A state-of-the-art review of automated extraction of rock mass discontinuity characteristics using three-dimensional surface models

In the last two decades,significant research has been conducted in the field of automated extraction of rock mass discontinuity characteristics from three-dimensional(3D)models.This provides several methodologies for acquiring discontinuity measurements from 3D models,such as point clouds generated using laser scanning or photogrammetry.However,even with numerous automated and semiautomated methods presented in the literature,there is not one single method that can automatically characterize discontinuities accurately in a minimum of time.In this paper,we critically review all the existing methods proposed in the literature for the extraction of discontinuity characteristics such as joint sets and orientations,persistence,joint spacing,roughness and block size using point clouds,digital elevation maps,or meshes.As a result of this review,we identify the strengths and drawbacks of each method used for extracting those characteristics.We found that the approaches based on voxels and region growing are superior in extracting joint planes from 3D point clouds.Normal tensor voting with trace growth algorithm is a robust method for measuring joint trace length from 3D meshes.Spacing is estimated by calculating the perpendicular distance between joint planes.Several independent roughness indices are presented to quantify roughness from 3D surface models,but there is a need to incorporate these indices into automated methodologies.There is a lack of efficient algorithms for direct computation of block size from 3D rock mass surface models.

Sub-pixel extraction of laser stripeand itsapplication in laser plane calibration

For calibrating the laser plane to implement 3D shape measurement, an algorithm for extracting the laser stripe with sub-pixel accuracy is proposed. The proposed algorithm mainly consists of two stages： two-side edge detection and center line extraction. First, the two-side edge of laser stripe is detected using the principal component angle-based progressive probabilistic Hough transform and its width is calculated through the distance between these two edges. Secondly, the center line of laser strip is extracted with 2D Taylor expansion at a sub-pixel level and the laser plane is calibrated with the 3D reconstructed coordinates from the extracted 2D sub-pixel ones. Experimental results demonstrate that the proposed method can not only extract the laser stripe at a high speed, nearly average 78 ms/frame, but also calibrate the coplanar laser stripes at a low error, limited to 0.3 mm. The proposed algorithm can satisfy the system requirement of two-side edge detection and center line extraction, and rapid speed, high precision, as well as strong anti-jamming.

The occlusal plane in the facial context:inter-operator repeatability of a new three-dimensional method

The repeatability of a non-invasive digital protocol proposed to evaluate the three-dimensional（3D） position of the occlusal plane in the face is assessed.Dental virtual models and soft tissue facial morphology of 20 adult subjects were digitally integrated using a 3D stereophotogrammetric imaging system.The digital 3D coordinates of facial and dental landmarks were obtained by two different operators.Camper＇s（facial） and occlusal（dental） planes were individuated,and their 3D relationships were measured.The repeatability of the protocol was investigated and showed no significant differences in repeated digitizations.The angle between occlusal and Camper＇s planes was smaller than 26 in the frontal and horizontal projections.In the sagittal projection,the angle was observed to be,on average,4.9 6.The determined occlusal plane pitch,roll and yaw values show good agreement with previously published data obtained by different protocols.The current non-invasive method was repeatable,without inter-operator differences and can facilitate assessment of healthy subjects.

Plane extraction for navigation of humanoid robot

In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.

Three-Dimensional Scattering of an Incident Plane Shear Horizontal Guided Wave by a Partly through-Thickness Hole in a Plate

We investigate the three-dimensional （3D） scattering problem of an incident plane shear horizontal wave by a partly through-thickness hole in an isotropic plate, in which the Lamb wave modes are also included due to the mode conversions by the scattering obstacle in the 3D problem. An analytical model is presented such that the wave fields are expanded in all of propagating and evanescent SH modes and Lamb modes, and the scattered far-fields of three fundamental guided wave modes are analyzed numerically for different sizes of the holes and frequencies. The numerical results are verified by comparing with those obtained by using the approximate Poisson/Mindlin plate model for small hole radius and low frequency. It is also found that the scattering patterns are different from those of the SO wave incidence. Our work is useful for quantitative evaluation of the plate-like structure by ultrasonic guided waves.

