A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented base...A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented based on the detection system. Firstly, the deviation between the normal vector and the spindle axis is measured by the four laser displacement sensors installed at the head of the multi-function end effector. Then, the robot target attitude is inversely solved according to the auto-normalization algorithm. Finally, adjust the robot to the target attitude via pitch and yaw rotations about the tool center point and the spindle axis is corrected in line with the normal vector simultaneously. To test and verify the auto-normalization algorithm, an experimental platform is established in which the laser tracker is introduced for accurate measurement. The results show that the deviations between the corrected spindle axis and the normal vector are all reduced to less than 0.5°, with the mean value 0.32°. It is demonstrated the detection method and the autonormalization algorithm are feasible and reliable.展开更多
Gradient vector flow （GVF） is an effective external force for active contours, but its iso- tropic nature handicaps its performance. The recently proposed gradient vector flow in the normal direction （NGVF） is ani...Gradient vector flow （GVF） is an effective external force for active contours, but its iso- tropic nature handicaps its performance. The recently proposed gradient vector flow in the normal direction （NGVF） is anisotropic since it only keeps the diffusion along the normal direction of the isophotes; however, it has difficulties forcing a snake into long, thin boundary indentations. In this paper, a novel external force for active contours called normally generalized gradient vector flow （NGGVF） is proposed, which generalizes the NGVF formulation to include two spatially varying weighting functions. Consequently, the proposed NGGVF snake is anisotropic and would improve ac- tive contour convergence into long, thin boundary indentations while maintaining other desirable properties of the NGVF snake, such as enlarged capture range, initialization insensitivity and good convergence at concavities. The advantages on synthetic and real images are demonstrated.展开更多
This paper presents a curve reconstruction algorithm based on discrete data points and normal vectors using B-splines.The proposed algorithm has been improved in three steps:parameterization of the discrete data point...This paper presents a curve reconstruction algorithm based on discrete data points and normal vectors using B-splines.The proposed algorithm has been improved in three steps:parameterization of the discrete data points with tangent vectors,the B-spline knot vector determination by the selected dominant points based on normal vectors,and the determination of the weight to balancing the two errors of the data points and normal vectors in fitting model.Therefore,we transform the B-spline fitting problem into three sub-problems,and can obtain the B-spline curve adaptively.Compared with the usual fitting method which is based on dominant points selected only by data points,the B-spline curves reconstructed by our approach can retain better geometric shape of the original curves when the given data set contains high strength noises.展开更多
A scheme for an automatic road surface modeling from a noisy point cloud is presented. The normal vectors of the point cloud are estimated by distance-weighted fitting of local plane. Then, an automatic recognition of...A scheme for an automatic road surface modeling from a noisy point cloud is presented. The normal vectors of the point cloud are estimated by distance-weighted fitting of local plane. Then, an automatic recognition of the road surface from noise is performed based on the fuzzy clustering of normal vectors, with which the mean value is calculated and the projecting plane of point cloud is created to obtain the geometric model accordingly. Based on fuzzy clustering of the intensity attributed to each point, different objects on the road surface are assigned different colors for representing abundant appearances. This unsupervised method is demonstrated in the experiment and shows great effectiveness in reconstructing and rendering better road surface.展开更多
Over the past few years,nonlinear manifold learning has been widely exploited in data analysis and machine learning.This paper presents a novel manifold learning algorithm,named atlas compatibility transformation(ACT)...Over the past few years,nonlinear manifold learning has been widely exploited in data analysis and machine learning.This paper presents a novel manifold learning algorithm,named atlas compatibility transformation(ACT),It solves two problems which correspond to two key points in the manifold definition:how to chart a given manifold and how to align the patches to a global coordinate space based on compatibility.For the first problem,we divide the manifold into maximal linear patch(MLP) based on normal vector field of the manifold.For the second problem,we align patches into an optimal global system by solving a generalized eigenvalue problem.Compared with the traditional method,the ACT could deal with noise datasets and fragment datasets.Moreover,the mappings between high dimensional space and low dimensional space are given.Experiments on both synthetic data and real-world data indicate the effection of the proposed algorithm.展开更多
