Wrought and laser powder bed fusion(LPBF)Ti−6Al−4V(Ti-6-4)specimens were comparatively evaluated,with the objective to determine LPBF Ti−6Al−4V’s suitability for biomedical applications.Testing included nanoindentati...Wrought and laser powder bed fusion(LPBF)Ti−6Al−4V(Ti-6-4)specimens were comparatively evaluated,with the objective to determine LPBF Ti−6Al−4V’s suitability for biomedical applications.Testing included nanoindentation,cyclic polarization in simulated body fluid(SBF,37°C),and dry and SBF“ball-on-plate”sliding.Wrought Ti-6-4 exhibited a lamellarα+βmicrostructure,whereas LPBF Ti-6-4 displayed a fine-grainedα′-martensite microstructure.LPBF Ti-6-4 demonstrated~3%higher indentation modulus and~32%higher hardness,while wrought Ti-6-4 showed~8%higher plasticity.Both alloys exhibited low corrosion rates(10−5 mA/cm^(2)order)and true passivity(10−4 mA/cm^(2)order).No localized corrosion was observed in either two alloys,except for occasional metastable pitting in the LPBF alloy.However,LPBF Ti-6-4 presented higher corrosion rate and passive current,ascribed to its martensitic structure.During dry sliding,LPBF Ti-6-4 exhibited~14%lower volume loss compared to wrought Ti-6-4.Sliding in SBF increased volume losses for both alloys,with wear resistances nearly equalized,as the advantage of LPBF Ti-6-4 decreased due to more intense wear-accelerated corrosion induced by the stressed martensite.Overall,the results demonstrate the suitability of LPBF Ti-6-4 for biomedical uses.展开更多
Multi-material laser-based powder bed fusion (PBF-LB) allows manufacturing of parts with 3-dimensional gradient and additional functionality in a single step. This research focuses on the combination of thermally-cond...Multi-material laser-based powder bed fusion (PBF-LB) allows manufacturing of parts with 3-dimensional gradient and additional functionality in a single step. This research focuses on the combination of thermally-conductive CuCr1Zr with hard M300 tool steel.Two interface configurations of M300 on CuCr1Zr and CuCr1Zr on M300 were investigated. Ultra-fine grains form at the interface due to the low mutual solubility of Cu and steel. The material mixing zone size is dependent on the configurations and tunable in the range of0.1–0.3 mm by introducing a separate set of parameters for the interface layers. Microcracks and pores mainly occur in the transition zone.Regardless of these defects, the thermal diffusivity of bimetallic parts with 50vol% of CuCr1Zr significantly increases by 70%–150%compared to pure M300. The thermal diffusivity of CuCr1Zr and the hardness of M300 steel can be enhanced simultaneously by applying the aging heat treatment.展开更多
The internal structures of metallic products are important in realizing functional applications.Considering the manufacturing of inner structures,laser-based powder bed fusion(L-PBF)is an attractive approach because i...The internal structures of metallic products are important in realizing functional applications.Considering the manufacturing of inner structures,laser-based powder bed fusion(L-PBF)is an attractive approach because its layering principle enables the fabrication of parts with customized interior structures.However,the inferior surface quality of L-PBF components hinders its productization progress seriously.In this article,process,basic forms,and applications relevant to L-PBF internal structures are reviewed comprehensively.The causes of poor surface quality and differences in the microstructure and property of the surface features of L-PBF inner structures are presented to provide a perspective of their surface characteristics.Various polishing technologies for L-PBF components with inner structures are presented,whereas their strengths and weaknesses are summarized along with a discussion on the challenges and prospects for improving the interior surface quality of L-PBF parts.展开更多
The field of optical lithography is subject to intense research and has gained enormous improvement.However,the effort necessary for creating structures at the size of 20 nm and below is considerable using conventiona...The field of optical lithography is subject to intense research and has gained enormous improvement.However,the effort necessary for creating structures at the size of 20 nm and below is considerable using conventional technologies.This effort and the resulting financial requirements can only be tackled by few global companies and thus a paradigm change for the semiconductor industry is conceivable:custom design and solutions for specific applications will dominate future development(Fritze in:Panning EM,Liddle JA(eds)Novel patterning technologies.International society for optics and photonics.SPIE,Bellingham,2021.https://doi.org/10.1117/12.2593229).For this reason,new aspects arise for future lithography,which