Kinematics and spatial structure analysis of TBM gunite robot based on D-H parameter method.

In modern tunnel construction, TBM (Tunnel Boring Machine) plays a very important role. In response to the needs of tunnel wall reinforcement and TBM automated construction for tunnel construction, a shotcrete mechanism mounted on the TBM is designed. In order to evaluate the kinematic performance of the mechanism, this paper studies the forward and inverse kinematics and spatial architecture of the TBM shotcrete robot. Firstly, based on the D-H parameter method, the number of joints and links is determined and structural analysis is performed to obtain the robot's forward kinematics equation, achieving the mapping between joint space and pose space. Then, by determining the joint variables, the mapping of the end tool in Cartesian space is achieved. Finally, based on the Monte Carlo random sampling method, the workspace of the robot is constructed, and its reachability and flexibility within the robot workspace are evaluated. The performance of the device is verified by building a prototype, which meets the requirements well. Through the research in this paper, it can provide theoretical basis and guidance for the design and control of the shotcrete robot.

Multi-input adaptive neural network for automatic detection of cervical vertebral landmarks on X-rays.

Cervical vertebral landmark detection is a significant pre-task for vertebral relative motion parameter measurement, which is helpful for doctors to diagnose cervical spine diseases. Accurate cervical vertebral landmark detection could provide reliable motion parameter measurement results. However, different cervical spines in X-rays with various poses and angles have imposed quite challenges. It is observed that there are similar appearances of vertebral bones in different cervical spine X-rays. For this, to fully use these similar features, a multi-input adaptive U-Net (MultiIA-UNet) focusing on the similar local features between different cervical spine X-rays is put forward to do cervical vertebral landmark detection accurately and effectively. MultiIA-UNet used an improved U-Net structure as backbone network combining with the novel adaptive convolution module to better extract changing global features. At training, MultiIA-UNet applied a multi-input strategy to extract features from random pairs of training data at the same time, and then learned their similar local features through a subspace alignment module. We collected a dataset including 688 cervical spine X-rays to evaluate MultiIA-UNet. The results exhibited that our method demonstrated the state-of-the-art performance (the minimum average point to point error of 12.988 pixels). In addition, we further evaluated the effect of these landmark detection results on cervical motion angle parameter measurement. It showed that our method was capable to obtain more accurate cervical spine motion angle parameters (the minimum symmetric mean absolute percentage is 26.969%). MultiIA-UNet could be an efficient and accurate landmark detection method for doctors to do cervical vertebral motion analysis.