Grasp Planning and Visual Servoing for an Outdoors Aerial Dual Manipulator

This paper describes a system for grasping known objects with unmanned aerial vehicles (UAVs) provided with dual manipulators using an RGB-D camera. Aerial manipulation remains a very challenging task. This paper covers three principal aspects for this task: object detection and pose estimation, grasp planning, and in-flight grasp execution. First, an artificial neural network (ANN) is used to obtain clues regarding the object’s position. Next, an alignment algorithm is used to obtain the object’s sixdimensional (6D) pose, which is filtered with an extended Kalman filter. A three-dimensional (3D) model of the object is then used to estimate an arranged list of good grasps for the aerial manipulator. The results from the detection algorithm—that is, the object’s pose—are used to update the trajectories of the arms toward the object. If the target poses are not reachable due to the UAV’s oscillations, the algorithm switches to the next feasible grasp. This paper introduces the overall methodology, and provides the experimental results of both simulation and real experiments for each module, in addition to a video showing the results.

Sensor planning method for visual tracking in 3D camera networks

Most sensors or cameras discussed in the sensor network community are usually 3D homogeneous, even though their2 D coverage areas in the ground plane are heterogeneous. Meanwhile, observed objects of camera networks are usually simplified as 2D points in previous literature. However in actual application scenes, not only cameras are always heterogeneous with different height and action radiuses, but also the observed objects are with 3D features（i.e., height）. This paper presents a sensor planning formulation addressing the efficiency enhancement of visual tracking in 3D heterogeneous camera networks that track and detect people traversing a region. The problem of sensor planning consists of three issues：（i） how to model the 3D heterogeneous cameras;（ii） how to rank the visibility, which ensures that the object of interest is visible in a camera＇s field of view;（iii） how to reconfigure the 3D viewing orientations of the cameras. This paper studies the geometric properties of 3D heterogeneous camera networks and addresses an evaluation formulation to rank the visibility of observed objects. Then a sensor planning method is proposed to improve the efficiency of visual tracking. Finally, the numerical results show that the proposed method can improve the tracking performance of the system compared to the conventional strategies.

Topological approach of liver segmentation based on 3D visualization technology in surgical planning for split liver transplantation

BACKGROUND Split liver transplantation(SLT)is a complex procedure.The left-lateral and right tri-segment splits are the most common surgical approaches and are based on the Couinaud liver segmentation theory.Notably,the liver surface following right trisegment splits may exhibit different degrees of ischemic changes related to the destruction of the local portal vein blood flow topology.There is currently no consensus on preoperative evaluation and predictive strategy for hepatic segmental necrosis after SLT.AIM To investigate the application of the topological approach in liver segmentation based on 3D visualization technology in the surgical planning of SLT.METHODS Clinical data of 10 recipients and 5 donors who underwent SLT at Shenzhen Third People’s Hospital from January 2020 to January 2021 were retrospectively analyzed.Before surgery,all the donors were subjected to 3D modeling and evaluation.Based on the 3D-reconstructed models,the liver splitting procedure was simulated using the liver segmentation system described by Couinaud and a blood flow topology liver segmentation(BFTLS)method.In addition,the volume of the liver was also quantified.Statistical indexes mainly included the hepatic vasculature and expected volume of split grafts evaluated by 3D models,the actual liver volume,and the ischemia state of the hepatic segments during the actual surgery.RESULTS Among the 5 cases of split liver surgery,the liver was split into a left-lateral segment and right trisegment in 4 cases,while 1 case was split using the left and right half liver splitting.All operations were successfully implemented according to the preoperative plan.According to Couinaud liver segmentation system and BFTLS methods,the volume of the left lateral segment was 359.00±101.57 mL and 367.75±99.73 mL,respectively,while that measured during the actual surgery was 397.50±37.97 mL.The volume of segment IV(the portion of ischemic liver lobes)allocated to the right tri-segment was 136.31±86.10 mL,as determined using the topological approach to liver segmentation.However,during the actual surgical intervention,ischemia of the right tri-segment section was observed in 4 cases,including 1 case of necrosis and bile leakage,with an ischemic liver volume of 238.7 mL.CONCLUSION 3D visualization technology can guide the preoperative planning of SLT and improve accuracy during the intervention.The simulated operation based on 3D visualization of blood flow topology may be useful to predict the degree of ischemia in the liver segment and provide a reference for determining whether the ischemic liver tissue should be removed during the surgery.