Three-dimensional Scattering of Obliquely Incident Plane SH Waves by an Alluvial Valley in a Layered Half-space

The indirect boundary element method （IBEM） is used to study three-dimensional scattering of obliquely incident plane SH waves by an alluvial valley embedded in a layered half-space. The free-field response of the layered half-space is calculated by the direct stiffness method, and dynamic Green＇s functions of moving distributed loads acting on inclined lines in a layered half-space are calculated to simulate the scattering wave field. The presented method yields very accurate results since the three-dimensional dynamic stiffness matrix is exact and the moving distributed loads can act directly on the valley boundary without singularity. Numerical results and analyses are performed for amplification of obliquely incident plane SH waves around an alluvial valley in a uniform half-space and in single layer over half-space. The results show that the three-dimensional responses are distinctly different from the two-dimensional responses, and the displacement amplitudes around alluvial valleys in a uniform haft-space are obviously different from those in a layered half-space.

Integration system research and development for three-dimensional laser scanning information visualization in goaf

An integration processing system of three-dimensional laser scanning information visualization in goaf was developed. It is provided with multiple functions, such as laser scanning information management for goaf, cloud data de-noising optimization, construction, display and operation of three-dimensional model, model editing, profile generation, calculation of goaf volume and roof area, Boolean calculation among models and interaction with the third party soft ware. Concerning this system with a concise interface, plentiful data input/output interfaces, it is featured with high integration, simple and convenient operations of applications. According to practice, in addition to being well-adapted, this system is favorably reliable and stable.

Detection of Congenital Uterine Malformation by Using Transvaginal Three-dimensional Ultrasound

This study assessed the clinical application of transvaginal three-dimensional ultrasound （3D TVUS） in the diagnosis of congenital uterine malformation. A retrospective study was performed on 62 patients with congenital uterine malformation confirmed hysteroscopically and/or laparoscopically. The patients were subjected to transvaginal two-dimensional ultrasound （2D TVUS） and 3D TVUS. The accuracy rate was compared between the two methods. The accuracy rate of 3D TVUS was （98.38%, 61/62）, higher than that of 2D TVUS （80.65%, 50/62）. 3D TVUS coronal plane imaging could demon- strate the internal shape of the endometrial cavity and the external contour of the uterine fundus. It al- lowed accurate measurement on the coronary plane, and could three-dimensionally show the image of cervical tube, thereby providing information for the diagnosis of some complex uterine malformation. 3D TVUS imaging can obtain comprehensive information of the uterus malformation, and it is superior to 2D TVUS for the diagnosis of congenital uterine malformations, especially complex uterine anomaly.

A generalized three-dimensional failure criterion for rock masses

The smooth convex generalized failure function, which represents 1/6 part of envelope in tile deviatoric plane, is proposed. The proposed function relies on four shape parameters （L, a, b and c）, in which two parameters （a and b） are dependent on the others. The parameter Ls is called extension ratio. The proposed failure function could be incorporated with any two-dimensional （2D） failure criteria to make it a three-dimensional （3D） version. In this paper, a mathematical formulation for incorporation of Hoek-Brown failure criterion with the proposed function is presented. The Hoek-Brown failure criterion is the most suited 2D failure criterion tbr geomaterials. Two types of analyses for best-fitting solution of published true tri-axial test data were made by considering （1） constant extension ratio and （2） variable extension ratio. The shape and strength parameters for different types of rocks have been determined by best-fitting the published true tri-axial test data for both the analyses. It is observed from the best-fitting solution by considering uniform extension ratio （L~） that shape constants have a correlation with Hoek-Brown strength parameters. Thus, only two parameters （c~. and m） are needed for representing the 3D failure criterion for intact rock. The statistical expression between shape and Hoek-Brown strength parameters is given. In the second analysis, when considering varying extension ratio, another parameterfis introduced. The modified extension ratio is related tofand extension ratio. The results at minimum mean misfit for all the nine rocks indicate that the range off varies from 0.7 to 1.0. It is found that mean misfit by considering varying extension ratio is lower than that in the first analysis. But it requires three parameters. A statistical expression betweenfand Hoek-Brown strength parameters has been established. Though coefficient of correlation is not reasonable, we may eliminate it as an extra parameter. At the end of the paper, a methodology has also been given for its application to isotropic jointed rock mass, so that it can be implemented in a numerical code for stability analysis of jointed rock mass structures.