is why enormous effort has been directed to the development of alternative fabrication technologies.Yet,the technologies emerging from this process,which are promising for coping with the current resolution and accuracy challenges,are only demonstrated as a proof-of-concept on a lab scale of several square micrometers.Such scale is not adequate for the requirements of modern lithography;therefore,there is the need for new and alternative cross-scale solutions to further advance the possibilities of unconventional nanotechnologies.Similar challenges arise because of the technical progress in various other fields,realizing new and unique functionalities based on nanoscale effects,e.g.,in nanophotonics,quantum computing,energy harvesting,and life sciences.Experimental platforms for basic research in the field of scale-spanning nanomeasuring and nanofabrication are necessary for these tasks,which are available at the Technische Universitiit Ilmenau in the form of nanopositioning and nanomeasuring(NPM)machines.With this equipment,the limits of technical structurability are explored for high-performance tip-based and laser-based processes for enabling real 3D nanofabrication with the highest precision in an adequate working range of several thousand cubic millimeters.展开更多
Additive manufacturing(AM)has emerged as one of the most utilized processes in manufacturing due to its ability to produce complex geometries with minimal material waste and greater design freedom.Laser-based AM(LAM)t...Additive manufacturing(AM)has emerged as one of the most utilized processes in manufacturing due to its ability to produce complex geometries with minimal material waste and greater design freedom.Laser-based AM(LAM)technologies use high-power lasers to melt metallic materials,which then solidify to form parts.However,it inherently induces self-equilibrating residual stress during fabrication due to thermal loads and plastic deformation.These residual stresses can cause defects such as delamination,cracking,and distortion,as well as premature failure under service conditions,necessitating mitigation.While post-treatment methods can reduce residual stresses,they are often costly and time-consuming.Therefore,tuning the fabrication process parameters presents a more feasible approach.Accordingly,in addition to providing a comprehensive view of residual stress by their classification,formation mechanisms,measurement methods,and common post-treatment,this paper reviews and compares the studies conducted on the effect of key parameters of the LAM process on the resulting residual stresses.This review focuses on proactively adjusting LAM process parameters as a strategic approach to mitigate residual stress formation.It provides a result of the various parameters influencing residual stress outcomes,such as laser power,scanning speed,beam diameter,hatch spacing,and scanning strategies.Finally,the paper identifies existing research gaps and proposes future studies needed to deepen understanding of the relationship between process parameters and residual stress mitigation in LAM.展开更多
Rapid progress in tissue engineering research in past decades has opened up vast possibilities to tackle the challenges of generating tissues or organs that mimic native structures. The success of tissue engineered co...Rapid progress in tissue engineering research in past decades has opened up vast possibilities to tackle the challenges of generating tissues or organs that mimic native structures. The success of tissue engineered constructs largely depends on the incorporation of a stable vascular network that eventually anastomoses with the host vasculature to support the various biological functions of embedded cells. In recent years, significant progress has been achieved with respect to extrusion, laser, micro-molding, and electrospinning-based techniques that allow the fabrication of any geometry in a layer-by-layer fashion. Moreover, decellularized matrix, self-assembled structures, and cell sheets have been explored to replace the biopolymers needed for scaffold fabrication. While the techniques have evolved to create specific tissues or organs with outstanding geometric precision, formation of interconnected, functional, and perfused vascular networks remains a challenge. This article briefly reviews recent progress in 3D fabrication approaches used to fabricate vascular networks with incorporated cells, angiogenic factors, proteins, and/or peptides. The influence of the fabricated network on blood vessel formation, and the various features, merits, and shortcomings of the various fabrication techniques are discussed and summarized.展开更多