Path planning method for controlling multi-UAVs to reach multi-waypoints simultaneously under the view of visual navigation

Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph （PH） curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.

A Novel Robot Motion Planning Model based on Visual Navigation and Fuzzy Control

In this paper, we propose the novel robot motion planning model based on the visual navigation and fuzzy control. A robot operating system can be viewed as the mechanical energy converter from the joint space to the global operation space, and the fiexibility of the robot system refi ects the global transformation ability of the whole system. Fuzzy control technology is a kind of fuzzy science, artificial intelligence, knowledge engineering and other disciplines interdisciplinary fields, the theory of strong science and technology, to achieve this fuzzy control technology theory, known as the fuzzy control theory. Besides this, this paper integrates the visual navigation system to construct the better robust methodology which is meaningful.

Visual analysis of advance care planning related studies

Backgroud:To provide a reference for the further development of the field of the advance care planning(ACP),through the visual analysis of the related literature on the ACP.Methods:Taking the core collection database of Web of ScienceTM as data sources,the method of subject word retrieval is adopted.Literature metrology and CiteSpaceⅤinformation visualization software were used to analyze the literature on ACP published from inception to September 2019.Results:A total of 1,981 literature were included.The number of ACP studies increased,USA published the most literature in the world,followed by Australia,Britain,Canada and the Netherlands and so on.The most leading published journal was the Journal of Palliative Medicine,and the highest impact factor was Palliative Medicine(4.956).Sudore,Rebecca L and Hillary D Lum are the key researcher networks with the largest amount of articles published in ACP field.The research content mainly included the definition,implementation process and implementation effect of ACP.Research focused on palliative care,hospice care,decision-making,communication,patient preference and so on.Conclusion:The studies on ACP is on the rise,the research content is deepening,which suggests that we can learn from the research results of foreign countries in this field and continue to deepen the research in the field of ACP in China.

Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被列在后面，我们能利用基于图象的视觉 servoing 的本地集中和稳定性避免这些问题。因此，路径在图象空间计划是在最近的年里的机器人学的一个活跃研究话题。然而，几乎所有为 camera-in-hand 配置的盒子相关结果被建立。在这篇论文，我们建议 uncalibrated 为改正照相机配置的盒子的视觉路径计划算法。这个算法在射影的空格直接计算图象特征的轨道以便他们与僵硬天体运动兼容。由把旋转和翻译的射影的代表分解成他们的各自的正规形式，我们能容易插入内推他们在射影的空间的路径。然后，在图象飞机的图象特征的轨道能经由射影的路径被产生。这样，特征点的知识组织并且照相机内在的参数没被要求。验证建议算法的可行性和表演，基于 puma560 机器人，操纵者在这被给的模拟结果糊。

Ecological Landscape Planning Considering Landscape Aesthetics (Case Study: Part of Tehran-Qom Freeway)

Visual quality is a significant issue in today’s modern world which needs to be evaluated. This assessment is based on the observer’s perception and sight of space and attempts to introduce the criteria of spatial desirability in the landscape. Analysis of the relationships between visual quality and structural features of the landscape is an effective way of conducting cognitive research. For this purpose, the analysis of visual quality was considered by compiling measurement and evaluation criteria, based on the concept of user preferences, in the part of Tehran-Qom Freeway, near the northeastern side of Imam Khomeini International Airport (Iran). The main objective of this research is to present a strategic plan for preserving and restoring the ecological landscape, creating a sense of place in the region, emphasizing gradual changes in the landscape during the movement and considering its relation to landscape aesthetics. For this purpose, after the questionnaire was prepared, the classifying visual quality method (Q-Sort) was used. Finally, using the results obtained from landscape analysis, identifying the components which led to the lack of visibility of individuals, and by using the geographic information systems (GIS), the strategic design of the area was designed.