In this paper, we discuss an inverse problem, i.e., the reconstruction of a linear differential dynamic system from the given discrete data of the solution. We propose a model and a corresponding algorithm to recover ...In this paper, we discuss an inverse problem, i.e., the reconstruction of a linear differential dynamic system from the given discrete data of the solution. We propose a model and a corresponding algorithm to recover the coefficient matrix of the differential system based on the normal vectors from the given discrete points, in order to avoid the problem of parameterization in curve fitting and approximation. We also give some theoretical analysis on our algorithm. When the data points are taken from the solution curve and the set composed of these data points is not degenerate, the coefficient matrix A reconstructed by our algorithm is unique from the given discrete and noisefree data. We discuss the error bounds for the approximate coefficient matrix and the solution which are reconstructed by our algorithm.Numerical examples demonstrate the effectiveness of the algorithm.展开更多
Consider the following system of coupled Korteweg-de Vries equations, <img src="Edit_81ea1215-e696-403f-9d6c-1449e107359f.bmp" alt="" /><span style="white-space:nowrap;">where...Consider the following system of coupled Korteweg-de Vries equations, <img src="Edit_81ea1215-e696-403f-9d6c-1449e107359f.bmp" alt="" /><span style="white-space:nowrap;">where u, v <span style="white-space:nowrap;">⊆ W<sup>2,2</sup>, 2≤N≤7 and λ<sub>i</sub>,β > 0, β denotes a real coupling parameter. Firstly, we prove the existence of the solutions of a coupled system of Korteweg-de Vries equations using variation approach and minimization techniques on Nehari manifold. Then, we show the multiplicity of the equations by a bifurcation theory which is rare for studying higher order equations.展开更多
This paper studies the nonzero normal vector fields of immersions homotopic to a map g: Mn→N2n-1. In the case of the stable normal bundle of g being orientable, rather complete results are obtained.
Bozek(1980)has introduced a class of solvable Lie groups Gn with arbitrary odd dimension to construct irreducible generalized symmetric Riemannian space such that the identity component of its full isometry group is s...Bozek(1980)has introduced a class of solvable Lie groups Gn with arbitrary odd dimension to construct irreducible generalized symmetric Riemannian space such that the identity component of its full isometry group is solvable.In this article,the authors provide the set of all left-invariant minimal unit vector fields on the solvable Lie group Gn,and give the relationships between the minimal unit vector fields and the geodesic vector fields,the strongly normal unit vectors respectively.展开更多
Image denoising with some second order nonlinear PDEs often leads to a staircasing effect, which may produce undesirable blocky image. In this paper, we present a new gradient fidelity term and couple it with these PD...Image denoising with some second order nonlinear PDEs often leads to a staircasing effect, which may produce undesirable blocky image. In this paper, we present a new gradient fidelity term and couple it with these PDEs to solve the problem. At first, we smooth the normal vector fields （i.e., the gradient fields） of the noisy image by total variation （TV） minimization and make the gradient of desirable image close to the smoothed normals, which is the idea of our gradient fidelity term. Then, we introduce the Euler-Lagrange equation of the gradient fidelity term into nonlinear diffusion PDEs for noise and staircasing removal. To speed up the computation of the vectorial TV minimization, the dual approach proposed by Bresson and Chan is employed. Some numerical experiments demonstrate that our gradient fidelity term can help to avoid the staircasing effect effectively, while preserving sharp discontinuities in images.展开更多
