Background Depth sensor is an essential element in virtual and augmented reality devices to digitalize users'environment in real time.The current popular technologies include the stereo,structured light,and Time-o...Background Depth sensor is an essential element in virtual and augmented reality devices to digitalize users'environment in real time.The current popular technologies include the stereo,structured light,and Time-of-Flight(ToF).The stereo and structured light method require a baseline separation between multiple sensors for depth sensing,and both suffer from a limited measurement range.The ToF depth sensors have the largest depth range but the lowest depth map resolution.To overcome these problems,we propose a co-axial depth map sensor which is potentially more compact and cost-effective than conventional structured light depth cameras.Meanwhile,it can extend the depth range while maintaining a high depth map resolution.Also,it provides a high-resolution 2 D image along with the 3 D depth map.Methods This depth sensor is constructed with a projection path and an imaging path.Those two paths are combined by a beamsplitter for a co-axial design.In the projection path,a cylindrical lens is inserted to add extra power in one direction which creates an astigmatic pattern.For depth measurement,the astigmatic pattern is projected onto the test scene,and then the depth information can be calculated from the contrast change of the reflected pattern image in two orthogonal directions.To extend the depth measurement range,we use an electronically focus tunable lens at the system stop and tune the power to implement an extended depth range without compromising depth resolution.Results In the depth measurement simulation,we project a resolution target onto a white screen which is moving along the optical axis and then tune the focus tunable lens power for three depth measurement subranges,namely,near,middle and far.In each sub-range,as the test screen moves away from the depth sensor,the horizontal contrast keeps increasing while the vertical contrast keeps decreasing in the reflected image.Therefore,the depth information can be obtained by computing the contrast ratio between features in orthogonal directions.Conclusions The proposed depth map sensor could implement depth measurement for an extended depth range with a co-axial design.展开更多
Movement disorders of the human foot-ankle complex are a common occurrence,owing to the altered joint mechanics during foot-ground interactions.Diagnostics of such movement disorders will require quantitative tools to...Movement disorders of the human foot-ankle complex are a common occurrence,owing to the altered joint mechanics during foot-ground interactions.Diagnostics of such movement disorders will require quantitative tools to evaluate in-vivo foot motions,in particular to the multi-segment/joint foot kinematics(MSFK),during gait.Unfortunately,current MSFK analysis largely rely on conventional technologies,such as skin-marker based motion capturing,video fluoroscopy and dynamic 3D scanning,being extremely time-consuming and costly.In this work,a novel movement tracking method,named the point-cloud foot analysis(PFA),was implemented with multi-view depth sensors,to allow fast evaluations of 3D motions of the foot-ankle complex during gait.Quantitative analysis obtained by the PFA methods and their accuracy relative to the conventional MSFK analysis methods were evaluated.The 3D surface reconstructions of the foot-ankle complex were achieved with a RMSE less than 2 mm.It was proven to be feasible to track multi-segment foot motions in both healthy and diseased subjects during walking conditions,with the processing time decreased from more than 4-6 h to less than 6 min for the entire flow of the contact phase analysis.The PFA method can be useful for fast evaluations of the movement disorders of the foot-ankle complex in diagnostics and design of therapeutic interventions and rehabilitation programs for clinical applications.展开更多
The property of maintaining the lens state of the liquid crystal(LC)lens during the switching between positive and negative lens states is made use of in the fast acquirement of multi-focus images without magnificatio...The property of maintaining the lens state of the liquid crystal(LC)lens during the switching between positive and negative lens states is made use of in the fast acquirement of multi-focus images without magnification change.A depth from focus(DFF)pipeline that can generate a low-error depth map and an all-in-focus image is proposed.The depth of the scene is then obtained via DFF pipeline from the captured images.The depth sensor proposed in this paper has the advantages of simple structure,low cost,and long service life.展开更多