This paper reports obtaining of useful and high-value materials from sesame seed cake (SSC). For this purpose, SSC sample was burned for 30 s using Nd: YAG laser with output power 60 W. The products of this process an...This paper reports obtaining of useful and high-value materials from sesame seed cake (SSC). For this purpose, SSC sample was burned for 30 s using Nd: YAG laser with output power 60 W. The products of this process and non-burned SSC were characterized by X-ray diffractometer (XRD), energy dispersive x-ray (EDX) and Fourier transform infrared (FTIR) so as to investigate its crystal structure and chemical components. XRD results of the SSC before burning process showed amorphous silica, rhombohedral phase of carbon, monoclinic phase of aluminum chloride, the hexagonal phase of moissanite-4H, (yellow, black) and hexagonal phase of graphite-2H, C (black). While the results of the burned SSC sample showed that the burning process using the power of Nd: YAG laser cased in appearing of crystalline hexagonal phase for silica and Carbon Nitride and converting the rhombohedral phase of Carbon into hexagonal phase. FTIR showed a number of absorbance peaks assigned to silica.展开更多
Powder bed fusion-laser beam with metals(PBF-LB/M)can be used to manufacture intricate NiTi com-ponents.However,the ductility of NiTi alloys fabricated by PBF-LB/M is generally∼20%less than those made via conventiona...Powder bed fusion-laser beam with metals(PBF-LB/M)can be used to manufacture intricate NiTi com-ponents.However,the ductility of NiTi alloys fabricated by PBF-LB/M is generally∼20%less than those made via conventional processes.Although many heat treatment methods have been proposed,solving this issue has been proven difficult.An intractable problem is the brittleness of PBF-LB/M-fabricated NiTi after solid-solution treatment at 1000°C.By investigating the microstructural and fractography change after heat treatment in the range of 100-1000°C,this study found that this ductile-to-brittle transition stems from abnormal oxygen-containing Ti-rich precipitates being generated in the PBF-LB/M fabricated Ni-rich NiTi.We identified laser processing-induced local oxygen segregation and tiny TiO2(B)particles at the fusion and grain boundaries.During the heat treatment at temperatures above 700°C,these ox-ides decompose due to their low thermal stability.After this decomposition,most oxygen diffuses into the matrix,with titanium remaining in local regions.This process enriches titanium in the interfaces,forming a brittle oxygen-rich Ti2 Ni network that is known to hinder the recrystallization process in heat treatment.Furthermore,when subjected to external loading,these precipitates can induce high misfit levels and local distortion,resulting in brittle fractures along the interfaces.Based on these results,we also propose approaches to avoid high-temperature-induced embrittlement in Ni-rich NiTi.展开更多
Rapid prototyping (RP) or layered manufacturing (LM) technologies have been extensively used to manufacture prototypes composed mainly of plastics, polymers, paper, and wax due to the short product development time an...Rapid prototyping (RP) or layered manufacturing (LM) technologies have been extensively used to manufacture prototypes composed mainly of plastics, polymers, paper, and wax due to the short product development time and low costs of these technologies. However, such technologies, with the exception of selective laser melting and sintering, are not used to fabricate metallic products because of the resulting poor life, short cycle, poor surface finish, and low structural integrity of the fabricated parts. The properties endowed by these parts do not match those of functional parts. Therefore, extensive research has been conducted to develop new additive manufacturing (AM) technologies by extending existing RP technologies. Several AM technologies have been developed for the fabrication of metallic objects. These technologies utilize materials, such as Ni-, A1-, and Ti-based alloys and stainless steel powders, to fabricate high-quality functional components. The present work reviews the type of materials used in laserbased AM processes for the manufacture of metallic products. The advantages and disadvantages of processes and different materials are summarized, and future research directions are discussed in the final section. This review can help experts select the ideal type of process or technology for the manufacturing of elements composed of a given alloy or material (Ni, Ti, Al, Pb, and stainless steel).展开更多
