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学者姓名：朱兆聚
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Abstract ：
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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In high-throughput drilling of the compacted graphite iron (CGI), which is a high-strength, difficult-to-machine cast iron for lightweighting applications, the drill temperature and wear are critical for the drilling outcome. As the drill main cutting edges are subject to the high cutting forces, the elevated temperature along the cutting edges greatly impacts the drill life. However, there is a lack of research to predict the spatial and temporal cutting edge temperature distributions as well as its change along the tool wear progression. A tool-foil thermocouple method is adopted in this study to directly measure the drill main cutting edge temperature in high-throughput CGI drilling. Results are cross validated based on a combination of finite element modelling and experimental measurement of the cutting edge temperature from embedded thermocouples 1.0 mm away from the cutting edge. Drilling experiments using the tool-foil measurements show that, along the main cutting edge, the drill center has a higher temperature than that of the outer corner. With increasing drilling depth, the temperature difference along the main cutting edge gradually decreases. Moreover, adhesion-dominated tool wear has changed the cutting edge temperature, leading to higher temperature rise in the middle and outer corner regions along the cutting edge than at the drill center. Similar trend occurs in the drill flank wear, thrust force, torque, and average cutting edge temperature as the number of holes made by the same drill increases. © 2025 The Society of Manufacturing Engineers
Keyword ：
Compacted graphite iron Compacted graphite iron Drill temperature Drill temperature Main cutting edge Main cutting edge Tool wear Tool wear
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| GB/T 7714 | Zhu, Z. , Shih, A.J. , Chen, L. . Investigation of the drill temperature distributions in high-throughput dry drilling of compacted graphite iron [J]. | Journal of Manufacturing Processes , 2025 , 150 : 74-87 . |
| MLA | Zhu, Z. et al. "Investigation of the drill temperature distributions in high-throughput dry drilling of compacted graphite iron" . | Journal of Manufacturing Processes 150 (2025) : 74-87 . |
| APA | Zhu, Z. , Shih, A.J. , Chen, L. . Investigation of the drill temperature distributions in high-throughput dry drilling of compacted graphite iron . | Journal of Manufacturing Processes , 2025 , 150 , 74-87 . |
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Coronary rotational atherectomy (CRA) is a minimally invasive interventional procedure used to remove the calcified tissue of the arterial wall. Intravascular ultrasound (IVUS) can be used as an adjunctive imaging modality to enhance the success rate of the procedure. However, for severely calcified or even occluded vessels, traditional side-viewing IVUS catheters cannot image through. This article presents a visualized rotational atherectomy device based on forward-looking IVUS (FL-IVUS). An ultrasound imaging platform was built to perform tissue sample imaging experiments. Bovine bone was employed to simulate calcified tissue, and a vascular tissue-mimicking phantom was designed and fabricated for quantitative analysis. Depth information was added to the obtained FL-IVUS images to annotate the distance between the rotational atherectomy device and the calcified tissue ahead. The experimental results show that the visualized rotational atherectomy device can obtain intraluminal information of the vessel ahead of the grinding tool, which helps surgeons set reasonable rotational atherectomy parameters and evaluate the results of the previous rotational atherectomy, thus efficiently removing calcified lesions and reducing surgical complications.
Keyword ：
Coronary rotational atherectomy (CRA) atherosclerosis Coronary rotational atherectomy (CRA) atherosclerosis forward-looking intravascular ultrasound (FL-IVUS) forward-looking intravascular ultrasound (FL-IVUS) harmonic terminations harmonic terminations intravascular ultrasound (IVUS) intravascular ultrasound (IVUS)
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| GB/T 7714 | Zhu, Zhaoju , Yu, Weijie , Gao, Chuhang et al. Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (19) : 30205-30214 . |
| MLA | Zhu, Zhaoju et al. "Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy" . | IEEE SENSORS JOURNAL 24 . 19 (2024) : 30205-30214 . |
| APA | Zhu, Zhaoju , Yu, Weijie , Gao, Chuhang , Chen, Liujing , Lin, Zhimao , He, Bingwei . Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy . | IEEE SENSORS JOURNAL , 2024 , 24 (19) , 30205-30214 . |
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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.
Keyword ：
3D Bioprinting 3D Bioprinting Drug screening Drug screening Organ transplantation Organ transplantation
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| GB/T 7714 | Sun, Xuming , Ren, Wu , Xie, Linyan 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, Xuming 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, Xuming , Ren, Wu , Xie, Linyan , Ren, Qiongqiong , Zhu, Zhaoju , Jia, Qianfang 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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| GB/T 7714 | Zhu, Zhaoju , He, Bingwei , Chen, Jianxiong . 撤稿声明: Evaluation of tool temperature distribution in MQL drilling of aluminum 2024-T351 (Retraction of Vol 56, Pg 757, 2020) [J]. | JOURNAL OF MANUFACTURING PROCESSES , 2023 , 93 : 287-287 . |
| MLA | Zhu, Zhaoju et al. "撤稿声明: Evaluation of tool temperature distribution in MQL drilling of aluminum 2024-T351 (Retraction of Vol 56, Pg 757, 2020)" . | JOURNAL OF MANUFACTURING PROCESSES 93 (2023) : 287-287 . |
| APA | Zhu, Zhaoju , He, Bingwei , Chen, Jianxiong . 撤稿声明: Evaluation of tool temperature distribution in MQL drilling of aluminum 2024-T351 (Retraction of Vol 56, Pg 757, 2020) . | JOURNAL OF MANUFACTURING PROCESSES , 2023 , 93 , 287-287 . |
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Rotational atherectomy is an effective treatment for severe vascular calcification obstruction, and relies on high-speed grinding (typically 130,000-210,000 r/min) with miniature grinding tools to remove calcified tissue and restore blood flow. However, reports of intraoperative complications are common because of the grinding force, temperature, and debris directly acting on the body during the grinding process, which can easily cause damage to patients. In this study, three novel grinding tools were designed and fabricated and a series of experiments have been conducted to analyze the effects of tool geometry and parameters on grinding performance, that is, force, temperature, and specimen surface morphology. The results show that these tools can effectively remove simulated calcified tissue and that they have two motions, rotation and revolution, in the tube. At higher rotational speeds, grinding force and temperature increase noticeably, while the amount of debris decreases significantly. In addition, by observing the surface morphology of the specimens, we concluded that the material removal rate per unit time is influenced by both rotational speed and tool geometry, and that high rotational speed and a rough tool surface can improve the material removal rate efficiently. [GRAPHICS]
Keyword ：
Grinding performance Grinding performance Grinding tool Grinding tool Parameter analysis Parameter analysis Rotational atherectomy Rotational atherectomy
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| GB/T 7714 | Gao, Chuhang , Zhu, Zhaoju , Huang, Zirui et al. Performance of novel 3D printing tools in removing coronary-artery calcification tissue [J]. | BIO-DESIGN AND MANUFACTURING , 2023 , 6 (4) : 390-404 . |
| MLA | Gao, Chuhang et al. "Performance of novel 3D printing tools in removing coronary-artery calcification tissue" . | BIO-DESIGN AND MANUFACTURING 6 . 4 (2023) : 390-404 . |
| APA | Gao, Chuhang , Zhu, Zhaoju , Huang, Zirui , Chen, Liujing , Lu, Lihong , Fang, Mingcheng et al. Performance of novel 3D printing tools in removing coronary-artery calcification tissue . | BIO-DESIGN AND MANUFACTURING , 2023 , 6 (4) , 390-404 . |
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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 (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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