232 results about "Biofouling" patented technology

The invention provides a floating object track prediction method, device and equipment and a storage medium, and relates to the technical field of marine environment scientificity, and the floating object track prediction method comprises the steps: obtaining the state information of a target floating object and the information of the environment where the target floating object is located; processing the state information and the environment information by using a Lagrange particle tracking method, and determining a first moving trajectory of the target floating object; the first moving track comprises displacement in a three-dimensional direction; correcting the first moving trajectory based on a biological influence factor to obtain a target moving trajectory; the biological influence factors comprise displacement of the target floating object in the direction perpendicular to the sea level caused by the gathering effect of biological fouling or ocean snow, and the loss rate of the target floating object in the running process. According to the invention, the Lagrange particle tracking method is utilized to realize accurate tracking of the target floating object in the transportation process in the ocean three-dimensional space, and the accuracy of simulating the migration path of the target floating object is improved.

The invention relates to methods, uses, systems, arrays, engineered nucleotide sequences and vectors for inhibiting bacterial population growth or for altering the relative ratio of sub-populations of first and second bacteria in a mixed population of bacteria. The invention is particularly useful, for example, for treatment of microbes such as for environmental, medical, food and beverage use. The invention relates inter alia to methods of controlling microbiologically influenced corrosion (MIC) or biofouling of a substrate or fluid in an industrial or domestic system.

The invention relates to the technical field of ship energy efficiency analysis, and particularly discloses a digital twinning-based bulk carrier EEDI pre-evaluation and design optimization method and device, and the method comprises the steps: carrying out the multi-source data collection, building a ship full life cycle database, building a high-precision digital twinborn body based on transfer learning calibration, coupling target port tide time series data, and carrying out the design optimization. The influence of dynamic water depth and water flow changes on a ship navigation strategy is simulated, the whole-course navigational speed is optimized to reduce the total oil consumption, a hull biological pollution bottom growth model is introduced into energy efficiency evaluation, the energy efficiency attenuation trend of the whole life cycle of the ship is predicted, and an operation EEDI index is generated through multi-physics coupling simulation. And multi-target collaborative optimization is carried out in combination with maneuverability safety evaluation, so that the problems that traditional EEDI evaluation is separated from actual operation conditions and neglects tidal window matching and hull energy efficiency attenuation are solved, and accurate prediction and collaborative optimization of the energy efficiency and safety of the whole life cycle of the ship from a design stage are realized.

The invention relates to methods, uses, systems, arrays, engineered nucleotide sequences and vectors for inhibiting bacterial population growth or for altering the relative ratio of sub-populations of first and second bacteria in a mixed population of bacteria. The invention is particularly useful, for example, for treatment of microbes such as for environmental, medical, food and beverage use. The invention relates inter alia to methods of controlling microbiologically influenced corrosion (MIC) or biofouling of a substrate or fluid in an industrial or domestic system.

The invention discloses a carbon-doped titanium dioxide nanotube-molybdenum disulfide energy-storage antibacterial material and a preparation method thereof. The preparation method comprises the following steps: carrying out primary anodic oxidation on a clean titanium foil in a mixed electrolyte of ethylene glycol, water and ammonium fluoride; after ultrasonic treatment is carried out in a hydrochloric acid solution for set time, secondary anodic oxidation is carried out, and the mixed electrolyte of the secondary anodic oxidation is the same as that of the primary anodic oxidation; annealing the titanium foil subjected to anodic oxidation twice in an argon atmosphere, putting an annealed sample into a mixed solution of sodium molybdate, a sulfur source and glucose, and carrying out hydrothermal treatment; and the titanium foil subjected to hydro-thermal treatment is cleaned and dried, and the carbon-doped titanium dioxide titanium foil with the surface covered with molybdenum disulfide is obtained. The MoS2-coated carbon-doped titanium dioxide nanotube (TNT-C-atMoS2) with high biocompatibility developed by the invention has a synergistic effect of charge antibiosis and chemical sterilization, so that the problem of intractable biological fouling of a titanium-based metal material in ocean engineering equipment is effectively solved.

