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学者姓名：朱兆聚
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Robotic milling is becoming widely used in aerospace and auto manufacturing due to its high flexibility and strong adaptability. However, the practical challenges including complex and time-consuming robot trajectory planning, insufficient monitoring, and lacking three-dimensional visualization limits its further application. To address these challenges, an intelligent monitoring system for robotic milling process based on transfer learning and digital twin was proposed and developed in this paper. Firstly, the fundamental framework of this system was conducted based on a five-dimensional digital twin model for motion simulation, visualization, and tool wear prediction during the robotic milling process. Secondly, the parsing algorithm converting NC code to robot's machining trajectory and material removal algorithm based on bounding box and mesh deformation were proposed for robotic dynamic milling simulation. Thirdly, a novel transfer learning algorithm named CNN-LSTM-TrAdaBoost.R2 was developed by integrating CNN-LSTM with TrAdaBoost.R2 for automated feature extraction and real-time prediction of tool wear. Finally, the effective and accuracy of tool wear prediction algorithm is verified by ablation experiment and the robotic milling simulation is validated by real milling experiment, as well. The results indicate that the proposed monitoring system for robotic milling process demonstrates great virtual-real mapping. It can offer new insights and technical support for constructing sophisticated digital twin frameworks and enhancing operational monitoring in manufacturing systems.
Keyword ：
Digital twin Digital twin Process simulation Process simulation Tool wear Tool wear Transfer learning Transfer learning
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| GB/T 7714 | Zhu, Zhaoju , Zhu, Wenrong , Huang, Jianwei et al. An intelligent monitoring system for robotic milling process based on transfer learning and digital twin [J]. | JOURNAL OF MANUFACTURING SYSTEMS , 2025 , 78 : 433-443 . |
| MLA | Zhu, Zhaoju et al. "An intelligent monitoring system for robotic milling process based on transfer learning and digital twin" . | JOURNAL OF MANUFACTURING SYSTEMS 78 (2025) : 433-443 . |
| APA | Zhu, Zhaoju , Zhu, Wenrong , Huang, Jianwei , He, Bingwei . An intelligent monitoring system for robotic milling process based on transfer learning and digital twin . | JOURNAL OF MANUFACTURING SYSTEMS , 2025 , 78 , 433-443 . |
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The ability to effectively classify human emotion states is critically important for human-computer or human-robot interactions. However, emotion classification with physiological signals is still a challenging problem due to the diversity of emotion expression and the characteristic differences in different modal signals. A novel learning-based network architecture is presented that can exploit four-modal physiological signals, electrocardiogram, electrodermal activity, electromyography, and blood volume pulse, and make a classification of emotion states. It features two kinds of attention modules, feature-level, and semantic-level, which drive the network to focus on the information-rich features by mimicking the human attention mechanism. The feature-level attention module encodes the rich information of each physiological signal. While the semantic-level attention module captures the semantic dependencies among modals. The performance of the designed network is evaluated with the open-source Wearable Stress and Affect Detection dataset. The developed emotion classification system achieves an accuracy of 83.88%. Results demonstrated that the proposed network could effectively process four-modal physiological signals and achieve high accuracy of emotion classification. © 2024 The Author(s). Cognitive Computation and Systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology and Shenzhen University.
Keyword ：
affective computing affective computing neural net architecture neural net architecture neural nets neural nets
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| GB/T 7714 | Zou, C. , Deng, Z. , He, B. et al. Emotion classification with multi-modal physiological signals using multi-attention-based neural network [J]. | Cognitive Computation and Systems , 2024 , 6 (1-3) : 1-11 . |
| MLA | Zou, C. et al. "Emotion classification with multi-modal physiological signals using multi-attention-based neural network" . | Cognitive Computation and Systems 6 . 1-3 (2024) : 1-11 . |
| APA | Zou, C. , Deng, Z. , He, B. , Yan, M. , Wu, J. , Zhu, Z. . Emotion classification with multi-modal physiological signals using multi-attention-based neural network . | Cognitive Computation and Systems , 2024 , 6 (1-3) , 1-11 . |
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Organ transplantation is the optimal treatment for patients with end-stage organ failure, but which faces the challenge of donor shortage. Two-dimensional cell culture and animal experiments are difficult to completely simulate the complex cellular microenvironment for drug testing. Three-dimensional (3D) bioprinting is an emerging manufacturing technology to fabricate artificial tissues and organs for transplantation and drug screening. This review first describes the bioprinting technologies used to fabricate constructs, including jetting-based, extrusion-based, vat photopolymerization-based methods and other emerging 3D bioprinting approaches. The various kinds of bioinks, cell sources, and the most recent applications of 3D bioprinting tissues and organs in transplantation and drug testing are subsequently summarized. Finally, we discuss the challenges and prospects of 3D bioprinting of tissues and organs. This review aims to facilitate the overcoming of the obstacles identified on the challenging journey towards the manufacturing and adoption of tissue and organs in transplantation and drug screening. © 2024 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.