Three-dimensional coordinates test method with uncertain projectile proximity explosion position based on dynamic seven photoelectric detection screen

To objectively obtain the three-dimensional coordinates of the projectile fuze proximity explosion when projectile intersects the head of missile target, we propose a dynamic seven photoelectric detection screen test method, which is made up of six plane detection screens and a flash photoelectric dynamic detection screen. The three-dimensional coordinates calculation model of the projectile proximity explosion position based on seven plane detection screens with dynamic characteristics is established.According to the relation of the dynamic seven photoelectric detection screen planes and the time values,the analytical function of the projectile proximity explosion position parameters under non-linear motion is derived. The projectile signal filtering method based on discrete wavelet transform is explored in this work. Additionally, the projectile signal recognition algorithm using an improved particle swarm is proposed. Based on the characteristics of the time duration and the signal peak error for the projectile passing through the detection screen, the signals attribution of the same projectile passing through six detection screens are analyzed for obtaining precise time values of the same projectile passing through the detection screens. On the basis of the projectile fuze proximity explosion test, the linear motion model and the proposed non-linear motion model are used to calculate and compare the same group of projectiles proximity explosion position parameters. The comparison of test results verifies that the proposed test method and calculation model in this work accurately obtain the actual projectile proximity explosion position parameters.

A modified maximum tangential tensile stress criterion for three-dimensional crack propagation

The three-dimensional （3D） crack propagation is a hot issue in rock mechanics. To properly simulate 3D crack propagation, a modified maximum tangential tensile stress criterion is proposed. In this modified criterion, it is supposed that cracks propagate only at crack front in the principal normal plane. The tangential tensile stress at crack front in the principal normal plane in local coordinates is employed to determine crack propagation, which is calculated through coordinate transformation from global to local coordinates. New cracks will propagate when the maximum tangential tensile stress at crack front in the principal normal plane reaches the tensile strength of rock-like materials. Compared with the previous crack propagation criteria, the modified crack propagation criterion is helpful in calculating 3D crack stress intensity factor, and can overcome the limitations of propagation step determined by individual experiences in previous studies. Finally, the 3D crack propagation process is traced by element-free Galerkin method. The numerical results agree well with the experimental ones for a frozen resin sample with prefabricated 3D cracks.

Inhibition of mammalian target of rapamycin induces phenotypic reversion in three-dimensional cultures of malignant breast epithelial cells

Inhibition of mammalian target of rapamycin (m- TOR) is a potential method for cancer treatment. Effects of rapamycin (RAP) on the reversion of malignant breast epithelial cells were investigated on three-dimensional (3D) basement membrane extract (BME) cultures. Through continuous exposure to 20 nM of RAP, cell colony size was significantly reduced in 3D BME cultures of malignant breast epithelial cells, while normal cell colony size appeared unaffected. In unfixed 3D BME cultures of normal and RAP-treated malignant breast epithelial cells, the presence of luminal cell death was confirmed by ethidium bromide and propidium iodide labeling. Increased structural organization was observed by im- munofluorescence staining of F-actin and β-catenin in RAP-treated malignant breast epithelial cells. In monolayer cultures of normal and malignant breast epithelial cells, continuous exposure to 20 nM of RAP increased caspase 3/7 activity and decreased proliferation. Reverse transcriptase polymerase ch- ain reaction (RT-PCR) array analysis indicated a fold increase in the expression of a number of proteins related to polarity, cell-cell adhesion, and cell-matrix adhesion in the presence of RAP. Our data showed that phenotypic reversion of malignancy can be ach- ieved through RAP exposure on 3D BME cultures. This 3D BME culture system will provide correct microenvironments for observing the effects of other mTOR inhibitors on phenotypic reversion of malignant breast epithelial cells.