The invention relates to methods, uses, systems, arrays, engineered nucleotide sequences and vectors for inhibiting bacterial population growth or for altering the relative ratio of sub-populations of first and second bacteria in a mixed population of bacteria. The invention is particularly useful, for example, for treatment of microbes such as for environmental, medical, food and beverage use. The invention relates inter alia to methods of controlling microbiologically influenced corrosion (MIC) or biofouling of a substrate or fluid in an industrial or domestic system.

The invention discloses a multi-spectral image fusion building surface biological attachment area detection method and device and a medium, relates to the technical field of image processing, and discloses a multi-spectral image fusion building surface biological attachment area detection method comprising the following steps: based on a to-be-detected building, obtaining a visible light image collected by a visible light camera of an unmanned aerial vehicle, the multispectral camera acquires a multispectral image sequence based on at least two different frequency bands; registering the visible light image and the multispectral image based on a calibration and preprocessing module to obtain a pixel-level aligned visible light image and multispectral image sequence; and according to a deep learning feature identification module, identifying the visible light image and the multispectral image sequence after pixel-level alignment, and obtaining a pixel-level segmentation result of the organism attachment area of the to-be-detected building. Therefore, detection is carried out based on the unmanned aerial vehicle, deep learning and an image feature fusion mode are combined, and the building surface bioattachment recognition accuracy is improved.

The invention relates to the technical field of ocean engineering equipment, in particular to a marine organism cleaning floating ship used at a cold source water intake of a nuclear power station, which comprises a buoyancy platform, four hydraulic winches are mounted and connected on the buoyancy platform and are distributed at the left upper corner, the right upper corner, the left lower corner and the right lower corner of the buoyancy platform; the buoyancy platform is provided with a cleaning suction device used for cleaning marine organisms on the intercepting net, the buoyancy platform is further connected with a discharging pipeline with a downward outlet, the cleaning suction device is provided with a suction pipe, and the flow of the suction pipe can be changed. The cleaning suction device is further provided with a cleaning brush capable of washing marine organisms on the intercepting net, and the cleaning effect is better optimized.

The invention relates to methods, uses, systems, arrays, engineered nucleotide sequences and vectors for inhibiting bacterial population growth or for altering the relative ratio of sub-populations of first and second bacteria in a mixed population of bacteria. The invention is particularly useful, for example, for treatment of microbes such as for environmental, medical, food and beverage use. The invention relates inter alia to methods of controlling microbiologically influenced corrosion (MIC) or biofouling of a substrate or fluid in an industrial or domestic system.

The present invention generally relates to a process for fabricating a reduced graphene oxide (rGO)-based antifouling marine coating is disclosed. The process begins with preparing a dispersed graphene oxide solution, followed by chemical reduction using hydrazine hydrate at 90-95° C. for 3 hours to form a dispersed rGO solution. This solution is then washed, filtered, and sonicated for 6 hours to ensure stability. A polymer solution is prepared by dissolving 40-50 wt % epoxy resin in acetone at 50° C. The antifouling composite is then formed by combining the rGO solution, 10-15 wt % zinc oxide nanoparticles, and 1-5 wt % carbon nanotubes with the polymer solution, followed by 6 hours of sonication at room temperature. Finally, the resulting composite material is applied to a substrate as a coating using spraying, brushing, dipping, or spin coating. This coating offers a promising solution for preventing biofouling on marine structures.

