6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON STEREO VISION

A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.

Jumbo cup in hip joint renovation may cause the center of rotation to increase

BACKGROUND Utilizing the large jumbo cup in revision total hip arthroplasty is an effective approach to cure many lacunar and segmental peripheral bone defects.However,with the use of the jumbo cup,the center of the hip joint may become elevated relative to the primary acetabulum,and the diameter of the large cup is greater.AIM To study the height and the significance of the elevation of the hip joint center.METHODS Eighty-eight patients matched the criteria for this condition and were included in the study.The center height of the hip joint was measured relative to the opposite normal hip joint.The diameter of the jumbo cup was measured and checked according to operation notes,and the diameter of the jumbo cup was measured with a prosthesis label.Then,the horizontal and vertical centers of rotation were measured on the surgical side and opposite side.The average center height of the hip joint on the renovated side and the opposite side and the position of the hip cup relative to the teardrop were compared using a paired t-test.RESULTS Radiometric analysis showed that the average hip joint center was elevated by 7.6 mm.The rotational center height delta of the renovated hip was 7.6±5.6 mm,and there was an obvious difference between the two groups(P=0.00).The difference in horizontal distance was 0.5±5.1 mm(-11.5-14.0 mm),and there was no obvious difference between the two groups(P=0.38).According to the foreign standard,the rotational center height delta of the renovated hip was 7.5±6.2 mm,and there was a significant difference between the two groups(P=0.00).There was no obvious difference between the domestic and foreign standards(P>0.05)between the two groups.CONCLUSION The application of the jumbo cup elevates the rotational center of the hip joint,but it is feasible and effective to use the jumbo cup.

Center of rotation estimation for rocket nozzle by infrared reflective makers and image sequences

The determination of an accurate center of rotation of rocket motor nozzle or other object to be measured is of great interest across a wide range of applications,such as rocket,missile,robotics,industry,spaceflight,aviation and human motion analysis fields,particularly for clinical gait analysis.A new approach was proposed to estimate the moving objects' instantaneous center of rotation and other motion parameters.The new method assumes that the two segment of object to be measured are rigid body which rotates around a center of rotation between each other relatively.The center of rotation varies with time in the global coordinate system but is fixed in the local coordinate system attached to each segment.The models of rocket motor nozzle and its movement were established.The arbitrary moving object's corresponding to motion equations were deduced,and the least square closed-form solutions of the object's motion parameters were figured out.It is assumed that the two high speed CCD cameras mounted on the 750 nm infrared(IR) filter are synchronized and calibrated in advance.The virtual simulation experiment using 3D coordinates of markers was conducted by synchronized stereo image sequences based on 6-DOF motion platform and the experimental results prove the feasibility of our algorithm.The test results show that the precision of x,y,z component on center of rotation is up to 0.14 mm,0.13 mm,0.15 mm.

Predictive factors for photic phenomena after refractive,rotationally asymmetric,multifocal intraocular lens implantation

AIM： To investigate the independent factors associated with photic phenomena in patients implanted with refractive,rotationally asymmetric,multifocal intraocular lenses（MIOLs）.METHODS： Thirty-four eyes of 34 patients who underwent unilateral cataract surgery,followed by implantation of rotationally asymmetric MIOLs were included.Distance and near visual acuity outcomes,intraocular aberrations,preferred reading distances,preoperative and postoperative refractive errors,mesopic and photopic pupil diameters,and the mesopic and photopic kappa angles were assessed.Patients were also administered a satisfaction survey.Photic phenomena were graded by questionnaire.Independent-related factors were identified by correlation and bivariate logistic regression analyses.RESULTS： The distance from the photopic to the mesopic pupil center（pupil center shift） was significantly associated with glare/halo symptoms [odds ratio（OR）=2.065,95% confidence interval（CI）=0.916-4.679,P=0.006] and night vision problems（OR=1.832,95% CI=0.721-2.158,P=0.007）.The preoperative photopic angle kappa was significantly associated with glare/halo symptoms（OR=2.155,95% CI=1.065-4.362,P=0.041）.The photopic angle kappa was also significantly associated with glare/halo symptoms（OR=2.155,95% CI=1.065-4.362,P=0.041） and with night vision problems（OR=1.832,95% CI=0.721-2.158,P=0.007） in patients implanted with rotationally asymmetric MIOLs.CONCLUSION： A large pupil center shift and misalignment between the visual and pupillary axis（angle kappa）may play a role in the occurrence of photic phenomena after implantation of rotationally asymmetric MIOLs.