The spatial orientation of optical radiation sources has long been the hot topic in the aerospace and the military applications.Current researches mainly focus on the high precision orientation on the partial field of...The spatial orientation of optical radiation sources has long been the hot topic in the aerospace and the military applications.Current researches mainly focus on the high precision orientation on the partial field of view.Thus,combination of several partial fields of view is required to achieve orientation when the field of view exceeds 180°,which results in the increase of size,weight,power consumption and the cost.By defining radiation energy and direction of the optical radiation source as a vector and applying the cosine law of radiation and vector theorem,it is shown that the vector can be obtained from unit normal vectors on the three un-coplanar surfaces and from the energy projected by the optical radiation source.Based on this,an orientation method with 360° full field of view by a polyhedron is suggested,the mathematical formula for anti-multipath interference is supposed and the error upper limit is derived.The feasibility and effectiveness of this method are validated by measurements and simulation.An accuracy better than 2.866° and 0.574° is achieved when the ratio of measurement error of energy on arbitrary surface and the true value are 5% and 1%,respectively,given the matrix composed of unit normal vectors on three measurement surfaces is orthogonal.展开更多
This paper is to improve the speed of k-nearest-neighbor search and put forward algorithms related to tangent plane estimation based on existing methods. Starting from the points cloud, the algorithm segments the whol...This paper is to improve the speed of k-nearest-neighbor search and put forward algorithms related to tangent plane estimation based on existing methods. Starting from the points cloud, the algorithm segments the whole data into many different small cubes in space, and the size of cube is related to the density of the points cloud. Considering the position of the point in the cube, the algorithm enlarges the area around the given point step by step until the k-nearest-neighbor is accomplished. The neighbor’s least-squares tangent plane is estimated. In order to orient the planes, the k-nearest-neighbor is introduced into the problem of seeking the minimum spanning trees instead of searching the whole data. The research proved that the algorithms put forward in this paper were effective in processing data in short time and with high precision. The theory was useful for the practical application in reverse engineering and other areas related. Solution for finding k-nearest-neighbor problem, which still costs much time in present, was provided, and a propagation algorithm for orienting the planes was also discussed. The algorithm chose the orientation among the k-nearest-neighbor of the current point.展开更多
基金co-supported by Key Technology Research and Development Program of Jiangsu Province, China (No. BE2011178)the Aviation Industry Innovation Fund (No. AC2011214)
文摘A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented based on the detection system. Firstly, the deviation between the normal vector and the spindle axis is measured by the four laser displacement sensors installed at the head of the multi-function end effector. Then, the robot target attitude is inversely solved according to the auto-normalization algorithm. Finally, adjust the robot to the target attitude via pitch and yaw rotations about the tool center point and the spindle axis is corrected in line with the normal vector simultaneously. To test and verify the auto-normalization algorithm, an experimental platform is established in which the laser tracker is introduced for accurate measurement. The results show that the deviations between the corrected spindle axis and the normal vector are all reduced to less than 0.5°, with the mean value 0.32°. It is demonstrated the detection method and the autonormalization algorithm are feasible and reliable.
基金Supported by the National Natural Science Foundation of China(60805004)the State Key Lab of Space Medicine Fundamen-tals and Application(SMFA09A16)
文摘Gradient vector flow （GVF） is an effective external force for active contours, but its iso- tropic nature handicaps its performance. The recently proposed gradient vector flow in the normal direction （NGVF） is anisotropic since it only keeps the diffusion along the normal direction of the isophotes; however, it has difficulties forcing a snake into long, thin boundary indentations. In this paper, a novel external force for active contours called normally generalized gradient vector flow （NGGVF） is proposed, which generalizes the NGVF formulation to include two spatially varying weighting functions. Consequently, the proposed NGGVF snake is anisotropic and would improve ac- tive contour convergence into long, thin boundary indentations while maintaining other desirable properties of the NGVF snake, such as enlarged capture range, initialization insensitivity and good convergence at concavities. The advantages on synthetic and real images are demonstrated.
