The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods fo...The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods for centroid measurement often necessitate custom equipment and specialized positioning devices,leading to high costs and limited accuracy.Here,we present a centroid measurement method that integrates 3D scanning technology,enabling accurate measurement of centroid across various types of objects without the need for specialized positioning fixtures.A theoretical framework for centroid measurement was established,which combined the principle of the multi-point weighing method with 3D scanning technology.The measurement accuracy was evaluated using a designed standard component.Experimental results demonstrate that the discrepancies between the theoretical and the measured centroid of a standard component with various materials and complex shapes in the X,Y,and Z directions are 0.003 mm,0.009 mm,and 0.105 mm,respectively,yielding a spatial deviation of 0.106 mm.Qualitative verification was conducted through experimental validation of three distinct types.They confirmed the reliability of the proposed method,which allowed for accurate centroid measurements of various products without requiring positioning fixtures.This advancement significantly broadened the applicability and scope of centroid measurement devices,offering new theoretical insights and methodologies for the measurement of complex parts and systems.展开更多
Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be con...Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be considered big data.They also contain measurement noise inherent in measurement data.These properties of 3D scanned point clouds make many traditional CG/visualization techniques difficult.This paper reviewed our recent achievements in developing varieties of high-quality visualizations suitable for the visual analysis of 3D scanned point clouds.We demonstrated the effectiveness of the method by applying the visualizations to various cultural heritage objects.The main visualization targets used in this paper are the floats in the Gion Festival in Kyoto(the float parade is on the UNESCO Intangible Cultural Heritage List) and Borobudur Temple in Indonesia(a UNESCO World Heritage Site).展开更多
This paper presents a handheld 3D vision-based scanner for small objects by using Kinect. It is different from the previous color-glove-based approaches which require segmenting the target object. First, we eliminate ...This paper presents a handheld 3D vision-based scanner for small objects by using Kinect. It is different from the previous color-glove-based approaches which require segmenting the target object. First, we eliminate the noises and the outliers caused by holding hands. Second, we apply Kinect-fusion algorithm and truncated signed distance function （TSDF） to represent 3D surfaces. Third, we propose a modified integration strategy to eliminate the hand effect. Fourth, we take advantage of the parallel computation of GPUs for real-time operation. The major contributions of this paper are （1） the registration precision is improved, （2） the oflline amendment and loop closure operation are not required, and （3） concave 3D object reconstruction is feasible.展开更多
This paper describes the development of an intelligent automated control system of a robot manipulator for plasma treatment of medical implants with complex shapes.The two-layer coatings from the Ti wire and hydroxyap...This paper describes the development of an intelligent automated control system of a robot manipulator for plasma treatment of medical implants with complex shapes.The two-layer coatings from the Ti wire and hydroxyapatite powders are applied on the surface of Ti medical implants by microplasma spraying to increase the biocompatibility of implants.The coating process requires precise control of a number of parameters,particularly the plasma spray distance and plasma jet traverse velocity.Thus,the development of the robotic plasma surface treatment involves automated path planning.The key idea of the proposed intelligent automatic control system is the use of data of preliminary three-dimensional (3D) scanning of the processed implant by the robot manipulator.The segmentation algorithm of the point cloud from laser scanning of the surface is developed.This methodology is suitable for robotic 3D scanning systems with both non-contact laser distance sensors and video cameras,used in additive manufacturing and medicine.展开更多
This paper surveys state-of-the-art image features and descriptors for the task of 3D scan registration based on panoramic reflectance images.As modern terrestrial laser scanners digitize their environment in a spheri...This paper surveys state-of-the-art image features and descriptors for the task of 3D scan registration based on panoramic reflectance images.As modern terrestrial laser scanners digitize their environment in a spherical way,the sphere has to be projected to a two-dimensional image.To this end,we evaluate the equirectangular,the cylindrical,the Mercator,the rectilinear,the Pannini,the stereographic,and the z-axis projection.We show that the Mercator and the Pannini projection outperform the other projection methods.展开更多