Sensor data, typically images and laser data, are essential to modeling real plants. However, due to the complex geometry of the plants, the measurement data are generally limited, thereby bringing great difficulties ...Sensor data, typically images and laser data, are essential to modeling real plants. However, due to the complex geometry of the plants, the measurement data are generally limited, thereby bringing great difficulties in classifying and constructing plant organs, comprising leaves and branches. The paper presents an approach to modeling plants with the sensor data by detecting reliable sharp features, i.e. the leaf apexes of the plants with leaves and the branch tips of the plants without leaves, on volumes recovered from the raw data. The extracted features provide good estimations of correct positions of the organs. Thereafter, the leaves are reconstructed separately by simply fitting and optimizing a generic leaf model. One advantage of the method is that it involves limited manual intervention. For plants without leaves, we develop an efficient strategy for decomposition-based skeletonization by using the tip features to reconstruct the 3D models from noisy laser data. Experiments show that the sharp feature detection algorithm is effective, and the proposed plant modeling approach is competent in constructing realistic models with sensor data.展开更多
基金supported by the Ministry of Education and Science of Ukraine(No.0123U101834)support in the framework of the“EU Next generation EU through the Recovery and Resilience Plan for Slovakia”(Nos.09I03-03-V01-00061 and 09I03-03-V01-00099)。
文摘Wrought and laser powder bed fusion(LPBF)Ti−6Al−4V(Ti-6-4)specimens were comparatively evaluated,with the objective to determine LPBF Ti−6Al−4V’s suitability for biomedical applications.Testing included nanoindentation,cyclic polarization in simulated body fluid(SBF,37°C),and dry and SBF“ball-on-plate”sliding.Wrought Ti-6-4 exhibited a lamellarα+βmicrostructure,whereas LPBF Ti-6-4 displayed a fine-grainedα′-martensite microstructure.LPBF Ti-6-4 demonstrated~3%higher indentation modulus and~32%higher hardness,while wrought Ti-6-4 showed~8%higher plasticity.Both alloys exhibited low corrosion rates(10−5 mA/cm^(2)order)and true passivity(10−4 mA/cm^(2)order).No localized corrosion was observed in either two alloys,except for occasional metastable pitting in the LPBF alloy.However,LPBF Ti-6-4 presented higher corrosion rate and passive current,ascribed to its martensitic structure.During dry sliding,LPBF Ti-6-4 exhibited~14%lower volume loss compared to wrought Ti-6-4.Sliding in SBF increased volume losses for both alloys,with wear resistances nearly equalized,as the advantage of LPBF Ti-6-4 decreased due to more intense wear-accelerated corrosion induced by the stressed martensite.Overall,the results demonstrate the suitability of LPBF Ti-6-4 for biomedical uses.
基金supported by VTT Technical Research Centre of Finland,Aalto University,Aerosint SA,and partially from European Union Horizon 2020 (No.768775)。
文摘Multi-material laser-based powder bed fusion (PBF-LB) allows manufacturing of parts with 3-dimensional gradient and additional functionality in a single step. This research focuses on the combination of thermally-conductive CuCr1Zr with hard M300 tool steel.Two interface configurations of M300 on CuCr1Zr and CuCr1Zr on M300 were investigated. Ultra-fine grains form at the interface due to the low mutual solubility of Cu and steel. The material mixing zone size is dependent on the configurations and tunable in the range of0.1–0.3 mm by introducing a separate set of parameters for the interface layers. Microcracks and pores mainly occur in the transition zone.Regardless of these defects, the thermal diffusivity of bimetallic parts with 50vol% of CuCr1Zr significantly increases by 70%–150%compared to pure M300. The thermal diffusivity of CuCr1Zr and the hardness of M300 steel can be enhanced simultaneously by applying the aging heat treatment.
文摘The internal structures of metallic products are important in realizing functional applications.Considering the manufacturing of inner structures,laser-based powder bed fusion(L-PBF)is an attractive approach because its layering principle enables the fabrication of parts with customized interior structures.However,the inferior surface quality of L-PBF components hinders its productization progress seriously.In this article,process,basic forms,and applications relevant to L-PBF internal structures are reviewed comprehensively.The causes of poor surface quality and differences in the microstructure and property of the surface features of L-PBF inner structures are presented to provide a perspective of their surface characteristics.Various polishing technologies for L-PBF components with inner structures are presented,whereas their strengths and weaknesses are summarized along with a discussion on the challenges and prospects for improving the interior surface quality of L-PBF parts.
基金supported by the Deutsche Forschungsgemeinschaft(DFG)in the framework of the Research Training Group Tip-and Laser-based 3D-Nanofabrication in extended macroscopic working areas(GRK 2182)at the Technische Universitat Ilmenau,Germany.