基金Supported by the National Natural Science Foundation of China(Nos.1187113711572081)the Program for Liaoning Innovation Talents in University(No.LCR2018001)
文摘This paper presents a curve reconstruction algorithm based on discrete data points and normal vectors using B-splines.The proposed algorithm has been improved in three steps:parameterization of the discrete data points with tangent vectors,the B-spline knot vector determination by the selected dominant points based on normal vectors,and the determination of the weight to balancing the two errors of the data points and normal vectors in fitting model.Therefore,we transform the B-spline fitting problem into three sub-problems,and can obtain the B-spline curve adaptively.Compared with the usual fitting method which is based on dominant points selected only by data points,the B-spline curves reconstructed by our approach can retain better geometric shape of the original curves when the given data set contains high strength noises.
基金Supported by the National Natural Science Foundation of China （No.40471089） and the Key Laboratory of Geo-informatics of State Bureau of Surveying and Mapping.
文摘A scheme for an automatic road surface modeling from a noisy point cloud is presented. The normal vectors of the point cloud are estimated by distance-weighted fitting of local plane. Then, an automatic recognition of the road surface from noise is performed based on the fuzzy clustering of normal vectors, with which the mean value is calculated and the projecting plane of point cloud is created to obtain the geometric model accordingly. Based on fuzzy clustering of the intensity attributed to each point, different objects on the road surface are assigned different colors for representing abundant appearances. This unsupervised method is demonstrated in the experiment and shows great effectiveness in reconstructing and rendering better road surface.
基金supported by National Natural Science Foundation of China(No.61171145)Shanghai Educational Development Fundation(No.12ZZ083)
文摘Over the past few years,nonlinear manifold learning has been widely exploited in data analysis and machine learning.This paper presents a novel manifold learning algorithm,named atlas compatibility transformation(ACT),It solves two problems which correspond to two key points in the manifold definition:how to chart a given manifold and how to align the patches to a global coordinate space based on compatibility.For the first problem,we divide the manifold into maximal linear patch(MLP) based on normal vector field of the manifold.For the second problem,we align patches into an optimal global system by solving a generalized eigenvalue problem.Compared with the traditional method,the ACT could deal with noise datasets and fragment datasets.Moreover,the mappings between high dimensional space and low dimensional space are given.Experiments on both synthetic data and real-world data indicate the effection of the proposed algorithm.
基金Supported by the National Natural Science Foundation of China(Grant Nos.1129014311471066+2 种基金11572081)the Fundamental Research of Civil Aircraft(Grant No.MJF-2012-04)the Fundamental Research Funds for the Central Universities(Grant No.DUT15LK44)
文摘In this paper, we discuss an inverse problem, i.e., the reconstruction of a linear differential dynamic system from the given discrete data of the solution. We propose a model and a corresponding algorithm to recover the coefficient matrix of the differential system based on the normal vectors from the given discrete points, in order to avoid the problem of parameterization in curve fitting and approximation. We also give some theoretical analysis on our algorithm. When the data points are taken from the solution curve and the set composed of these data points is not degenerate, the coefficient matrix A reconstructed by our algorithm is unique from the given discrete and noisefree data. We discuss the error bounds for the approximate coefficient matrix and the solution which are reconstructed by our algorithm.Numerical examples demonstrate the effectiveness of the algorithm.
文摘Consider the following system of coupled Korteweg-de Vries equations, <img src="Edit_81ea1215-e696-403f-9d6c-1449e107359f.bmp" alt="" /><span style="white-space:nowrap;">where u, v <span style="white-space:nowrap;">⊆ W<sup>2,2</sup>, 2≤N≤7 and λ<sub>i</sub>,β > 0, β denotes a real coupling parameter. Firstly, we prove the existence of the solutions of a coupled system of Korteweg-de Vries equations using variation approach and minimization techniques on Nehari manifold. Then, we show the multiplicity of the equations by a bifurcation theory which is rare for studying higher order equations.