Keyword ：
3D Bioprinting 3D Bioprinting Drug screening Drug screening Organ transplantation Organ transplantation
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| GB/T 7714 | Sun, X. , Ren, W. , Xie, L. et al. Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening [J]. | Virtual and Physical Prototyping , 2024 , 19 (1) . |
| MLA | Sun, X. et al. "Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening" . | Virtual and Physical Prototyping 19 . 1 (2024) . |
| APA | Sun, X. , Ren, W. , Xie, L. , Ren, Q. , Zhu, Z. , Jia, Q. et al. Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening . | Virtual and Physical Prototyping , 2024 , 19 (1) . |
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The assessment of images of the coronary artery system plays a crucial part in the diagnosis and treatment of cardiovascular diseases (CVD). Forward-looking intravascular ultrasound (FL-IVUS) has a distinct advantage in assessing CVD due to its superior resolution and imaging capability, especially in severe calcification scenarios. The demarcation of the lumen and media-adventitia, as well as the identification of calcified tissue information, constitute the initial steps in assessing of CVD such as atherosclerosis using FL-IVUS images. In this research, we introduced a novel approach for automated lumen segmentation and identification of calcified tissue in FL-IVUS images. The proposed method utilizes superpixel segmentation and fuzzy C-means clustering (FCM) to identify regions that potentially correspond to lumina. Furthermore, connected component labeling and active contour methods are employed to refine the contours of lumina. To handle the distinctive depth information found in FLIVUS images, ellipse fitting and region detectors are applied to identify areas with calcified tissue. In our dataset consisting of 43 FL-IVUS images, this method achieved mean values for Jaccard measure, Dice coefficient, Hausdorff distance, and percentage area difference at 0.952 f 0.016, 0.975 f 0.008, 0.296 f 0.186, and 0.019 f 0.010, respectively. Furthermore, when compared with traditional segmentation approaches, the proposed approach yields higher images quality. The test results demonstrate the effectiveness of this innovative automated segmentation technique for detecting the lumina and calcified tissue in FL-IVUS images.
Keyword ：
Forward-looking intravascular ultrasound Forward-looking intravascular ultrasound Identification of calcified tissue Identification of calcified tissue Image segmentation Image segmentation Medical imaging Medical imaging
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| GB/T 7714 | Cui, Ziyu , Zhu, Zhaoju , Huang, Peiwen et al. An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images [J]. | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 100 . |
| MLA | Cui, Ziyu et al. "An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images" . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL 100 (2024) . |
| APA | Cui, Ziyu , Zhu, Zhaoju , Huang, Peiwen , Gao, Chuhang , He, Bingwei . An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 100 . |
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针对医学生在进行侧脑室额角穿刺模拟手术时缺乏图像引导、易遗忘、训练效果差等问题,本研究提出了一套基于增强现实眼镜技术的侧脑室额角穿刺辅助系统.基于一例侧脑室轻度扩大患者的头部CT及MRI数据,采用医学建模软件Minics对颅脑各部分组织结构的灰度特点进行阈值分割,构建三维虚拟模型;其次,使用Vuforia SDK及Unity 3D进行增强现实构建,提出了一种主识别图搭配开启图的定位方法,系统平均配准误差为1.333 mm;最终将系统导入增强现实眼镜完成调试.邀请20名医学院临床专业的在读学生并分为佩戴增强现实眼镜与未佩戴增强现实眼镜的两个组,进行侧脑室额角穿刺模拟手术操作并对模拟手术进行问卷评分.结果表明,与未佩戴增强现实眼镜的组相比,佩戴增强现实眼镜的组在手术操作中所用的平均时间缩短了 4.71 min,穿刺成功率提高了 30％,且佩戴增强现实眼镜的组别所反馈问卷评分结果明显优于对照组.所搭建的基于增强现实眼镜技术的侧脑室额角穿刺辅助系统能够显著提高手术训练效果,可为提升侧脑室额角穿刺的手术训练质量提供一种新思路.