Bounding box extraction from spherical hologram of elementary object to synthesize hologram of arbitrary three-dimensional scene with occlusion consideration(Invited Paper)

A novel method to extract a bounding box that contains the three-dimensional object from its spherical hologram is proposed. The proposed method uses the windowed Fourier transform to obtain the angular distribution of the quasi-collimated beams at each position in the spherical hologram and estimates the bounding box by accumulating the quasi-collimated beams in the volume inside the spherical hologram. The estimated bounding box is then used to realize occlusion effect between the objects in the synthesis of the three-dimensional scene hologram.

THE 3-D STRESS INTENSITY FACTOR FOR A HALF PLANE CRACK IN A TRANSVERSELY ISOTROPIC SOLID DUE TO THE MOTION OF LOADS ON THE CRACK FACES

Three-dimensional analysis of a half plane crack in a transversely isotropic solid is performed. The crack is subjected to a pair of normal point loads moving in a direction perpendicular to the crack edge on its faces. Transform methods are used to reduce the boundary value problem to a single integral equation that can be solved by the Wiener-Hopf technique. The Cagniard-de Hoop method is employed to invert the transforms. An exact expression is derived for the mode I stress intensity factor as a function of time and position along the crack edge. Some features of the solution are discussed through numerical results.

基于平面匹配与目标检测的视觉SLAM算法

针对移动机器人同时定位与建图(SLAM)算法在动态复杂、低纹理场景中存在算法精度下降甚至无法正常工作等问题,提出一种基于快速运动目标检测与平面匹配的算法。将视觉特征提取与运动目标检测方法相结合,降低动态目标对定位的干扰;采用平面匹配技术,克服低纹理环境特征缺少问题;同时生成一个稠密的三维点云地图,用于机器人环境解析等应用。该算法在数据集KITTI和TUM上的绝对轨迹误差RMSE指数相对于ORB-SLAM2算法分别降低了66.67%、98.77%,算法运行速率为22.20 fps。结果表明该算法具有良好定位精度、运行效率和鲁棒性。

基于线结构光的零件三维尺寸测量系统

针对原有接触式三维测量技术测量时间长、效率低、对零件有损伤等问题,提出一种基于线结构光的零件三维尺寸测量系统。建立光平面数学模型,采用基于平面靶标的自由移动标定法标定光平面,利用基于Hessian矩阵的Steger方法对线结构光中心提取,通过坐标变换得到零件的三维尺寸。在Visual Studio软件中的Winform窗体应用设计三维测量系统的软件交互界面,搭建实验测量平台进行多个零件的测量实验。实验结果表明,对不同零件三维尺寸测量相误差均小于4%,提出的测量系统及方法具有较高的精度和稳定性,能够满足工程应用。

改进的区域生长算法在三维激光点云识别岩体结构面中的应用

交错分布的结构面构成了岩体中的薄弱部位,准确高效的岩体结构面识别和特征信息提取可为岩体稳定性评价提供重要依据。三维激光扫描技术可以极大地提高结构面勘测效率和精度,但目前主流的点云分析算法存在结构面边缘识别模糊、点云分割准确性不能满足结构面特征信息提取精度等问题。因此,考虑岩体结构面点云位置与其邻域的空间关系,利用KD-tree数据结构进行最邻近搜索的体素下采样,在稳健随机Hough变换的基础上改进了区域生长算法,通过多特征值对区域生长分割参数进行修正,依据点云法向量差值和特征终值进行结构面分割,实现了结构面产状、间距、延展度信息的提取。研究结果表明:与传统的主成分分析法和随机抽样一致法相比,在室内块体模型组成的24个结构面中,该方法在相同区域具有更高的识别率和准确率,既能在复杂变化的平面区域保证数据的完整识别,也能在平面的尖锐位置较好地分割边缘点云。利用该方法可以将24个结构面分为6组,并在识别数据中获取对应的结构面特征信息,与实际测量结果相比,角度信息误差约为1°,距离信息误差1cm以内。利用该方法在长江干流蟒蛇寨斜坡岩体中成功识别出3组结构面同时计算各组结构面间距与延展度信息,并采用赤平投影图分析不同结构面组对斜坡稳定性的影响。所提出的方法在室内模型及现场斜坡验证效果良好,可以为岩体结构面识别分割提供稳定且有效的技术支撑。

