为试材,以染发后毛发的RGB(red green blue)模型提取值作为响应值,并采用等响应面试验法设计试验,以构建和分析高压脉冲电场的电场强度、脉冲宽度以及脉冲个数对毛发染色效果影响的数学模型和机理。试验结果表明:高压脉冲电场同时处理头发和染发剂后最高可提升RGB参数中的蓝色通道值B为3.7%,对应的最优化工艺化参数为:电场强度1125 V/mm、脉冲宽度175μs、脉冲个数52个。因此,高压脉冲电场对头发和染发剂进行处理后再进行染色可改善着色效果,并为毛发染色工艺优化奠定一定基础。
文摘提出一种融合RGBD(red,green,blue and depth)信息和明暗恢复形状(SFS)的三维(3D)数字化方法。首先在室内自然光环境下使用Kinect深度相机获取被测物体表面的彩色图和深度图,其次对采集到的深度图进行双边滤波处理,并估计处理后深度图的表面法向量,然后建立光照模型并对其求解,最后构建全局代价函数,以完成对目标物体深度信息的优化求解。实验结果表明:该方法可以在室内自然光环境下较好地恢复出重建物体的细节信息。