Instead of traditionally using a 3D physical model with many control points on it, a calibration plate with printed chess grid and movable along its normal direction is implemented to provide large area 3D control poi...Instead of traditionally using a 3D physical model with many control points on it, a calibration plate with printed chess grid and movable along its normal direction is implemented to provide large area 3D control points with variable Z values. Experiments show that the approach presented is effective for reconstructing 3D color objects in computer vision system.展开更多
In order to improve the accuracy of auto parts production and processing,and reduce the error of parts manufacturing,a 3D scanning modelling of auto parts for intelligent driving is designed in this paper.With the hel...In order to improve the accuracy of auto parts production and processing,and reduce the error of parts manufacturing,a 3D scanning modelling of auto parts for intelligent driving is designed in this paper.With the help of the structured light projection method,the auto parts image is obtained,and its horizontal axis grey value and stripe pixel value are analysed.The contour parameters are determined by k-frame strategy,and the width,length and height parameters of the external contour of vehicle parts are obtained.The basic principle of 3D scanning technology is analysed,its scanning process is designed,and the modelling of auto parts is realised with the help of 3D scanning technology.The experimental results show that the modelling method can effectively improve the machining accuracy and reduce the manufacturing error of the auto parts.展开更多
【目的】解决钢箱系杆拱桥的钢拱肋在施工过程中精度控制难度大和耗时长的问题。【方法】以某钢箱系杆拱桥为工程背景,采用建筑信息模型(building information modeling,BIM)及3D激光扫描技术,对拱肋钢构件在加工制作与拼接过程中的质...【目的】解决钢箱系杆拱桥的钢拱肋在施工过程中精度控制难度大和耗时长的问题。【方法】以某钢箱系杆拱桥为工程背景,采用建筑信息模型(building information modeling,BIM)及3D激光扫描技术,对拱肋钢构件在加工制作与拼接过程中的质量检测进行信息化管控。【结果】BIM技术结合3D激光扫描技术可快速地检测钢拱肋构件的质量并监测拱肋施工线形;钢箱拱肋构件的最大制作误差在1.2 mm以内,构件在拼接过程中的最大误差在1.1 mm以内,以上误差均满足设计规范的要求;与传统检测方法相比,点云数据在各坐标轴方向的偏差为1.0~3.0 mm,平均偏差为1.2~1.5 mm,具有较高的可靠性。【结论】基于BIM+3D激光扫描技术,可实现钢箱拱肋构件施工过程中拱肋线形质量的动态管控。展开更多
Large-scale deformation can not be detected by traditional D-InSAR technique because of the limit of its detectable deformation gradient,we propose a method that combines SAR data with point cloud data obtained by 3D ...Large-scale deformation can not be detected by traditional D-InSAR technique because of the limit of its detectable deformation gradient,we propose a method that combines SAR data with point cloud data obtained by 3D laser scanning to improve the gradient of deformation detection.The proposed method takes advantage of high-density of 3D laser scanning point cloud data and its high precision of point positioning after 3D modeling.The specifc process can be described as follows:frst,large-scale deformation points in the interferogram are masked out based on interferometric coherence;second,the interferogram with holes is unwrapped to obtain a deformation map with holes,and last,the holes in the deformation map are flled with point cloud data using inverse distance weighting algorithm,which will achieve seamless connection of monitoring region.We took the embankment dam above working face of a certain mining area in Shandong province as an example to study large-scale deformation in mining area using the proposed method.The results show that the maximum absolute error is 64 mm,relative error of maximum subsidence value is 4.95%,and they are consistent with leveling data of ground observation stations,which confrms the feasibility of this method.The method we presented provides new ways and means for achieving large-scale deformation monitoring by D-InSAR in mining area.展开更多
Servo scanning 3D micro electrical discharge machining (3D SSMEDM) is a novel and effective method in fabricating complex 3D micro structures with high aspect ratio on conducting materials. In 3D SSMEDM process, the a...Servo scanning 3D micro electrical discharge machining (3D SSMEDM) is a novel and effective method in fabricating complex 3D micro structures with high aspect ratio on conducting materials. In 3D SSMEDM process, the axial wear of tool electrode can be compensated automatically by servo-keeping discharge gap, instead of the traditional methods that depend on experiential models or intermittent compensation. However, the effects of process parameters on 3D SSMEDM have not been reported up until now. In this study, the emphasis is laid on the effects of pulse duration, peak current, machining polarity, track style, track overlap, and scanning velocity on the 3D SSMEDM performances of machining efficiency, processing status, and surface accuracy. A series of experiments were carried out by machining a micro-rectangle cavity (900 μm×600 μm) on doped silicon. The experimental results were obtained as follows. Peak current plays a main role in machining efficiency and surface accuracy. Pulse duration affects obviously the stability of discharge state. The material removal rate of cathode processing is about 3/5 of that of anode processing. Compared with direction-parallel path, contour-parallel path is better in counteracting the lateral wear of tool electrode end. Scanning velocity should be selected moderately to avoid electric arc and short. Track overlap should be slightly less than the radius of tool electrode. In addition, a typical 3D micro structure of eye shape was machined based on the optimized process parameters. These results are beneficial to improve machining stability, accuracy, and efficiency in 3D SSMEDM.展开更多