The invention belongs to the technical field of marine organism fouling protection, and particularly discloses a self-repairing coating for preventing biological fouling and a preparation method and application thereof, and the preparation method comprises the following steps: S1, adding polydimethylsiloxane and aliphatic diisocyanate into an organic solvent according to a molar ratio of 1: (1.0-3.0), continuously stirring for more than 0.5 h, and standing to prepare an organosilicon polymer solution; the polydimethylsiloxane is aminopropyl double end capped polydimethylsiloxane, and the polydimethylsiloxane is an aminopropyl double end capped polydimethylsiloxane; s2, adding methyl silicone oil into the organic silicon polymer solution, and continuously stirring for more than 0.5 hour to prepare a transparent organic silicon prepolymer; and S3, uniformly coating the surface of a substrate with the prepolymer prepared in the step S2, and standing to obtain the self-repairing coating for preventing biological fouling. Complete covering and damage self-repairing of a lubricating layer on the surface of the coating can be achieved, attachment and growth of fouling organisms are effectively prevented, and the coating is endowed with long-acting antifouling performance.

The invention belongs to the technical field of underwater detection, and discloses an intelligent detection method and system for appearance defects of a multi-biological attachment pier, and the method comprises the steps: obtaining multi-modal image data, carrying out the feature-level registration, splicing the registered multi-modal images, and obtaining a fusion feature; obtaining a high-level semantic feature based on the fusion feature, obtaining a first feature map based on the high-level semantic feature and the fusion feature, and generating a pier surface biological attachment mask based on the first feature map; based on the advanced semantic features and the attachment mask, reconstructing a clean pier surface image without biological attachments; on the basis of the cleaned pier surface image, identifying and segmenting apparent defects of the pier surface; and defining a loss function, and training the intelligent detection model to obtain a trained intelligent detection model. According to the method, the accuracy and robustness of defect detection are remarkably improved, meanwhile, the dependence on manual annotation data is reduced, and a feasible intelligent solution is provided for structure detection in an underwater complex scene.

The invention belongs to the technical field of protective coatings, and particularly relates to a modified polysilazane-based protective coating, a preparation method thereof, a protective coating and application thereof. The modified polysilazane-based protective coating provided by the invention is prepared from the following preparation raw materials in parts by mass: 5.0 to 15.0 parts of polysilazane, 1.0 to 5.0 parts of a low-surface-energy compound, 1.0 to 5.0 parts of a hydrophilic compound, 1.0 to 5.0 parts of a silane coupling agent, 0.01 to 0.1 part of an initiator and 60.0 to 80.0 parts of a dispersion medium, both the low-surface-energy compound and the hydrophilic compound contain groups for free radical polymerization reaction. A protective coating formed by the protective paint provided by the invention has good environmental adaptability, and can simultaneously realize multiple effects of friction resistance, corrosion resistance, adhesion resistance, biological fouling resistance and the like when used under harsh working conditions (air / underwater environment).

The invention relates to the technical field of biological fouling prevention and treatment of water delivery pipelines, in particular to a multi-channel array ultraviolet advanced oxidation viscapula fouling prevention and treatment device for a water delivery pipeline, which comprises a front double-channel basket type filter used for filtering adult viscapula in a target risk pipeline in a single channel and switching to a standby channel when blockage reaches a limit value; the array ultraviolet water distribution pipe is used for distributing water flow in a balanced manner to prolong the total killing duration; the oxidant auxiliary cleaning module is used for feeding an environment-friendly medicament; the array ultraviolet killing tube is used for directly killing larvae and adult shellfishes of the macrobrachium nipponense through ultraviolet rays, and removing the larvae and byssus proteins of the macrobrachium nipponense attached to the tube through an ultraviolet activation environment-friendly medicament; the numerical control system is used for controlling the flow speed of the ultraviolet water distribution pipe, starting and stopping of the ultraviolet killing pipe and the putting amount of the oxidant auxiliary cleaning module. Therefore, the problem that it is difficult to conduct comprehensive, efficient, non-stop maintenance and environment-friendly confined water prevention and treatment on fouling of larvae and adult shellfish of macrobrachium fortunei in a water conveying pipeline through an existing method is solved.