不同资历医师行SMILE中发生非计划分离的独立风险因素

目的探讨不同资历医师行飞秒激光小切口角膜基质透镜取出术(SMILE)中发生非计划分离(UIDPP)的独立风险因素。方法选取2021年4月至9月由三名不同资历的手术医师完成的1600例(3003眼)SMILE患者作为研究对象,男911例,女689例,患者年龄(21.82±3.55)岁。记录患者UIDPP发生情况,同时汇总患者年龄、性别、眼别、主刀医师、手术熟练程度、主觉验光、角膜中央厚度、角膜基质透镜厚度、角膜小切口位置、透镜边切厚度等参数。运用二分类Logistic回归分析UIDPP发生的独立风险因素。检验水准:α=0.05。结果本研究共观测3003眼,UIDPP发生率为6.56%(197眼),所有术眼均成功取出透镜。多因素Logistic回归分析发现,手术医师(P=0.035)、手术熟练程度(P=0.026)、术眼眼别(P=0.007)、角膜基质透镜厚度(P<0.001)和透镜边切厚度(P<0.001)均为UIDPP发生的独立风险因素。其余指标差异均无统计学意义(均为P>0.05)。结论手术医师、手术熟练程度、术眼眼别、角膜基质透镜厚度和透镜边切厚度为UIDPP发生的独立风险因素。

基于钻孔摄像的岩体结构面参数快速提取研究

目的:岩体结构面决定着岩体强度和承载能力,直接影响着地下工程允许暴露面积和暴露时间。钻孔摄像是获取岩体深部结构面的重要方法。论文针对当前钻孔摄像获得岩体结构面参数自动提取难、精度差等问题开展研究。方法:分析了钻孔摄像中结构面的特征,研究了三维钻孔模型到二维平面展开过程中,钻孔图像中结构面与平面展开图上的节理轨迹的对应关系,提出了基于钻孔摄像图像信息反向重构三维空间钻孔和结构面的流程和参数提取方法。重点突破了基于钻孔图像信息的节理信息提取的坐标转换、结构面拟合和结构面倾向、倾角和迹宽等参数提取方法等三个关键技术(创新点),利用Python开发语言,基于PyCharm作为集成开发环境,使用PyQt5图形控件、Numpy数值计算库和SQLite数据库,开发了钻孔图像结构面参数自动提取软件,并成功应用于某矿山地下钻孔岩体结构面参数的提取。结果:应用结果表明本文设计的方法和开发的系统具有提取速度快、准确度高的特点。结论:本文研究为钻孔结构面参数快速提取提供了一套有益的方法。

On coherent structures in a three-dimensional transitional plane jet

Direct numerical simulation of coherent structures in the three-dimensional transitional jet with a moderate Reynolds number of 5000 was conducted. The finite volume method was used to discretize the governing equations in space; the low-storage, three-order Runge-Kutta scheme was used for time integration. The comparisons between the statistical results of the flow field; the related experimental data were performed to validate the reliability of the present numerical schemes. The emphasis was placed on the study of the spatial evolution of the three-dimensional coherent vortex structures as well as their interactions. It is found that the evolution of the spanwise vortex structures in three-dimensional space is similar to that in two-dimensional jet. The spanwise vortex structures are subject to three-dimensional instability; induce the formation of the streamwise; lateral vortex structures. Going with the breakup; mixing of the spanwise vortex structures, the streamwise; transverse vortex tubes also fall to pieces; the mixing arranged small-scale structures are formed in the flow field. Finally, the arrangement relationship among the spanwise, the streamwise; the lateral vortex structures was analyzed; their interactions were also discussed.