The study of wind erosion processes is of great importance to the prevention and control of soil wind erosion.In this study,three structurally intact soil samples were collected from the steppe of Inner Mongolia Auton...The study of wind erosion processes is of great importance to the prevention and control of soil wind erosion.In this study,three structurally intact soil samples were collected from the steppe of Inner Mongolia Autonomous Region,China and placed in a wind tunnel where they were subjected to six different wind speeds(10,15,17,20,25,and 30 m/s)to simulate wind erosion in the wind tunnel.After each test,the soil surfaces were scanned by a 3D laser scanner to create a high-resolution Digital Elevation Model(DEM),and the changes in wind erosion mass and microtopography were quantified.Based on this,we performed further analysis of wind erosion-controlling factors.The study results showed that the average measurement error between the 3D laser scanning method and weighing method was 6.23%for the three undisturbed soil samples.With increasing wind speed,the microtopography on the undisturbed soil surface first became smooth,and then fine stripes and pits gradually developed.In the initial stage of wind erosion processes,the ability of the soil to resist wind erosion was mainly affected by the soil hardness.In the late stage of wind erosion processes,the degree of soil erosion was mainly affected by soil organic matter and CaCO_(3)content.The results of this study are expected to provide a theoretical basis for soil wind erosion control and promote the application of 3D laser scanners in wind erosion monitoring.展开更多
Anthranilic diamides are fasting growing class insecticides in modern crop protection for their high activity, low ecotoxicity, and broad insecticidal spectra. However. the bioactive conformations of anthranilic diami...Anthranilic diamides are fasting growing class insecticides in modern crop protection for their high activity, low ecotoxicity, and broad insecticidal spectra. However. the bioactive conformations of anthranilic diamides are still unclear until now. In the present study, DFT-based potential energy surface scanning was used to detect the low energy conformations of chlorantraniliprole, then were used respectively in the structure alignment for a series of anthranilic diamide compounds followed by detailed CoMFA and CoMSIA analyses. Finally, the bioactive conformations of anthranilic diamide insecticides were revealed from a series of low energy conformations, which might provide some clues for future insecticide design.展开更多
After more than 30 years of scientific and social development, surveying and mapping technology by leaps and bounds, engineering surveying technology has undergone tremendous changes. In the process of protecting anci...After more than 30 years of scientific and social development, surveying and mapping technology by leaps and bounds, engineering surveying technology has undergone tremendous changes. In the process of protecting ancient buildings, it is necessary to obtain the precise dimensions of architectural details. In this study, the path of 3D laser scanning combined with BIM technology is explored. Taking the observation and protection of the ancestral hall of the Liu family as an example, this study aims to draw drawings that reflect the relevant information about the ancient buildings, the accurate three-dimensional model of ancient buildings is established with BIM technology, which provides new methods and ideas for the research and protection of ancient buildings. .展开更多
In order to ensure the safety in using a large cylindrical storage tank,it is necessary to regularly detect its defonnatioii.The traditional total station method has high accuracy in determining the deformation,howeve...In order to ensure the safety in using a large cylindrical storage tank,it is necessary to regularly detect its defonnatioii.The traditional total station method has high accuracy in determining the deformation,however,it has a low measxirement efficiency.Long-term observation means,there are more risks in the petrochemical plant,therefore,this paper proposes the usage of the 3D laser scanner,replacing the traditional total station to determine the defbnnation of a large cylindrical storage tank.The Matlab program,is compiled to calculate the point cloud data,while the tank deformation is analyzed from two different points which are,the local concave convex degree and the ovality degree.It is concluded that,the difference between the data obtained by 3D laser scanning,and total station is within the range of oil tank deformation limit,therefore,3D laser scanner can be used for oil tank deformation detection.展开更多
基金supported by National Natural Science Foundation of China(No.52176122).