We present a theoretic model to calculate skin depths and eddy-current power losses for a magnetic position sensor. Eddy-current, arised from the operation of an alternating-current excitation, induces secondary curre...We present a theoretic model to calculate skin depths and eddy-current power losses for a magnetic position sensor. Eddy-current, arised from the operation of an alternating-current excitation, induces secondary currents and fields between magnetic material and magnetic position sensor. In this paper, a magnetic position sensor system is simplified to be an outer-winding coil along the axial direction of a low carbon steel bar. The analytical model is derived from basic field and circuit theory considering a linear approximation for a nonlinear permeability. Thus the skin depths and eddy-current power losses from the model in eddy-current modeling techniques at various frequencies of an excited current source can be calculated. The proposed configuration is capable of predicting the skin depths and eddy-current power losses for a magnetic position sensor and has a consistence with experiments.展开更多
The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) g...The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.展开更多
Reverberation is significant in shallow water and produces obvious notches in OBC spec- tra. It also degrades the quality of sections and increases the difficulty of processing and interpretation. This article present...Reverberation is significant in shallow water and produces obvious notches in OBC spec- tra. It also degrades the quality of sections and increases the difficulty of processing and interpretation. This article presents the relationship between notch, shooting depth, and seabed depth based on the seismic convolution model. Forward modelling based on wave equation theory is used to verify this relationship. Dual-sensor summation is applied to suppress receiver-side multiples and remove notches according to the opposite response of geophones and hydrophones to down-going wave fields based on a detailed analysis of the OBC technique. The good results obtained in practical applications reveal the effectiveness of this method.展开更多
Snow on sea ice is a sensitive indicator of climate change because it plays an important role regulating surface and near surface air temperatures. Given its high albedo and low thermal conductivity, snow cover is con...Snow on sea ice is a sensitive indicator of climate change because it plays an important role regulating surface and near surface air temperatures. Given its high albedo and low thermal conductivity, snow cover is considered a key reason for amplified warming in polar regions. This study focuses on retrieving snow depth on sea ice from brightness temperatures recorded by the Microwave Radiation Imager(MWRI) on board the FengYun(FY)-3 B satellite. After cross calibration with the Advanced Microwave Scanning Radiometer-EOS(AMSR-E) Level 2 A data from January 1 to May 31, 2011, MWRI brightness temperatures were used to calculate sea ice concentrations based on the Arctic Radiation and Turbulence Interaction Study Sea Ice(ASI) algorithm. Snow depths were derived according to the proportional relationship between snow depth and surface scattering at 18.7 and 36.5 GHz. To eliminate the influence of uncertainties in snow grain sizes and sporadic weather effects, seven-day averaged snow depths were calculated. These results were compared with snow depths from two external data sets, the IceBridge ICDIS4 and AMSR-E Level 3 Sea Ice products. The bias and standard deviation of the differences between the MWRI snow depth and IceBridge data were respectively 1.6 and 3.2 cm for a total of 52 comparisons. Differences between MWRI snow depths and AMSR-E Level 3 products showed biases ranging between-1.01 and-0.58 cm, standard deviations from 3.63 to 4.23 cm, and correlation coefficients from 0.61 to 0.79 for the different months.展开更多
A multifunctional surface plasmon polariton disk device coupled by two metal-insulator-metal（MIM） waveguides is proposed and investigated numerically with finite-difference time-domain simulation. It can be used as ...A multifunctional surface plasmon polariton disk device coupled by two metal-insulator-metal（MIM） waveguides is proposed and investigated numerically with finite-difference time-domain simulation. It can be used as optical switch and temperature sensor by filling disk with liquid crystal and ethanol, respectively. The simulation results demonstrate that the transmission characteristics of an optical switch can be manipulated by adjusting the radius of disk and the slit width between disk and MIM waveguides. The transmittance and modulation depth of optical switch at 1550 nm are up to 64.82% and 17.70 d B, respectively. As a temperature sensor, its figure of merit can reach 30.46. In this paper, an optical switch with better efficiency and a temperature sensor with better sensitivity can be achieved.展开更多