The invention discloses an environment-friendly anticorrosive coating for ships and a preparation method thereof, and belongs to the technical field of anticorrosive coatings. The preparation method comprises the following steps: mixing 2-ethylhexyl acrylate, methyl methacrylate, allyl polyethyoxyl sulfonate, n-hexadecane, alkyl polyoxyethylene ether and deionized water, adding a polyurethane-polyurea emulsion, antibacterial functional microspheres, a wear-resistant functional filler and aluminum paste, stirring and dispersing, and adding ammonium persulfate for polymerization reaction to obtain a polyurethane-polyurea-acrylic emulsion; and finally, mixing a curing agent to obtain the environment-friendly anticorrosive paint for ships. The anticorrosive paint is a water-based paint, and is more environment-friendly and safer compared with a paint using an organic solvent; the antibacterial functional microspheres take urea-formaldehyde resin as a shell, so that the antibacterial functional microspheres have better compatibility with the anticorrosive paint; baicalin is free of pollution to the marine environment, has a broad-spectrum antibacterial effect, and is beneficial to inhibition of initial growth of fouling organisms, reduction of attachment and reproduction of the fouling organisms on the surface of a ship and reduction of the risk of biological fouling.

The invention discloses an antibacterial coating for a concrete surface as well as a preparation method and application of the antibacterial coating, and relates to the technical field of functional polymers. The antibacterial coating for the concrete surface is prepared from the following raw materials in parts by weight: 100 parts of a monomer mixture, 0.7 to 3.1 parts of an initiator, 0.3 to 2.0 parts of a chain transfer agent and 75 to 125 parts of a solvent, wherein the monomer mixture comprises a methacrylate monomer, an acrylate monomer, sodium acrylate, a urea methacrylate monomer and a capsaicin derivative in a molar ratio of (12-60): (20-60): (2-10): (2-10): (1-5). The antibacterial coating for the concrete surface is easy to prepare and operate, low in cost and environmentally friendly, and raw materials are easy to obtain; the capsaicin derivative monomer is introduced into the antibacterial coating for the concrete surface, so that the antibacterial activity of the resin is improved, and the problem of biological fouling of a concrete structure in marine infrastructure is solved.

The invention discloses a preparation method of a high-entropy metal oxide. The preparation method comprises the following steps: adding a plurality of metal salts into a solvent containing a template agent, uniformly mixing to form a uniform sol, and sequentially aging, drying and calcining the sol to obtain the high-entropy metal oxide, the metal salt is selected from at least five of cerium salt, zirconium salt, hafnium salt, tantalum salt, niobium salt, titanium salt, vanadium salt, molybdenum salt, tungsten salt, copper salt, zinc salt and aluminum salt; the template agent is selected from one of polyether P123, branched polyethyleneimine (BPEI), xanthan gum, epsilon-polylysine, pluronic F-127 and polyvinylpyrrolidone (PVP). The invention further discloses a preparation method of the polymer. The high-entropy metal oxide prepared by the method shows excellent marine biofouling resistance, and has obvious advantages in the field of preparation of marine biofouling prevention materials.

The invention provides a composite polyurethane film capable of preventing fouling and adsorbing bivalent copper ions in seawater and a preparation method and application thereof.The method comprises the steps that firstly, polyurethane is prepared through a high-molecular organic polymerization reaction, and a tannic acid / collagen compound is used for modifying the polyurethane; the adsorption performance of the original polyurethane is improved, and meanwhile, the antifouling function is given to the polyurethane. Besides, tannic acid is poor in stability in water and easy to dissolve in water, however, tannic acid and collagen are co-precipitated in water, and then the precipitate is grafted to polyurethane, so that the problem of water stability of tannic acid is solved, and meanwhile, because collagen is rich in amino groups, adsorption of bivalent copper ions can be further improved. The preparation method has the advantages that the operation is simple and convenient, the production efficiency is high, the raw materials are easy to obtain and the like, a feasible technical route is provided for industrial production, and a new thought and a new method are provided for reducing the concentration of bivalent copper ions in a marine environment and reducing marine biofouling.