文摘The centroid coordinate serves as a critical control parameter in motion systems,including aircraft,missiles,rockets,and drones,directly influencing their motion dynamics and control performance.Traditional methods for centroid measurement often necessitate custom equipment and specialized positioning devices,leading to high costs and limited accuracy.Here,we present a centroid measurement method that integrates 3D scanning technology,enabling accurate measurement of centroid across various types of objects without the need for specialized positioning fixtures.A theoretical framework for centroid measurement was established,which combined the principle of the multi-point weighing method with 3D scanning technology.The measurement accuracy was evaluated using a designed standard component.Experimental results demonstrate that the discrepancies between the theoretical and the measured centroid of a standard component with various materials and complex shapes in the X,Y,and Z directions are 0.003 mm,0.009 mm,and 0.105 mm,respectively,yielding a spatial deviation of 0.106 mm.Qualitative verification was conducted through experimental validation of three distinct types.They confirmed the reliability of the proposed method,which allowed for accurate centroid measurements of various products without requiring positioning fixtures.This advancement significantly broadened the applicability and scope of centroid measurement devices,offering new theoretical insights and methodologies for the measurement of complex parts and systems.
文摘Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be considered big data.They also contain measurement noise inherent in measurement data.These properties of 3D scanned point clouds make many traditional CG/visualization techniques difficult.This paper reviewed our recent achievements in developing varieties of high-quality visualizations suitable for the visual analysis of 3D scanned point clouds.We demonstrated the effectiveness of the method by applying the visualizations to various cultural heritage objects.The main visualization targets used in this paper are the floats in the Gion Festival in Kyoto(the float parade is on the UNESCO Intangible Cultural Heritage List) and Borobudur Temple in Indonesia(a UNESCO World Heritage Site).
基金supported by the Ministry of Science and Technology of Taiwan under Grant No.MOST103-2221-E-468-006–MY1
文摘This paper presents a handheld 3D vision-based scanner for small objects by using Kinect. It is different from the previous color-glove-based approaches which require segmenting the target object. First, we eliminate the noises and the outliers caused by holding hands. Second, we apply Kinect-fusion algorithm and truncated signed distance function （TSDF） to represent 3D surfaces. Third, we propose a modified integration strategy to eliminate the hand effect. Fourth, we take advantage of the parallel computation of GPUs for real-time operation. The major contributions of this paper are （1） the registration precision is improved, （2） the oflline amendment and loop closure operation are not required, and （3） concave 3D object reconstruction is feasible.
基金supported by the Science Committee of RK MES under the Grant No. AP05130525。
文摘This paper describes the development of an intelligent automated control system of a robot manipulator for plasma treatment of medical implants with complex shapes.The two-layer coatings from the Ti wire and hydroxyapatite powders are applied on the surface of Ti medical implants by microplasma spraying to increase the biocompatibility of implants.The coating process requires precise control of a number of parameters,particularly the plasma spray distance and plasma jet traverse velocity.Thus,the development of the robotic plasma surface treatment involves automated path planning.The key idea of the proposed intelligent automatic control system is the use of data of preliminary three-dimensional (3D) scanning of the processed implant by the robot manipulator.The segmentation algorithm of the point cloud from laser scanning of the surface is developed.This methodology is suitable for robotic 3D scanning systems with both non-contact laser distance sensors and video cameras,used in additive manufacturing and medicine.