The Design and Realization on Effectively Fire Tower Planning Based on MapGIS-TDE

Fire-tower is effectively applied in forest fire prevention and commanding system, especially in fire monitor and position. After explaining the significance of scientific planning of fire-tower, this paper analyzes GIS`s functions in building forest fire prevention system. This paper uses case study method, which designs a model, fire tower planning and analysis, based on MapGIS platform. After that, it directs us how to realize these functions based on MapGIS-TDE which is a 3D platform belonged to MapGIS. This paper gives us scientific ways to fire tower planning in forest fire system which promotes informationization of forest fire prevention management.

High-quality trajectory planning for heterogeneous individuals

Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensured that the individual’s path was smooth and its velocity was continuous. Based on the physiological constraints of humans with maximum velocity and acceleration, time-optimal trajectory and feasible region were derived by solving kinodynamic planning problem. Subsequently, a high-quality trajectory planning algorithm was designed to compute the trajectory with appropriate variation of velocity. The simulation results demonstrate that the proposed trajectory planning method has more authenticities and can generate high-quality trajectories for virtual humans in crowd simulation.

Multi-Project in an Integrated BIM Model: Clash Detection and Construction Planning

The Building Information Modelling (BIM) methodology has been adopted in the construction industry, supporting the development of projects. Its implementation has improved the collaboration and integration in the design context, increasing the accuracy of the project preparation and the decreasing additional costs and delays of the construction work. The main objective of the present research is to provide an overview of the state of the art of BIM applications, namely, concerning the construction planning. For that, the generation of a BIM 3D model, involving the disciplines of architecture, structures and water supply system was performed. After, over the model a conflict analysis was applied, in order to verify the consistency of all the disciplines, when linked together. In order to obtain a visual simulation of the construction process, the correspondent 4D BIM model was also generated. Along the development of the study, distinct BIM software was applied over a case study. The main remarks of the capacities of the software, as well as the benefits and limitations verified were identified.

基于路径规划特点的语义目标导航方法

为了解决语义目标导航任务中存在的探索效率低、深度不精准等问题,本文构建了一个解决语义目标导航任务的框架,在语义地图构建模块中引入了深度图边缘处理以及地图纠错机制;在探索模块中引入了覆盖范围最大化算法;在路径规划模块中引入了替代点机制。本文在一个3D仿真环境下进行了实验。实验结果表明,本文提出的解决方案明显提升了语义目标导航任务的性能。此外,本文所提方法成功应用到了四足机器人上,从而验证了其在现实场景下的泛化性。

机械臂环境三维重建与避障算法研究

为了解决机器人在未知环境中的避障规划难题,提出了一种基于视觉的三维重建与避障规划方法。通过深度相机(RealSense D435i)与机械臂组成手眼系统,首先,根据目标物体与ArUco码的相对关系,通过相机获取的ArUco标记上的特征点坐标,求解出目标物姿态;然后,改进三维重建方法,通过融合机械臂工具末端位姿和多帧点云数据,对环境进行较高精度的三维重建,作为后续规划的障碍空间;最后,应用了快速扩展随机树(RRT)的改进算法进行机械臂的避障运动规划。研究搭建了仿真及控制平台,来进行验证。实验表明:环境三维建模的精度维持在8mm以内,避障成功率为96.5%,平均规划时间为1.2s,验证了方法的可行性。

面向未知环境的自主无人机智能感知测量技术

智能化测绘的发展对数据采集高效性、完备性和智能性提出了更高的要求。尤其是在林下等GNSS拒止环境下,现有传统手段往往难以完成高效率、高覆盖率测量。为了满足未知环境的智能化感知测量需求,以无人机为移动平台,本文设计并提出了一种融合视觉在线自主定位及全局探测路径规划的自主无人机智能感知测量技术与总体框架。本文首先设计并采用了一种基于点线特征的VIO(visual-inertial odometry)在线定位算法,通过点线特征的提取和匹配进行初始位姿的解算,之后利用因子图优化实时地输出无人机高精度的位姿信息。进一步地,为了实现无人机对于未知环境高效且高覆盖率的自主测量,采用了一种顾及多层次信息的全局最优探测路径规划方法确定局部最佳探测目标,然后通过轨迹搜索和优化算法实时地生成高质量的探测运动轨迹。通过自主搭建无人机平台对该技术框架进行了验证,分步对比和总体真实试验表明框架设计并采用的定位及空间探测方法相较于目前具有代表性的方法具有明显优势,并且在GNSS拒止局部林下环境中实现了高效高覆盖率的全自主测量,为未知场景进一步的在线智能化感知奠定了良好的理论方法与框架基础。