The invention relates to a method for controlling biological pollution of a reverse osmosis membrane through photoelectrochemical filtration pretreatment. According to the method, a photoelectrochemical reactor is mainly established to inhibit the bacterial biofilm forming ability under ultraviolet illumination and voltage conditions. The photoelectric chemical reactor is composed of a peristaltic pump, a magnetic stirrer, a reactor, an electrochemical filtering assembly, a direct-current power source and an ultraviolet light source and inhibits bacteria added into the reactor from forming a biological membrane. Under the action of voltage, the electrochemical filter assembly inhibits the biofilm forming ability and viability of bacteria by degrading protein and quorum sensing signal molecules in water, and more thoroughly inhibits the biofilm formation through the irradiation of ultraviolet light. Therefore, according to the method disclosed by the invention, the ultraviolet light can be combined with the electrochemical filter assembly to realize effective inhibition of a biological membrane formed by bacteria, the reduction of membrane flux is reduced, and the method has important significance in controlling biological pollution of the reverse osmosis membrane.

The invention discloses a modified red mud-epoxy resin composite coating as well as a preparation method and application thereof. The composite coating is prepared by mixing modified red mud serving as a functional filler with epoxy resin and a curing agent, the composite coating is applied to the surface of Q235 carbon steel as a bifunctional corrosion-resistant and biological fouling-resistant composite coating, and shows remarkable corrosion resistance and biological fouling resistance; the impedance radiuses of the composite material can respectively reach 8.37 * 10 < 9 > omega.cm < 2 > and 2.69 * 10 < 6 > omega.cm < 2 > after the composite material is soaked in a 3.5 wt% NaCl solution for 1 day and 60 days; besides, the red mud / epoxy resin composite coating generates an active substance (. O2 <->) through a photo-induced electron-hole pair and a redox reaction, so that growth of bacteria (such as escherichia coli and staphylococcus aureus) and algae (chlorella) can be effectively inhibited, and excellent biological fouling resistance is shown.

The application provides a solid super-smooth surface and a construction method and application thereof, and relates to the technical field of marine antifouling. The solid super-smooth surface constructed by the application is composed of linear polyfluorosiloxane, the linear polyfluorosiloxane is combined with a substrate through a chemical covalent bond, the chemical covalent bond is firm, the problem that traditional biomimetic super-smooth surface lubricating oil is prone to loss in an underwater environment is solved, and the solid super-smooth surface has a longer performance of preventing and treating biological fouling. The solid super-smooth surface provided by the application has a linear structure and reliable underwater transparency, and the underwater visible light transmittance of the material can reach more than 95%.

The present disclosure provides methods of monitoring and controlling biocides in an aqueous medium, methods of manufacturing the compositions, and various oxidizing biocide compositions suitable for use in aqueous medium treatment processes. Methods include adding a first oxidizing biocide at a first injection point upstream of a reverse osmosis (RO) membrane inlet, adding a second oxidizing biocide at a second injection point upstream of the RO membrane inlet, obtaining a first sample of the aqueous medium from a first location downstream of the first and second injection points and upstream of the RO membrane inlet, and obtaining a second sample of the aqueous medium from a second location downstream of the first location but immediately upstream of the RO membrane. Methods may also include measuring free residual oxidant concentration, total residual oxidant concentration, and oxidation-reduction potential of the first and second samples and adjusting biocide addition based on the measurements.

The present application relates to the technical field of marine antifouling, and provides a solid-state super-smooth surface, and a construction method therefor and the use thereof. The chemical composition of the solid-state super-smooth surface constructed in the present application is a linear polyfluorosiloxane, which bonds with substrates by means of chemical covalent bonds. By means of firm bonding via chemical covalent bonds, the problem of a traditional biomimetic lubricating oil for super-smooth surfaces being easily washed away in underwater environments is solved, and longer lasting biofouling control performance can be achieved. The solid-state super-smooth surface provided by the present application is of a linear structure and has reliable underwater transparency, the underwater visible-light transmittance of the material being up to 95% or higher.