文摘This paper surveys state-of-the-art image features and descriptors for the task of 3D scan registration based on panoramic reflectance images.As modern terrestrial laser scanners digitize their environment in a spherical way,the sphere has to be projected to a two-dimensional image.To this end,we evaluate the equirectangular,the cylindrical,the Mercator,the rectilinear,the Pannini,the stereographic,and the z-axis projection.We show that the Mercator and the Pannini projection outperform the other projection methods.
基金Supported by the Natural Science Foundation of China (69775022)the State High-Technology Development program of China(863 306ZT04 06 3)
文摘Instead of traditionally using a 3D physical model with many control points on it, a calibration plate with printed chess grid and movable along its normal direction is implemented to provide large area 3D control points with variable Z values. Experiments show that the approach presented is effective for reconstructing 3D color objects in computer vision system.
文摘In order to improve the accuracy of auto parts production and processing,and reduce the error of parts manufacturing,a 3D scanning modelling of auto parts for intelligent driving is designed in this paper.With the help of the structured light projection method,the auto parts image is obtained,and its horizontal axis grey value and stripe pixel value are analysed.The contour parameters are determined by k-frame strategy,and the width,length and height parameters of the external contour of vehicle parts are obtained.The basic principle of 3D scanning technology is analysed,its scanning process is designed,and the modelling of auto parts is realised with the help of 3D scanning technology.The experimental results show that the modelling method can effectively improve the machining accuracy and reduce the manufacturing error of the auto parts.
基金founded by the National Natural Science Foundation of China (No. 41071273)the Doctoral Program Foundation of Institutions of Higher Education of China (No. 20090095110002)+1 种基金the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions (No. SZBF2011-6B35)Relevant radar data were provided by the German Aerospace Centre TerraSAR-X Science Plan (LAN1425 and LAN1173)
文摘Large-scale deformation can not be detected by traditional D-InSAR technique because of the limit of its detectable deformation gradient,we propose a method that combines SAR data with point cloud data obtained by 3D laser scanning to improve the gradient of deformation detection.The proposed method takes advantage of high-density of 3D laser scanning point cloud data and its high precision of point positioning after 3D modeling.The specifc process can be described as follows:frst,large-scale deformation points in the interferogram are masked out based on interferometric coherence;second,the interferogram with holes is unwrapped to obtain a deformation map with holes,and last,the holes in the deformation map are flled with point cloud data using inverse distance weighting algorithm,which will achieve seamless connection of monitoring region.We took the embankment dam above working face of a certain mining area in Shandong province as an example to study large-scale deformation in mining area using the proposed method.The results show that the maximum absolute error is 64 mm,relative error of maximum subsidence value is 4.95%,and they are consistent with leveling data of ground observation stations,which confrms the feasibility of this method.The method we presented provides new ways and means for achieving large-scale deformation monitoring by D-InSAR in mining area.
基金supported by National Natural Science Foundation of China (Grant No. 50905094)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA044204, Grant No. 2009AA044205)China Postdoctoral Science Foundation (Grant No. 20080440378, Grant No. 200902097)
文摘Servo scanning 3D micro electrical discharge machining (3D SSMEDM) is a novel and effective method in fabricating complex 3D micro structures with high aspect ratio on conducting materials. In 3D SSMEDM process, the axial wear of tool electrode can be compensated automatically by servo-keeping discharge gap, instead of the traditional methods that depend on experiential models or intermittent compensation. However, the effects of process parameters on 3D SSMEDM have not been reported up until now. In this study, the emphasis is laid on the effects of pulse duration, peak current, machining polarity, track style, track overlap, and scanning velocity on the 3D SSMEDM performances of machining efficiency, processing status, and surface accuracy. A series of experiments were carried out by machining a micro-rectangle cavity (900 μm×600 μm) on doped silicon. The experimental results were obtained as follows. Peak current plays a main role in machining efficiency and surface accuracy. Pulse duration affects obviously the stability of discharge state. The material removal rate of cathode processing is about 3/5 of that of anode processing. Compared with direction-parallel path, contour-parallel path is better in counteracting the lateral wear of tool electrode end. Scanning velocity should be selected moderately to avoid electric arc and short. Track overlap should be slightly less than the radius of tool electrode. In addition, a typical 3D micro structure of eye shape was machined based on the optimized process parameters. These results are beneficial to improve machining stability, accuracy, and efficiency in 3D SSMEDM.
