The continuum manipulator improves the intraocular robot flexibility during retinal surgery. Herein, a micro‐3‐degree of freedom (DOF) force sensor with length only 3.8 mm that can adjust puncture angle vein cannulation (RVC) is proposed. Taking advantage 3D printing technology, optical fiber and injection line are embedded in nitinol tube flexible hinges to achieve integration sensing functions. A new Bragg grating (FBG) configuration method linear decoupling algorithm also proposed herein....

A dual-porosity poroelastic model is extended to represent behaviour in cylindrical co-ordinates for the evaluation of flow-deformation effects laboratory samples incorporating a central wellbore or non-repeating axisymmetric injection on periphery. Nine-node quadratic elements are used mechanical deformation, while eight-node linear interpolate pressure fields, which offers significant advantages over other non-conforming elements. The presented validated against simplified analytical...

The positioning accuracy of a robot directly affects the quality its operations. In this study, calibration method is proposed based on combining model with least-squares support vector regression (LSSVR) to improve accuracy. First, geometric error established. Second, singular value decomposition (SVD) and physical analysis are employed process coupling parameters in efficiency identification. Third, as nongeometric errors hinder construction an accurate complete mathematical affect...

An obstacle detection approach based on stereo vision is proposed for mobile robot navigation. The aim of the to detect a real environment allow find safe path even in complex scenarios. Our novelty represented terms two-stage perception structure. stage infers relationship between obstacles and ground, determines region interest. Based this, confirmation focuses characterizing contours positions getting rid most artefacts. synthesizes statistical information projections depth...

Remote center of motion (RCM) mechanisms, which are widely used in surgical robots, use mechanical constraints to realize movement around the RCM point. Errors processing and assembly cause deviation point position error end-effector, these deviations robot exert excessive force on incision during movement, leading adverse effects that reduce safety accuracy robots based RCM. Based kinematics calibration, this paper proposes a solution forward inverse considering deviation, can...

Retinal microsurgery, which requires surgeons to perform precise operations on delicate tissue in a tiny eye, is considered one of the most technically demanding operations. Lack force perception major problems faced during retinal microsurgery. In order solve problem lack sensing, many 3 degree freedom (DOF) sensing instruments have been developed. However, they all adopt complex structures, and accuracy axial still has room for improvement. this paper, we presented 3-DOF sensor based fiber...

Abstract Qualitative determination of formation permeability is often obtained through laboratory flow tests on core plugs. However, the experimental for anisotropic plugs (particularly horizontal permeability) difficult and less than perfect; generally relying a highly simplified Darcy analysis. Numerical analyses could greatly improve resolution, reduce testing costs, allow parametric investigations using sophisticated 3-D formulations. This paper reports such an analysis that interprets...

Landslide instability hasplenty of influential factors. However, shown by considerable practical casesof landslide instability, rainfall is considered to be a major element leadingto landslide. Rainfall increases the weight slope mass, while reduces itsstrength parameter. may as well create water pressure inside theslope, has significant influence on stability.In paper, finite difference software FLAC 3D adopted toperform numerical simulation landslide, with objective tofigure out safety...

The West-East gas pipeline project in Western China was as an example the research work. Expert system platform used a basic tool. typical model database systems of built. On base collection, collation, comprehensive analysis existing data, through case study large number landslides, induced landslides and stability control factor were becoming clear. A landslide risk assessment criteria evaluation index established. this basis, application expert method, based about long-distance routes...

Based on the DaDu mountain tunnel of new construction ShangHai-KunMing high-speed railway, combine with field geology investigation address area comparative analysis TRT advanced geological prediction, infrared probe water, ground penetrating radar advance forecasting and design data, aimed at fault fracture zone, high-pressure water-rich belt, karst fissures developmental situation may have in period tunnel, carried out comprehensive prediction then combined actual excavation contrast...

Robot-Assisted Retinal Surgery In article number 2200413, Jie Zhao, He Zhang, and colleagues design a micro 3-DOF force sensor which can be used for Vein Cannulation (RVC). The new concept of an intraocular continuum surgical robot with sensing is proposed, realizes high-precision positioning, injection angle adjustment RVC, providing way thinking robot-assisted retinal surgery.

A thermoporoelastoplastic analysis of a one-dimensional column consolidation is presented to identify the critical parameters that may influence processes involved in coupled fluid flow, heat and rock deformation. In comparing with usual thermoporoelastic approach, present study shows 'non-linear' elastoplasticity replicate certain porous media responses which cannot be reproduced by linear elastic evaluation. These are: (a) Mandel's effect geometry, (b) occurring at porosity, (c)...

This paper presents a structure first image inpainting method based on self-organizing map (SOM). SOM is employed to find the useful information of damaged image. The which includes relevant edges used simulate lost or area in described by distinct indistinct curves an this paper. obtained target separate into several parts. As soon as each part restored respectively, inpainted. efficiency proposed demonstrated simulation results.

The airborne or vehicle-based SARs are very vulnerable to the influences of airflows road conditions so as deviate from predicted trajectory, which undermines uniformity azimuth sampling. As a result, SAR image quality can get impaired in varying degrees. Since systems sensible track deviation, motion compensation (MOCO) algorithms always applied pre-processing raw data. In this paper, mainly with regard error caused by forward velocity variation, 'resampling MOCO' algorithm is proposed an...

With Yichang-Wanzhou Railway project being taken into account, this article systematically analyzes the control factors of geological hazard in tunnel construction including stratum, lithology, fold, rupture and groundwater seepage,etc, establishes assessment index system, induces underlying principle methods assignment. On basis theory technology expert develops an intelligence analysis system for karst water inrush risk construction, explores method implementation software platform, takes...