Due to effectiveness of network layer on general performance of networks, designing routing protocols is very important for lifetime and traffic efficiency in wireless sensor networks. So in this paper, we are going t...Due to effectiveness of network layer on general performance of networks, designing routing protocols is very important for lifetime and traffic efficiency in wireless sensor networks. So in this paper, we are going to represent an efficient and scalable version of depth-based routing (DBR) protocol that is limited by depth divisions-policy. In fact the new version is a network information independent routing protocol for acoustic communications. Proposed method by use of depth clustering is able to reduce consumed energy and end-to-end delay in dense underwater sensor networks (DUSNs) and this issue is proved by simulation.展开更多
文摘Background Depth sensor is an essential element in virtual and augmented reality devices to digitalize users'environment in real time.The current popular technologies include the stereo,structured light,and Time-of-Flight(ToF).The stereo and structured light method require a baseline separation between multiple sensors for depth sensing,and both suffer from a limited measurement range.The ToF depth sensors have the largest depth range but the lowest depth map resolution.To overcome these problems,we propose a co-axial depth map sensor which is potentially more compact and cost-effective than conventional structured light depth cameras.Meanwhile,it can extend the depth range while maintaining a high depth map resolution.Also,it provides a high-resolution 2 D image along with the 3 D depth map.Methods This depth sensor is constructed with a projection path and an imaging path.Those two paths are combined by a beamsplitter for a co-axial design.In the projection path,a cylindrical lens is inserted to add extra power in one direction which creates an astigmatic pattern.For depth measurement,the astigmatic pattern is projected onto the test scene,and then the depth information can be calculated from the contrast change of the reflected pattern image in two orthogonal directions.To extend the depth measurement range,we use an electronically focus tunable lens at the system stop and tune the power to implement an extended depth range without compromising depth resolution.Results In the depth measurement simulation,we project a resolution target onto a white screen which is moving along the optical axis and then tune the focus tunable lens power for three depth measurement subranges,namely,near,middle and far.In each sub-range,as the test screen moves away from the depth sensor,the horizontal contrast keeps increasing while the vertical contrast keeps decreasing in the reflected image.Therefore,the depth information can be obtained by computing the contrast ratio between features in orthogonal directions.Conclusions The proposed depth map sensor could implement depth measurement for an extended depth range with a co-axial design.
基金supported by National Key Research and Development Project,China(No.2022YFC2009500)Shanghai Science and Technology Development Funds(No.20S31901000&No.21511102200)Medical Engineering Fund of Fudan University(No.yg2021-019).
文摘Movement disorders of the human foot-ankle complex are a common occurrence,owing to the altered joint mechanics during foot-ground interactions.Diagnostics of such movement disorders will require quantitative tools to evaluate in-vivo foot motions,in particular to the multi-segment/joint foot kinematics(MSFK),during gait.Unfortunately,current MSFK analysis largely rely on conventional technologies,such as skin-marker based motion capturing,video fluoroscopy and dynamic 3D scanning,being extremely time-consuming and costly.In this work,a novel movement tracking method,named the point-cloud foot analysis(PFA),was implemented with multi-view depth sensors,to allow fast evaluations of 3D motions of the foot-ankle complex during gait.Quantitative analysis obtained by the PFA methods and their accuracy relative to the conventional MSFK analysis methods were evaluated.The 3D surface reconstructions of the foot-ankle complex were achieved with a RMSE less than 2 mm.It was proven to be feasible to track multi-segment foot motions in both healthy and diseased subjects during walking conditions,with the processing time decreased from more than 4-6 h to less than 6 min for the entire flow of the contact phase analysis.The PFA method can be useful for fast evaluations of the movement disorders of the foot-ankle complex in diagnostics and design of therapeutic interventions and rehabilitation programs for clinical applications.
基金supported by Sichuan Science and Technology Programs(Grant No.2021YJ0102).
文摘The property of maintaining the lens state of the liquid crystal(LC)lens during the switching between positive and negative lens states is made use of in the fast acquirement of multi-focus images without magnification change.A depth from focus(DFF)pipeline that can generate a low-error depth map and an all-in-focus image is proposed.The depth of the scene is then obtained via DFF pipeline from the captured images.The depth sensor proposed in this paper has the advantages of simple structure,low cost,and long service life.