Determine an effective golf swing by swing speed and impact precision tests

Background： To understand an effective golf swing, both swing speed and impact precision must be thoroughly and simultaneously examined. The aim of this study was to perform both swing speed test and impact precision test to ascertain what swing type determines an effective impact. Methods： Seven golfers from a college team （handicap： 0--12） were recruited to complete a swing speed test and impact precision test using a 5-iron club, A force plate and electromyography （EMG） system were used to collect data in the swing speed test to compare the difference between two motion sequences. High speed video cameras were used to determine the displacement of rotation center for impact precision test. Results： The results showed a significant difference （p 〈 0.01） in clubhead speed with different motion sequences and muscle contraction patterns. In the impact precision test, the displacement of the rotation center which defined as the inner center point of the C7 was significantly different （p 〈 0.05） between different ball impacted marks on club face. Conclusion： The vertical peak ground reaction force on left foot occurring before impact and the left latissimus dorsi contracting prior to the right pectoralis major represent a superior skill by allowing the club to strike the ball with normal collision at a faster speed.

旋转对称目标滑动型散射中心的微Doppler特性

微动特征是当前学术界公认的弹道中段目标雷达识别的有效特征之一,目前的特征提取与识别研究通常假定散射中心与目标自身的微动规律一致,其微Doppler效应为正弦调频信号.但这种假设忽视了随着观测视角的改变,散射中心将在目标体上滑动这一事实.文中对弹体不同位置散射中心的微运动特性进行了完整建模,首次得到了滑动型散射中心微Doppler的数学表达式,并针对导弹攻防对抗条件导出其Taylor近似,指出并非文献上通常假定的正弦规律.设计了进动目标暗室动态测量实验,生动揭示了散射中心的这种滑动特性,实验现象与文中的理论分析结果相一致.文中揭示的微Doppler机理为弹头类目标微动特性模拟及特征反演等应用领域提供了更为准确的物理基础和数学模型.

Design and implementation of five-axis transformation function in CNC system

To implement five-axis functions in CNC system, based on domestic system Lan Tian series, an improved design method for the system software structure is proposed in this paper. The numerical control kernel of CNC system is divided into the task layer and the motion layer. A five-axis transformation unit is integrated into the motion layer. After classifying five-axis machines into different types and analyzing their geometry information, the five-axis kinematic library is designed according to the abstract factory pattern. Furthermore, by taking CA spindle- tilting machine as an example, the forward and the inverse kinematic transformations are deduced. Based on the new software architecture and the five-axis kinematic library, algorithms of RTCP （rotation tool center point control） and 3D radius compensation for end-milling are designed and realized. The milling results show that, with five-axis functions based on such software struc- ture, the instructions with respect to the cutter＇s position and orientation can be directly carried out in the CNC system.

Dynamic stability characterization of re-entry modules at hypersonic mach numbers

At the time of re-entry modules entering into the atmosphere from space,a small perturbation introduces dynamic oscillations on the vehicle because of their extreme traveling speed.The dynamic stability characteristics of re-entry modules at hypersonic Mach numbers is of considerable relevance to their initial design.In the present paper,the dynamic stability of blunt cone model about 10◦is examined with wide range of design parameters such as nose bluntness,semi-vertex angle and center of rotation through theoretical and experimental methods.Theoretical approximations are made over a model based on the standard Newtonian theory.Experiments are conducted at 0.25m hypersonic wind tunnel at M=8.3 and the following trends are observed from the experimental analysis.Interestingly,the incremental higher nose bluntness,semi-vertex angle and center of rotation reduce the dynamic stability.At higher hypersonic Mach numbers(M>10),dynamic stability characteristics of the re-entry module are insensitive to the free stream Mach number.However,it is observed that the dynamic stability is increased in proportion to the vibration amplitude at hypersonic speeds.