基于CiteSpace分析的国内外乡村碳排放研究进展与展望

文章采用CiteSpace软件对国内外乡村碳排放研究进展进行可视化分析,旨在为明晰规划减排目标与技术路径提供支撑。结果表明:国内外相关研究均高度集中于环境科学与农学,研究热点都包括农业碳排放及影响因素,研究思路上都逐渐注重多尺度机制探究和综合要素分析,研究进展聚焦在乡村碳排放核算和预测、影响因素和减排路径。未来应建立多学科融合的研究框架,拓展研究尺度和基础技术途径,强化乡村主体研究。

基于视觉识别的动态环境下机器人全覆盖路径规划

在动态环境下,机器人全覆盖路径规划对于实现高效和自动化的空间覆盖至关重要。传统的路径规划技术往往依赖于预设的环境模型,难以适应环境的即时变化。文中提出了一种基于视觉识别的机器人全覆盖路径规划方法,旨在通过目标识别与跟踪动态调整路径,有效规划机器人在复杂动态环境中的全覆盖路径。该方法能显著提高在动态环境中的路径规划效率和覆盖率,不仅为机器人在复杂动态环境中的应用提供了新的解决方案,也为未来的智能机器人开发奠定了基础。

我国学前教育资源配置研究的热点前沿与发展趋势——基于知识图谱的可视化分析

合理配置资源是实现学前教育普及普惠优质安全发展的重要保障。利用CiteSpace软件对2010—2023年学前教育资源配置领域的218篇CSSCI和北大核心期刊文献进行知识图谱计量分析。可视化结果表明,在学前教育三年行动计划期间,该领域的研究热点聚焦于学前教育资源的供给模式、配置公平、政府责任三方面。未来,亟需从解决低生育率背景下供需矛盾问题、明确政府责任等方面深化研究城乡学前教育资源配置差异、普惠性学前教育资源配置优化策略等议题。

基于无人机影像的露天煤矿短期生产计划可视化编制

为提高露天煤矿短期(日、周)生产计划编制效率、快速分析设备计划完成情况以及可视化设计和直观性表达的效果,提出基于无人机影像数据进行短期生产计划快速编制,利用C++语言开发了基于无人机影像的露天煤矿短期生产计划可视化软件系统(Intelligent Mining Design Software System),简称“IMDS”软件。结果表明:①采用无人机影像数据进行短期计划的编制可视化视觉效果增强;②采用无人机影像数据进行局部1500 m×1500 m范围的露天煤矿采场台阶线自动生成,用时为17.392 s,而人工绘图需要5 min;③利用软件平台编制周计划、日计划,降低采矿人员需要反复去现场查验的频率以及突破传统采矿实体、块体算量的复杂性,内部预设设备能力分析模块,直接分析出短期计划内设备完成情况信息;④基于影像数据进行斜坡道快速绘制,自动计算坡道填挖土方量,实现运输道路修筑的精准性;⑤“IMDS”软件提供十大功能模块,235个子功能,可实现对无人机影像数据短期计划编制和基于三维地质实体模块的月度、年度计划快速工程量和工程位置精准确定的编制;⑥短期生产计划编制后,可通过数据发布的方式将短期生产计划发布至露天煤矿综合管控平台,实现计划数据直观展示,实现数据一数一源,保证了数据的准确性和安全性。该系统软件的开发,有助于促进智能化采矿设计软件系统的进一步发展。

基于模式识别的加氢裂化装置可视化模型

为了实时监控加氢裂化过程装置的运行状态,实现生产过程的优化,提出了一种基于模式识别的加氢裂化装置可视化模型。首先,使用聚类方法对加氢裂化装置的历史数据进行生产过程工况划分,并针对不同工况,基于主成分分析算法分别构建可视化模型,获得评估生产过程的有效工具;然后,根据2个重要指标划分模型区域,便于对新样本进行指标评估;最后,使用路径规划算法寻找到达最优生产模式的迁移路径。仿真结果表明,所提模型能有效根据工况与性能指标划分区域,并针对低效的生产状态得到生产过程变量的调节方法,保持生产过程产品的高收率。