基金supported by National Natural Science Foundation of China(41871010)The Second Comprehensive Scientific Expedition to the Qinghai-Tibet Plateau of China(2019QZKK0906)。
文摘The study of wind erosion processes is of great importance to the prevention and control of soil wind erosion.In this study,three structurally intact soil samples were collected from the steppe of Inner Mongolia Autonomous Region,China and placed in a wind tunnel where they were subjected to six different wind speeds(10,15,17,20,25,and 30 m/s)to simulate wind erosion in the wind tunnel.After each test,the soil surfaces were scanned by a 3D laser scanner to create a high-resolution Digital Elevation Model(DEM),and the changes in wind erosion mass and microtopography were quantified.Based on this,we performed further analysis of wind erosion-controlling factors.The study results showed that the average measurement error between the 3D laser scanning method and weighing method was 6.23%for the three undisturbed soil samples.With increasing wind speed,the microtopography on the undisturbed soil surface first became smooth,and then fine stripes and pits gradually developed.In the initial stage of wind erosion processes,the ability of the soil to resist wind erosion was mainly affected by the soil hardness.In the late stage of wind erosion processes,the degree of soil erosion was mainly affected by soil organic matter and CaCO_(3)content.The results of this study are expected to provide a theoretical basis for soil wind erosion control and promote the application of 3D laser scanners in wind erosion monitoring.
基金the financial support from the National Key Technology R&D Program of China (No.2011BAE06B05)
文摘Anthranilic diamides are fasting growing class insecticides in modern crop protection for their high activity, low ecotoxicity, and broad insecticidal spectra. However. the bioactive conformations of anthranilic diamides are still unclear until now. In the present study, DFT-based potential energy surface scanning was used to detect the low energy conformations of chlorantraniliprole, then were used respectively in the structure alignment for a series of anthranilic diamide compounds followed by detailed CoMFA and CoMSIA analyses. Finally, the bioactive conformations of anthranilic diamide insecticides were revealed from a series of low energy conformations, which might provide some clues for future insecticide design.
文摘After more than 30 years of scientific and social development, surveying and mapping technology by leaps and bounds, engineering surveying technology has undergone tremendous changes. In the process of protecting ancient buildings, it is necessary to obtain the precise dimensions of architectural details. In this study, the path of 3D laser scanning combined with BIM technology is explored. Taking the observation and protection of the ancestral hall of the Liu family as an example, this study aims to draw drawings that reflect the relevant information about the ancient buildings, the accurate three-dimensional model of ancient buildings is established with BIM technology, which provides new methods and ideas for the research and protection of ancient buildings. .
基金National Natural Science Foundation of China(project number:41661091)Lanzhou Jiaotong University Excellent Platform Support Project(201806)。
文摘In order to ensure the safety in using a large cylindrical storage tank,it is necessary to regularly detect its defonnatioii.The traditional total station method has high accuracy in determining the deformation,however,it has a low measxirement efficiency.Long-term observation means,there are more risks in the petrochemical plant,therefore,this paper proposes the usage of the 3D laser scanner,replacing the traditional total station to determine the defbnnation of a large cylindrical storage tank.The Matlab program,is compiled to calculate the point cloud data,while the tank deformation is analyzed from two different points which are,the local concave convex degree and the ovality degree.It is concluded that,the difference between the data obtained by 3D laser scanning,and total station is within the range of oil tank deformation limit,therefore,3D laser scanner can be used for oil tank deformation detection.