Keyword ：
Vuforia SDK Vuforia SDK 三维虚拟模型 三维虚拟模型 侧脑室额角穿刺 侧脑室额角穿刺 增强现实眼镜 增强现实眼镜
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| GB/T 7714 | 朱兆聚 , 高楚航 , 施家峰 et al. 基于增强现实技术的侧脑室额角穿刺训练系统研究 [J]. | 中国生物医学工程学报 , 2024 , 43 (6) : 673-681 . |
| MLA | 朱兆聚 et al. "基于增强现实技术的侧脑室额角穿刺训练系统研究" . | 中国生物医学工程学报 43 . 6 (2024) : 673-681 . |
| APA | 朱兆聚 , 高楚航 , 施家峰 , 陈刘晶 , 何炳蔚 . 基于增强现实技术的侧脑室额角穿刺训练系统研究 . | 中国生物医学工程学报 , 2024 , 43 (6) , 673-681 . |
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Carbon fiber reinforced polymer (CFRP) is widely used in the aerospace field due to its excellent physical and mechanical properties such as high specific strength, high specific modulus, and good corrosion resistance. However, it is prone to bring burrs, tears, matrix, and fiber debonding during the cutting process due to its non-homogeneity and anisotropy, which seriously affects the service life of the material. To explore the damage failure mechanism of the CFRP cutting process, 2D and 3D finite element simulation models were established based on Abaqus in this paper. Furthermore, the influence law of fiber direction on cutting damage failure and chip forming was analyzed from micro and macro levels. Finally, the effectiveness of the simulation model was verified by experiments. The results show that the cutting surface of CFRP with a 45 degrees fiber angle is serrated, and the local failure is not obvious; the main defect of CFRP with 90 degrees fiber angle cutting is a matrix and fiber debonding, and some fibers will be crushed and off. Serious degumming phenomenon occurred in the cutting process of CFRP with 135 degrees fiber angle, and the bending and fracture of fiber also occur below the cutting depth. It is noteworthy that the stress distribution diverges along the fiber direction.
Keyword ：
CFRP CFRP Finite element simulation Finite element simulation Macro Macro Mechanism of damage Mechanism of damage microscopic model microscopic model
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| GB/T 7714 | Zhu, Zhaoju , Kang, Rongqing , Huang, Jianwei et al. Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation [J]. | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (7-8) : 3585-3597 . |
| MLA | Zhu, Zhaoju et al. "Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation" . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 127 . 7-8 (2023) : 3585-3597 . |
| APA | Zhu, Zhaoju , Kang, Rongqing , Huang, Jianwei , Zhu, Yunqi , Sun, Xinhui . Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (7-8) , 3585-3597 . |
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The aim of this study was to verify the feasibility and accuracy of a contour registration-based augmented reality (AR) system in jaw surgery.An AR system was developed to display the interaction between virtual planning and images of the surgical site in real time. Several trials were performed with the guidance of the AR system and the surgical guide. The postoperative cone beam CT (CBCT) data were matched with the preoperatively planned data to evaluate the accuracy of the system by comparing the deviations in distance and angle.All procedures were performed successfully. In nine model trials, distance and angular deviations for the mandible, reconstructed fibula, and fixation screws were 1.62 & PLUSMN; 0.38 mm, 1.86 & PLUSMN; 0.43 mm, 1.67 & PLUSMN; 0.70 mm, and 3.68 & PLUSMN; 0.71 & DEG;, 5.48 & PLUSMN; 2.06 & DEG;, 7.50 & PLUSMN; 1.39 & DEG;, respectively. In twelve animal trials, results of the AR system were compared with the surgical guide. Distance deviations for the bilateral condylar outer poles were 0.93 & PLUSMN; 0.63 mm and 0.81 & PLUSMN; 0.30 mm, respectively (p = 0.68). Distance deviations for the bilateral mandibular posterior angles were 2.01 & PLUSMN; 2.49 mm and 2.89 & PLUSMN; 1.83 mm, respectively (p = 0.50). Distance and angular deviations for the mandible were 1.41 & PLUSMN; 0.61 mm, 1.21 & PLUSMN; 0.18 mm (p = 0.45), and 6.81 & PLUSMN; 2.21 & DEG;, 6.11 & PLUSMN; 2.93 & DEG; (p = 0.65), respectively. Distance and angular deviations for the reconstructed tibiofibular bones were 0.88 & PLUSMN; 0.22 mm, 0.84 & PLUSMN; 0.18 mm (p = 0.70), and 6.47 & PLUSMN; 3.03 & DEG;, 6.90 & PLUSMN; 4.01 & DEG; (p = 0.84), respectively.This study proposed a contour registration-based AR system to assist surgeons in intuitively observing the surgical plan intraoperatively. The trial results indicated that this system had similar ac-curacy to the surgical guide.& COPY; 2023 The Authors. Published by Elsevier Ltd on behalf of European Association for Cranio-Maxillo-Facial Surgery. This is an open access article under the CC BY-NC-ND license (http://creativecommons. org/licenses/by-nc-nd/4.0/).
Keyword ：
Augmented reality Augmented reality Mandibular surgery Mandibular surgery Markerless registration Markerless registration Surgery simulation Surgery simulation Surgical guide Surgical guide
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| GB/T 7714 | Liu, Shaofeng , Liao, Yunyang , He, Bingwei et al. Mandibular resection and defect reconstruction guided by a contour registration-based augmented reality system: A preclinical trial [J]. | JOURNAL OF CRANIO-MAXILLOFACIAL SURGERY , 2023 , 51 (6) : 360-368 . |
| MLA | Liu, Shaofeng et al. "Mandibular resection and defect reconstruction guided by a contour registration-based augmented reality system: A preclinical trial" . | JOURNAL OF CRANIO-MAXILLOFACIAL SURGERY 51 . 6 (2023) : 360-368 . |
| APA | Liu, Shaofeng , Liao, Yunyang , He, Bingwei , Dai, Bowen , Zhu, Zhaoju , Shi, Jiafeng et al. Mandibular resection and defect reconstruction guided by a contour registration-based augmented reality system: A preclinical trial . | JOURNAL OF CRANIO-MAXILLOFACIAL SURGERY , 2023 , 51 (6) , 360-368 . |
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Coronary rotational atherectomy is an effective technique for treating cardiovascular disease by removing calcified tissue using small rotary grinding tools. However, it is difficult to analyze the stress force on vessel walls using experiments directly. Using computational fluid dynamics is a better way to study the stress force characteristics of the burr grinding procedure from a fluid dynamics perspective. For this purpose, physical and simulation models of atherosclerotic plaque removal were constructed in this study. The simulation results show that smaller ratios between the burr and arterial diameter (B/A = 0.5) result in a more stable flow field domain. Additionally, the pressure and stress force generated by the 4.5 mm diameter grinding tool reach 92.77 kPa and 10.36 kPa, surpassing those of the 2.5 mm and 3.5 mm grinding tools. The study has demonstrated the use of computational fluid dynamics to investigate wall shear stress characteristics in medical procedures, providing valuable guidance for optimizing the procedure and minimizing complications.