文摘The field of optical lithography is subject to intense research and has gained enormous improvement.However,the effort necessary for creating structures at the size of 20 nm and below is considerable using conventional technologies.This effort and the resulting financial requirements can only be tackled by few global companies and thus a paradigm change for the semiconductor industry is conceivable:custom design and solutions for specific applications will dominate future development(Fritze in:Panning EM,Liddle JA(eds)Novel patterning technologies.International society for optics and photonics.SPIE,Bellingham,2021.https://doi.org/10.1117/12.2593229).For this reason,new aspects arise for future lithography,which is why enormous effort has been directed to the development of alternative fabrication technologies.Yet,the technologies emerging from this process,which are promising for coping with the current resolution and accuracy challenges,are only demonstrated as a proof-of-concept on a lab scale of several square micrometers.Such scale is not adequate for the requirements of modern lithography;therefore,there is the need for new and alternative cross-scale solutions to further advance the possibilities of unconventional nanotechnologies.Similar challenges arise because of the technical progress in various other fields,realizing new and unique functionalities based on nanoscale effects,e.g.,in nanophotonics,quantum computing,energy harvesting,and life sciences.Experimental platforms for basic research in the field of scale-spanning nanomeasuring and nanofabrication are necessary for these tasks,which are available at the Technische Universitiit Ilmenau in the form of nanopositioning and nanomeasuring(NPM)machines.With this equipment,the limits of technical structurability are explored for high-performance tip-based and laser-based processes for enabling real 3D nanofabrication with the highest precision in an adequate working range of several thousand cubic millimeters.
文摘Additive manufacturing(AM)has emerged as one of the most utilized processes in manufacturing due to its ability to produce complex geometries with minimal material waste and greater design freedom.Laser-based AM(LAM)technologies use high-power lasers to melt metallic materials,which then solidify to form parts.However,it inherently induces self-equilibrating residual stress during fabrication due to thermal loads and plastic deformation.These residual stresses can cause defects such as delamination,cracking,and distortion,as well as premature failure under service conditions,necessitating mitigation.While post-treatment methods can reduce residual stresses,they are often costly and time-consuming.Therefore,tuning the fabrication process parameters presents a more feasible approach.Accordingly,in addition to providing a comprehensive view of residual stress by their classification,formation mechanisms,measurement methods,and common post-treatment,this paper reviews and compares the studies conducted on the effect of key parameters of the LAM process on the resulting residual stresses.This review focuses on proactively adjusting LAM process parameters as a strategic approach to mitigate residual stress formation.It provides a result of the various parameters influencing residual stress outcomes,such as laser power,scanning speed,beam diameter,hatch spacing,and scanning strategies.Finally,the paper identifies existing research gaps and proposes future studies needed to deepen understanding of the relationship between process parameters and residual stress mitigation in LAM.
基金supported by the Natural Sciences and Engineering Research Council of Canada [NSERC RGPIN-2014-05648]
文摘Rapid progress in tissue engineering research in past decades has opened up vast possibilities to tackle the challenges of generating tissues or organs that mimic native structures. The success of tissue engineered constructs largely depends on the incorporation of a stable vascular network that eventually anastomoses with the host vasculature to support the various biological functions of embedded cells. In recent years, significant progress has been achieved with respect to extrusion, laser, micro-molding, and electrospinning-based techniques that allow the fabrication of any geometry in a layer-by-layer fashion. Moreover, decellularized matrix, self-assembled structures, and cell sheets have been explored to replace the biopolymers needed for scaffold fabrication. While the techniques have evolved to create specific tissues or organs with outstanding geometric precision, formation of interconnected, functional, and perfused vascular networks remains a challenge. This article briefly reviews recent progress in 3D fabrication approaches used to fabricate vascular networks with incorporated cells, angiogenic factors, proteins, and/or peptides. The influence of the fabricated network on blood vessel formation, and the various features, merits, and shortcomings of the various fabrication techniques are discussed and summarized.
文摘This paper reports obtaining of useful and high-value materials from sesame seed cake (SSC). For this purpose, SSC sample was burned for 30 s using Nd: YAG laser with output power 60 W. The products of this process and non-burned SSC were characterized by X-ray diffractometer (XRD), energy dispersive x-ray (EDX) and Fourier transform infrared (FTIR) so as to investigate its crystal structure and chemical components. XRD results of the SSC before burning process showed amorphous silica, rhombohedral phase of carbon, monoclinic phase of aluminum chloride, the hexagonal phase of moissanite-4H, (yellow, black) and hexagonal phase of graphite-2H, C (black). While the results of the burned SSC sample showed that the burning process using the power of Nd: YAG laser cased in appearing of crystalline hexagonal phase for silica and Carbon Nitride and converting the rhombohedral phase of Carbon into hexagonal phase. FTIR showed a number of absorbance peaks assigned to silica.