文摘We present a theoretic model to calculate skin depths and eddy-current power losses for a magnetic position sensor. Eddy-current, arised from the operation of an alternating-current excitation, induces secondary currents and fields between magnetic material and magnetic position sensor. In this paper, a magnetic position sensor system is simplified to be an outer-winding coil along the axial direction of a low carbon steel bar. The analytical model is derived from basic field and circuit theory considering a linear approximation for a nonlinear permeability. Thus the skin depths and eddy-current power losses from the model in eddy-current modeling techniques at various frequencies of an excited current source can be calculated. The proposed configuration is capable of predicting the skin depths and eddy-current power losses for a magnetic position sensor and has a consistence with experiments.
基金the National Natural Science Foundation of China (61720106012 and 61403215)the Foundation of State Key Laboratory of Robotics (2006-003)the Fundamental Research Funds for the Central Universities for the financial support of this work.
文摘The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.
基金supported by the National Natural Science Foundation of China(Nos.41176077 and 41074077)the Key Laboratory of Marine Hydrocarbon Resources and Environmental Geology,Ministry of Land and Resources of China(No.MRE201303)
文摘Reverberation is significant in shallow water and produces obvious notches in OBC spec- tra. It also degrades the quality of sections and increases the difficulty of processing and interpretation. This article presents the relationship between notch, shooting depth, and seabed depth based on the seismic convolution model. Forward modelling based on wave equation theory is used to verify this relationship. Dual-sensor summation is applied to suppress receiver-side multiples and remove notches according to the opposite response of geophones and hydrophones to down-going wave fields based on a detailed analysis of the OBC technique. The good results obtained in practical applications reveal the effectiveness of this method.
基金Funding for this project was provided by the National Key Research and Development Program of China (No. 2016YFC1402704)the Global Change Research Program of China (No. 2015CB953901)
文摘Snow on sea ice is a sensitive indicator of climate change because it plays an important role regulating surface and near surface air temperatures. Given its high albedo and low thermal conductivity, snow cover is considered a key reason for amplified warming in polar regions. This study focuses on retrieving snow depth on sea ice from brightness temperatures recorded by the Microwave Radiation Imager(MWRI) on board the FengYun(FY)-3 B satellite. After cross calibration with the Advanced Microwave Scanning Radiometer-EOS(AMSR-E) Level 2 A data from January 1 to May 31, 2011, MWRI brightness temperatures were used to calculate sea ice concentrations based on the Arctic Radiation and Turbulence Interaction Study Sea Ice(ASI) algorithm. Snow depths were derived according to the proportional relationship between snow depth and surface scattering at 18.7 and 36.5 GHz. To eliminate the influence of uncertainties in snow grain sizes and sporadic weather effects, seven-day averaged snow depths were calculated. These results were compared with snow depths from two external data sets, the IceBridge ICDIS4 and AMSR-E Level 3 Sea Ice products. The bias and standard deviation of the differences between the MWRI snow depth and IceBridge data were respectively 1.6 and 3.2 cm for a total of 52 comparisons. Differences between MWRI snow depths and AMSR-E Level 3 products showed biases ranging between-1.01 and-0.58 cm, standard deviations from 3.63 to 4.23 cm, and correlation coefficients from 0.61 to 0.79 for the different months.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61275059 and 61307062)
文摘A multifunctional surface plasmon polariton disk device coupled by two metal-insulator-metal（MIM） waveguides is proposed and investigated numerically with finite-difference time-domain simulation. It can be used as optical switch and temperature sensor by filling disk with liquid crystal and ethanol, respectively. The simulation results demonstrate that the transmission characteristics of an optical switch can be manipulated by adjusting the radius of disk and the slit width between disk and MIM waveguides. The transmittance and modulation depth of optical switch at 1550 nm are up to 64.82% and 17.70 d B, respectively. As a temperature sensor, its figure of merit can reach 30.46. In this paper, an optical switch with better efficiency and a temperature sensor with better sensitivity can be achieved.
文摘Due to effectiveness of network layer on general performance of networks, designing routing protocols is very important for lifetime and traffic efficiency in wireless sensor networks. So in this paper, we are going to represent an efficient and scalable version of depth-based routing (DBR) protocol that is limited by depth divisions-policy. In fact the new version is a network information independent routing protocol for acoustic communications. Proposed method by use of depth clustering is able to reduce consumed energy and end-to-end delay in dense underwater sensor networks (DUSNs) and this issue is proved by simulation.