Keyword ：
coronary rotational atherectomy coronary rotational atherectomy grinding tool grinding tool numerical simulation numerical simulation stress force stress force
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| GB/T 7714 | Zhu, Zhaoju , Chen, Liujing , Yu, Weijie et al. Numerical Analysis of Stress Force on Vessel Walls in Atherosclerotic Plaque Removal through Coronary Rotational Atherectomy [J]. | MICROMACHINES , 2023 , 14 (12) . |
| MLA | Zhu, Zhaoju et al. "Numerical Analysis of Stress Force on Vessel Walls in Atherosclerotic Plaque Removal through Coronary Rotational Atherectomy" . | MICROMACHINES 14 . 12 (2023) . |
| APA | Zhu, Zhaoju , Chen, Liujing , Yu, Weijie , Gao, Chuhang , He, Bingwei . Numerical Analysis of Stress Force on Vessel Walls in Atherosclerotic Plaque Removal through Coronary Rotational Atherectomy . | MICROMACHINES , 2023 , 14 (12) . |
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Coronary rotational atherectomy (CRA) is a kind of percutaneous coronary intervention, which removes calcified tissue through the grinding tool at high speed. But excessive grinding force during CRA is prone to occurrence of complications. For this purpose, based on polyvinylidene fluoride (PVDF) film, a pressure sensor integrated into grinding tool was fabricated, which can measure the grinding force in real-time. In operation, there is a deformation in PVDF sensor when it collides with vascular/calcified tissue, and feedback the charge signals. A fabricated model was used to test the sensor, which shows that the sensitivity of sensor reaches 1049 mV/N, and the response and recovery time are 2.240 and 1.320 ms, respectively. The experimental results show that the sensor could accurately distinguish whether the tool collides with vessels/calcified tissue and measure real-time grinding force. The fabricated sensor has great significance in reducing the complications caused by excessive grinding force.
Keyword ：
Coronary rotational atherectomy (CRA) Coronary rotational atherectomy (CRA) grinding force grinding force grinding tool grinding tool polyvinylidene fluoride (PVDF) sensors polyvinylidene fluoride (PVDF) sensors
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| GB/T 7714 | Huang, Zirui , Zhu, Zhaoju , Yu, Weijie et al. Feasibility Analysis of Novel Grinding Device With PVDF Sensor in Coronary Rotational Atherectomy [J]. | IEEE SENSORS JOURNAL , 2023 , 23 (18) : 21894-21902 . |
| MLA | Huang, Zirui et al. "Feasibility Analysis of Novel Grinding Device With PVDF Sensor in Coronary Rotational Atherectomy" . | IEEE SENSORS JOURNAL 23 . 18 (2023) : 21894-21902 . |
| APA | Huang, Zirui , Zhu, Zhaoju , Yu, Weijie , Gao, Chuhang , He, Bingwei . Feasibility Analysis of Novel Grinding Device With PVDF Sensor in Coronary Rotational Atherectomy . | IEEE SENSORS JOURNAL , 2023 , 23 (18) , 21894-21902 . |
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BackgroundThe existing augmented reality (AR) dental implant surgery navigation system usually uses markers to complete image guidance. However, markers often affect dentists' operations and make patients uncomfortable. MethodsTo solve the problems caused by markers, this paper proposes an effective marker-less image guidance method. After initialisation is completed by contour matching, the corresponding relationship is obtained by matching the feature points between the current frame and the preloaded initial frame. The camera pose is estimated by solving the Perspective-n-Point problem. ResultsThe registration error of AR images is 0.731 +/- 0.144 mm. The planting errors are 1.174 +/- 0.241 mm at the neck, 1.433 +/- 0.389 mm at the apex and 5.566 +/- 2.102 degrees for the angle. The maximum error and standard deviation meet the clinical requirements. ConclusionsWe demonstrate that the proposed method can accurately guide dentists to perform dental implant surgery.
Keyword ：
augmented reality augmented reality dental implant surgery dental implant surgery image guidance method image guidance method marker-less marker-less
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| GB/T 7714 | Dong, Siyuan , Du, Chen , He, Bingwei et al. Application of an effective marker-less augmented reality image guidance method in dental implant surgery [J]. | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY , 2023 , 19 (4) . |
| MLA | Dong, Siyuan et al. "Application of an effective marker-less augmented reality image guidance method in dental implant surgery" . | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 19 . 4 (2023) . |
| APA | Dong, Siyuan , Du, Chen , He, Bingwei , Zhu, Zhaoju , Han, Dongqu , Jin, Wei et al. Application of an effective marker-less augmented reality image guidance method in dental implant surgery . | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY , 2023 , 19 (4) . |
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