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Automatic 3D inspection method for AR-assisted assembly based on virtual-to-real registration

Journal of Manufacturing Systems 2025年 80卷 933-947页

作者： Yan, Zhang Hongyong, Fu Xinyuan, Jiang Xinlong, Qi Enze, Cui Lu, Zhang University of the Chinese Academy of Sciences Technology and Engineering Center for Space Utilization Beijing100094 China Key Laboratory of Space Utilization Chinese Academy of Sciences Technology and Engineering Center for Space Utilization Beijing100094 China

Augmented reality (AR) has been widely employed in intelligent assembly tasks to improve assembly efficiency by layering virtual instructions onto real assemblies, providing operators with step-by-step guidance. However, current AR-assisted assembly systems are limited to being visualization tools, requiring manual control of the guide program by operators and potentially causing distractions and increased operational load. Furthermore, these systems lack the ability to detect incorrect assembly during operation, leading to assembly failures without manual inspection. To address these issues, we propose an automatic 3D inspection method based on virtual-to-real registration that leverages cross-domain texture registration and 6D pose registration to align real assembly images with virtual 3D CAD models. This method conducts a 3D assembly inspection by assessing the similarities between real assembly and its virtual CAD instruction, not only from texture but also from spatial pose relations, improving inspection accuracy while retaining 2D real-time computing. By integrating the inspection results, the AR system can automatically verify assembly correctness and proceed to the next guide program only when a successful assembly is confirmed, eliminating any need for extra instructions from the operator. In case of assembly failure, the computed results are fed back to the operator to assist in correcting errors during assembly, thereby improving assembly efficiency. © 2025 The Society of Manufacturing Engineers

关键词： Augmented reality

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Multiphysics simulation and optimization of the in-situ beneficiation process of ilmenite minerals from lunar regolith

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Science China Earth Sciences 2025年第1期68卷 195-207页

作者： Peng ZHANG Xin LIU Guanghui LIU Wei DAI Hanzhe YANG Haibo ZHENG Zhi WANG Ran NIU Yifan BAI Yang ZHANG Chengbao LIU Ge YANG Junwei YANG Guang ZHANG Technology and Engineering Center for Space Utilization Chinese Academy of SciencesBeijing100094China Beijing Hegong Simulation Co. LtdBeijing100089China

The exploration and utilization of lunar resources have become the major objectives of future lunar exploration *** classified collection and processing of lunar minerals is the basic prerequisite for the in-situ exploration and utilization of lunar *** this study,we propose a scheme for in-situ separation of magnetic minerals from lunar soils using the dry magnetic separation *** scheme can realize the purpose of separating magnetic minerals from lunar regolith by altering the motion trajectory of lunar regolith particles with different magnetic *** modeling of the dry magnetic separation device is conducted,and the three-dimensional distribution of magnetic parameters is calculated and *** on the characterization and analysis of the Chang E-5's samples,the morphologies and physical parameters of lunar regolith particles are modeled and simulated.A discrete element simulation of the motion process of lunar regolith particles under multi-physical field conditions is performed,and the influences of key parameters on the beneficiation performance of lunar magnetic minerals are *** results indicate that optimal separation and beneficiation of lunar regolith particles can be achieved under specific conditions of magnetic field strength and drum ***,we analyze the effects of lunar weak gravity conditions and the charged nature of lunar particles on the beneficiation process,showing that these factors can obviously enhance the beneficiation process of lunar *** study demonstrates the feasibility of using the dry magnetic separation method for the beneficiation of magnetic minerals from lunar regolith,providing a theoretical basis for the scientific tasks of collecting,processing,and utilizing lunar mineral resources.

关键词： Lunar regolith In-situ resource utilization Magnetic separation Classified sampling

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Particle motion and enrichment behavior of dense granular impinging-jets generated by the nozzle with rectangular orifice

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Particuology 2025年第1期96卷 312-327页

作者： Ting Li Qingguo Lin Haokun Liu Shengju Wang Weifeng Li National Energy Coal Gasification Technology Research and Development Center Shanghai Engineering Research Center of Coal GasificationEngineering Research Center of Resource Utilization of Carbon-containing Waste with Carbon NeutralityMinistry of EducationEast China University of Science and TechnologyShanghai200237China Shanghai Engineering Research Center of Space Engine Shanghai Institute of Space PropulsionShanghai201112China

Particle motion regime and enrichment behavior of dense granular impinging-jets formed by the nozzle with rectangular orifice are experimentally and numerically *** impingement patterns are identified,including long and short parallel *** enrich in the central axis of the granular sheet when two jets impinge with the long axes parallel *** at the short axes parallel pattern,particles generate two symmetrical enriched *** angle of particle-enriched streams is observed to increase with increasing angle of two impinging-jets and decreasing aspect ratio of the nozzle *** particle image velocity(PIV)analysis results demonstrate that the circumferential distribution of the particle velocity on the granular sheet follows the Gaussian *** the formation of particle-enriched streams,the concentration distribution of the particle evolves into a trimodal *** of the discrete element method(DEM)indicate that the core region with low velocity within the impact zone of impinging-jets generated by using two nozzles with rectangular orifices extends into a shuttle *** core region develops and extends along the horizontal(or vertical)directions at long(or short)axes impingement pattern,thereby,affecting the enrichment behavior of particles.