文摘This paper studies the nonzero normal vector fields of immersions homotopic to a map g: Mn→N2n-1. In the case of the stable normal bundle of g being orientable, rather complete results are obtained.
基金supported by the National Natural Science Foundation of China (Nos. 12001007,12201358)the Natural Science Foundation of Shandong Province (No. ZR2021QA051)+1 种基金the Natural Science Foundation of Anhui Province (No. 1908085QA03)Starting Research Funds of Shandong University of Science and Technology (Nos. 0104060511817, 0104060540626)
文摘Bozek(1980)has introduced a class of solvable Lie groups Gn with arbitrary odd dimension to construct irreducible generalized symmetric Riemannian space such that the identity component of its full isometry group is solvable.In this article,the authors provide the set of all left-invariant minimal unit vector fields on the solvable Lie group Gn,and give the relationships between the minimal unit vector fields and the geodesic vector fields,the strongly normal unit vectors respectively.
基金supported by the National Natural Science Foundation of China under Grant No. 10801045Postdoctoral Foundation of Zhejiang Province under Grant Nos. 1098129 and 109001329 from the Zhejiang University of Technology
文摘Image denoising with some second order nonlinear PDEs often leads to a staircasing effect, which may produce undesirable blocky image. In this paper, we present a new gradient fidelity term and couple it with these PDEs to solve the problem. At first, we smooth the normal vector fields （i.e., the gradient fields） of the noisy image by total variation （TV） minimization and make the gradient of desirable image close to the smoothed normals, which is the idea of our gradient fidelity term. Then, we introduce the Euler-Lagrange equation of the gradient fidelity term into nonlinear diffusion PDEs for noise and staircasing removal. To speed up the computation of the vectorial TV minimization, the dual approach proposed by Bresson and Chan is employed. Some numerical experiments demonstrate that our gradient fidelity term can help to avoid the staircasing effect effectively, while preserving sharp discontinuities in images.
文摘The spatial orientation of optical radiation sources has long been the hot topic in the aerospace and the military applications.Current researches mainly focus on the high precision orientation on the partial field of view.Thus,combination of several partial fields of view is required to achieve orientation when the field of view exceeds 180°,which results in the increase of size,weight,power consumption and the cost.By defining radiation energy and direction of the optical radiation source as a vector and applying the cosine law of radiation and vector theorem,it is shown that the vector can be obtained from unit normal vectors on the three un-coplanar surfaces and from the energy projected by the optical radiation source.Based on this,an orientation method with 360° full field of view by a polyhedron is suggested,the mathematical formula for anti-multipath interference is supposed and the error upper limit is derived.The feasibility and effectiveness of this method are validated by measurements and simulation.An accuracy better than 2.866° and 0.574° is achieved when the ratio of measurement error of energy on arbitrary surface and the true value are 5% and 1%,respectively,given the matrix composed of unit normal vectors on three measurement surfaces is orthogonal.
基金Supported by the National Natural Science Foundation of Heilong-jiang Province of China (No. ZJG0607-01)
文摘This paper is to improve the speed of k-nearest-neighbor search and put forward algorithms related to tangent plane estimation based on existing methods. Starting from the points cloud, the algorithm segments the whole data into many different small cubes in space, and the size of cube is related to the density of the points cloud. Considering the position of the point in the cube, the algorithm enlarges the area around the given point step by step until the k-nearest-neighbor is accomplished. The neighbor’s least-squares tangent plane is estimated. In order to orient the planes, the k-nearest-neighbor is introduced into the problem of seeking the minimum spanning trees instead of searching the whole data. The research proved that the algorithms put forward in this paper were effective in processing data in short time and with high precision. The theory was useful for the practical application in reverse engineering and other areas related. Solution for finding k-nearest-neighbor problem, which still costs much time in present, was provided, and a propagation algorithm for orienting the planes was also discussed. The algorithm chose the orientation among the k-nearest-neighbor of the current point.