基金supported by the National Key R&D Program of China(No.2022YFB4600700)The authors gratefully acknowledge the support from the Shenzhen Sci-ence and Technology Innovation Commission through awards(Nos.JCYJ20210324104414040,20220530114400001,and 20220815150609002)+3 种基金Shuai Wang acknowledges support from the Key-Area Research Project of the Guangdong Province Department of Education(No.2022ZDZX3021)the High Level of Special Funds(Nos.G03034K001 and G03034K003)Jiang Yi acknowledges the support from the Guangdong Basic and Applied Basic Research Foundation through awards(No.2024A1515010358)All authors gratefully acknowledge the assistance from Dr.Yang Qiu and Dr.Dongsheng He at SUStech Core Research Facilities.We thank the electron microscope center of KAIPLE Co.Ltd.(Changsha)for the support of microstructural characterizations.
文摘Powder bed fusion-laser beam with metals(PBF-LB/M)can be used to manufacture intricate NiTi com-ponents.However,the ductility of NiTi alloys fabricated by PBF-LB/M is generally∼20%less than those made via conventional processes.Although many heat treatment methods have been proposed,solving this issue has been proven difficult.An intractable problem is the brittleness of PBF-LB/M-fabricated NiTi after solid-solution treatment at 1000°C.By investigating the microstructural and fractography change after heat treatment in the range of 100-1000°C,this study found that this ductile-to-brittle transition stems from abnormal oxygen-containing Ti-rich precipitates being generated in the PBF-LB/M fabricated Ni-rich NiTi.We identified laser processing-induced local oxygen segregation and tiny TiO2(B)particles at the fusion and grain boundaries.During the heat treatment at temperatures above 700°C,these ox-ides decompose due to their low thermal stability.After this decomposition,most oxygen diffuses into the matrix,with titanium remaining in local regions.This process enriches titanium in the interfaces,forming a brittle oxygen-rich Ti2 Ni network that is known to hinder the recrystallization process in heat treatment.Furthermore,when subjected to external loading,these precipitates can induce high misfit levels and local distortion,resulting in brittle fractures along the interfaces.Based on these results,we also propose approaches to avoid high-temperature-induced embrittlement in Ni-rich NiTi.
文摘Rapid prototyping (RP) or layered manufacturing (LM) technologies have been extensively used to manufacture prototypes composed mainly of plastics, polymers, paper, and wax due to the short product development time and low costs of these technologies. However, such technologies, with the exception of selective laser melting and sintering, are not used to fabricate metallic products because of the resulting poor life, short cycle, poor surface finish, and low structural integrity of the fabricated parts. The properties endowed by these parts do not match those of functional parts. Therefore, extensive research has been conducted to develop new additive manufacturing (AM) technologies by extending existing RP technologies. Several AM technologies have been developed for the fabrication of metallic objects. These technologies utilize materials, such as Ni-, A1-, and Ti-based alloys and stainless steel powders, to fabricate high-quality functional components. The present work reviews the type of materials used in laserbased AM processes for the manufacture of metallic products. The advantages and disadvantages of processes and different materials are summarized, and future research directions are discussed in the final section. This review can help experts select the ideal type of process or technology for the manufacturing of elements composed of a given alloy or material (Ni, Ti, Al, Pb, and stainless steel).
基金Supported in part by the National Basic Research Program of China (Grant No. 2004CB318000)the National High-Tech Research & Development Program of China (Grant Nos. 2006AA01Z301, 2006AA01Z302, 2007AA01Z336)Key Grant Project of Chinese Ministry of Education (Grant No. 103001)
文摘Sensor data, typically images and laser data, are essential to modeling real plants. However, due to the complex geometry of the plants, the measurement data are generally limited, thereby bringing great difficulties in classifying and constructing plant organs, comprising leaves and branches. The paper presents an approach to modeling plants with the sensor data by detecting reliable sharp features, i.e. the leaf apexes of the plants with leaves and the branch tips of the plants without leaves, on volumes recovered from the raw data. The extracted features provide good estimations of correct positions of the organs. Thereafter, the leaves are reconstructed separately by simply fitting and optimizing a generic leaf model. One advantage of the method is that it involves limited manual intervention. For plants without leaves, we develop an efficient strategy for decomposition-based skeletonization by using the tip features to reconstruct the 3D models from noisy laser data. Experiments show that the sharp feature detection algorithm is effective, and the proposed plant modeling approach is competent in constructing realistic models with sensor data.