关键词： Dense granular impinging-jet Enrichment behavior Rectangular orifice

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Prediction of photopolymerization deformation for additive manufacturing based on thermal simulation approximation

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International Journal of Advanced Manufacturing technology 2025年第7期137卷 4109-4128页

作者： Yang, Yizhe Liu, Bingshan Liu, Xiaodong Li, Tao Wang, Gong Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing100094 China University of Chinese Academy of Sciences Beijing China

In order to improve the accuracy of ceramic additive manufacturing (AM), predicting the deformation of green parts is very important. In order to simplify the complexity of the microscopic chemical reaction kinetics model and simulate stress and strain with high fidelity, a thermal simulation approximate prediction (TSAP) model for ceramic vat photopolymerization is established. The model uses the thermal–mechanical coupling analysis method to approximate the deformation and internal stress of parts during layer-by-layer printing. By mathematical modeling, the microscopic reaction shrinkage of exposure is theoretically corresponding to the macroscopic cold shrinkage. The input parameters and their changing trends are derived from the fitting of material experimental tests. The practicality of the TSAP model is verified through experiments on different models, providing good guidance for shrinkage compensation in the future. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Photopolymerization

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Novel Fractional-Order ESO-Based Distributed Control for Multi-Agent Systems to Pass a Curve Virtual Tube with Matched and Mismatched Disturbances

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Guidance,Navigation and Control 2025年第1期05卷 1-20页

作者： Shike Long Shanlin Sun Yongjun Wang Zeyu Tang Zhi Wang School of Aeronautics and Astronautics Guilin University of Aerospace Technology Technology and Engineering Center for Space Utilization Chinese Academy of Sciences

To guide multi-agent systems(MASs) through a cluttered environment, this paper proposes a distributed control method based on a novel fractional-order extended state observer(NFO-ESO). First,unlike the traditional multi-agent double-integral model, the agent model constructed in this paper contains external wind disturbances(mismatched disturbances) and internal unmodeled dynamics(matched disturbances), and these disturbances are treated as matched disturbance equivalent. Then, the designed disturbance observer is added to the robust distributed controller to coordinate the disturbance, which is used to accomplish the curve virtual tube crossing task in the perturbed case. The disturbance observer is NFO-ESO,which is implemented in this paper by constructing a neural network based on fractional-order discrete *** improves the weakness of the traditional ESO that only observes low-frequency slow time-varying disturbances and can be more suitable for nonlinear fast time-varying disturbance estimation. Finally, to demonstrate the advantages of the proposed controller, we show an example of MASs with wind disturbance and unmodeled dynamic through numerical simulation experiment. The instance shows the effectiveness of the proposed distributed control method under external disturbances.

关键词： Multi-agent ESO distributed control fractional order neural network

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Cross-Domain Fault Diagnosis of Energy Networks: A Metric-Based Meta Learning Approach 24

Cross-Domain Fault Diagnosis of Energy Networks: A Metric-Ba...

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2nd International Conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Zhang, Jingfei Guo, Lili He, Xiao Song, Lei Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing China Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9798400710681

Large-scale complex energy networks provide abundant multi-source sampling data, but generally, there are still some subsystems with scarce sensor data. It is of practical significance to adapt the complete fault data information from the source domain to the target domain with a small sample size. However, both the physical meaning and label space of subsystems in an energy system are different, which hinders the classifier from learning constant features effectively. In this paper, a novel cross-domain fault knowledge transfer strategy is proposed under the framework of meta learning. An unsupervised feature learning process is conducted to align the sampled data of multiple subsystem physical quantities and acquire feature representations. Furthermore, exploiting the similarity of data trends in fault classification tasks of multiple energy subsystems, subtasks with the characteristic of small sample size are sampled from various source domains. With the convergence of learning the distance metric of class prototypes in the source domain, the target-domain data can be adapted by the classifier in a new label space and environment. In the experiment, the sample data affected by noise is generated from a steel industrial park, and multiple pipeline leakage faults are simulated. Multiple subsystem scenarios of cross-domain fault knowledge transfer are considered to illustrate the effectiveness of the proposed framework of fault diagnosis. Comparative experiments are conducted to highlight the advantages of the meta learning method based on the prototype measurement. © 2024 Copyright held by the owner/author(s).

关键词： Contrastive Learning

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Sustainable Asteroid Mining: Results and methods of team BIT-CAS-DFH for GTOC12

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Astrodynamics 2025年第1期9卷 107-128页

作者： Bo Pang Yangyuxi Sun Guoxu Zhang Yining Zhang Tianhao Zhu Yangxin Wang Zihan Jin Zhaohang Li Lvzheng He Meng Lu Rui Zhou Yongchen Yin Yunong Shang Shengmao He Chao Peng Zhengfan Zhu Yang Zhang Yang Gao Changxuan Wen School of Aerospace Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory of Space Utilization Technology and Engineering Center for Space UtilizationChinese Academy of SciencesBeijing100094China DFH Satellite Company Beijing100094China Aerospace Information Research Institute Chinese Academy of SciencesBeijing100094China University of Chinese Academy of Sciences Beijing101408China Beijing Institute of Astronautical Systems Engineering Beijing100076China

The 12th Global Trajectory Optimization Competition challenged teams to design trajectories for mining asteroids and transporting extracted resources back to the Earth. This paper outlines the methods and results of the runner-up team, BIT-CAS-DFH, highlighting an overall analysis of the approach as well as detailed descriptions of the methods used. The approach begins with building databases to reduce computational costs in trajectory design. Then, asteroid sequences are determined. A segmentation-based approach was adopted to efficiently handle the large dataset. Each sequence was divided into four time-based segments. Segments 1 and 4 were generated forward and backward, respectively, using a breadth-first beam search. Candidates for these segments were refined using genetic and greedy algorithms. Segments 2 and 3 were then generated and selected forward and backward based on the results of Segments 1 and 4. Following this, a matching process paired candidates from Segments 2 and 3. With the asteroid sequences established, low-thrust trajectories were optimized using indirect methods. A local optimization strategy was employed to maximize the collected mass by fine-tuning rendezvous timings. The final solution is presented, with comparative analyses against other teams’ approaches.

关键词： Global Trajectory Optimization Competition sustainable asteroid mining multiple asteroid rendezvous low-thrust trajectory optimization

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Error performance of staircase codes for free space optical communications

Error performance of staircase codes for free space optical ...

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2024 Advanced Fiber Laser Conference, AFL 2024

作者： Xiao, Jie Wu, Xiaowei Yang, Lei Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781510688889

ISBN: (纸本)9781510688872

In free space optical (FSO) communication systems, forward error-correction code(FEC) is used to correct random errors caused by noise and atmospheric turbulence. In this paper, we investigate the error correction performance of staircase codes for space FSO communication return links (satellite to ground). In particular, we compare the bit error rate performance of staircase codes with that of RS codes and LDPC codes. Simulation results show that staircase codes outperform LDPC codes and RS codes with the same code rates. Additionally, we investigate the performance of staircase codes with different component codes and decoding parameters. These findings provide valuable insights for selecting appropriate FEC for space FSO communication systems. © 2025 SPIE.

关键词： Atmospheric turbulence

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Video object segmentation quality assessment without groundtruth

Video object segmentation quality assessment without groundt...

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2024 International Conference on Computer Vision and Image Processing, CVIP 2024

作者： Hu, Hang Xu, Jinzhong Zhang, Yunfei Wang, Junxiang Li, Ye Xu, Lele Yan, Zhen Wang, Hongfei Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing100094 China University of Chinese Academy of Sciences Beijing100049 China School of Information Science and Technology ShanghaiTech University Shanghai201210 China

ISBN: (纸本)9781510688384

Despite recent advances in Video Object Segmentation (VOS), state-of-the-art models still face challenges with occlusion, fast motion, and long-term tracking. These difficulties often result in a noticeable degradation of segmentation accuracy as the video progresses, leading to poor performance over extended periods. To tackle these persistent issues, we propose an innovative approach that enhances video segmentation by introducing predictive segmentation heads. Building upon the Cutie model, our method enables the model to predict Intersection over Union (IoU) results without ground truth, thereby enhancing video segmentation performance in challenging scenarios. © 2025 SPIE.

关键词： Image segmentation

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Optical Integrated Sensing and Communication With Light-Emitting Diode

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IEEE Internet of Things Journal 2025年第9期12卷 12896-12911页

作者： Zhang, Runxin Shao, Yulin Li, Menghan Lu, Lu Eldar, Yonina C. Chinese Academy of Sciences Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Beijing100094 China University of Chinese Academy of Sciences School of Aeronautics and Astronautics Beijing100049 China University of Macau State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering China Weizmann Institute of Science Faculty of Mathematics and Computer Science Rehovot7610001 Israel

This article presents a new optical integrated sensing and communication (O-ISAC) framework tailored for cost-effective light-emitting diode (LED) for enhanced Internet of Things (IoT) applications. Unlike prior research on ISAC, which predominantly focused on radio frequency (RF) band, O-ISAC capitalizes on the inherent advantages of the optical spectrum, including the ultrawide license-free bandwidth, immunity to RF interference, and energy efficiency—attributes crucial for IoT communications. The communication and sensing in our O-ISAC system unfold in two phases: 1) directionless O-ISAC and 2) directional O-ISAC. In the first phase, distributed optical access points emit nondirectional light for communication and leverage small-aperture imaging principles for sensing. In the second phase, we put forth the concept of optical beamforming, using collimating lenses to concentrate light, resulting in substantial performance enhancements in both communication and sensing. Numerical and simulation results demonstrate the feasibility and impressive performance of O-ISAC benchmarked against optical separate communication and sensing systems. © 2014 IEEE.

关键词： Beamforming

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