The invention discloses an anti-fouling and anti-corrosion coating based on a quantum dot material as well as a preparation method and application thereof, and relates to the technical field of corrosion and biological fouling control of hydraulic structures and marine equipment materials. The anti-fouling and anti-corrosion coating based on the quantum dot material comprises organic bonding resin, a curing agent and the quantum dot material, and the mass ratio of the organic bonding resin to the curing agent to the quantum dot material is (3-5): (5-7): (0.005-0.05); wherein the quantum dot material comprises at least one of a copper sulfide quantum dot material, a zinc sulfide quantum dot material, a cadmium sulfide quantum dot material and a composite quantum dot material, and the particle size of the copper sulfide quantum dot material, the zinc sulfide quantum dot material and the cadmium sulfide quantum dot material is smaller than 20 nm. The coating provided by the technical scheme of the invention has excellent anti-corrosion and anti-fouling effects and relatively long service life.

The present invention deals with the development of novel nanocomposite paints for biofouling removal coatings, which result from the mixing of two components, where the first component is an epoxy resin (component A) and the second component is a suitably modified polymerization agent (hardener). These hardeners are modified with hydrophobic nanoparticles based on functional dendritic polymers with symmetric or asymmetric architecture or based on functional inorganic nanoparticles (metal or metalloid nanoparticles or a mixture thereof). Both the polymeric nanoparticles and the inorganic nanoparticles were modified with suitable lipophilic groups. These nanocomposite paints addressed by the present invention exhibit organic microfilm control properties and can be effectively applied to objects immersed in seawater as biofouling removal coatings.

The invention belongs to the technical field of biofouling prevention sensors, and particularly relates to a polymer film sensing chip as well as a preparation method and application thereof. The polymer film sensing chip provided by the invention comprises a flexible substrate, an indicator electrode conducting layer, an indicator electrode sensing film, a reference electrode conducting layer, a reference electrode sensing film and a flexible packaging layer which are arranged on the surface of the flexible substrate, and a self-adhesion hydrogel layer arranged on the outermost layer, the material of the self-adhesion hydrogel layer comprises catechol type hydrogel, chitosan type adhesion hydrogel, polypeptide type hydrogel or hyaluronic acid type hydrogel. The self-adhesion hydrogel layer in the polymer film sensing chip provided by the invention contains a large number of hydrophilic functional groups and has excellent hydrophilic performance, and a water layer structure can be formed between the surface of the polymer film and fouling organisms so as to hinder the adhesion of the fouling organisms. The polymer film sensing chip provided by the invention has good ion permeability and mechanical strength, and can effectively inhibit adhesion of fouling substances.

The application provides a kind of micro electric perturbation bionic antifouling surface and its preparation method.The antifouling surface takes the dynamic epidermal structure of cetacean skin as the bionic prototype, can simulate the reversible macroscopic mechanical deformation and microscopic fluid flow of cetacean skin under the action of external electric stimulation, effectively prevent microorganisms from adhering to the material surface.The antifouling surface is prepared from hydrogel, electrode and low surface energy antifouling surface layer material.Because the antifouling surface is constructed based on electroosmosis effect, the surface can realize excellent deformation performance under ultra-low voltage (<3V).The antifouling surface belongs to pure physical anti-biofouling, avoiding the harm of biochemical reagents to the environment.The antifouling mechanism driven by electroosmosis allows dynamic control of antifouling effect, and optimizes the antifouling performance in different environments by adjusting voltage and current.This technology is particularly suitable for high-tech equipment and environmentally sensitive areas that require adaptive antifouling ability, such as marine exploration and marine sports equipment.

The present invention relates to the preparation and use of high-entropy nanozymes with multi-pathway synergistic antibacterial effects, belonging to the field of nanozyme catalytic materials. The present invention, for the first time, utilizes a hydrothermal method and high-temperature calcination method to synthesize oxygen-vacancy-rich high-entropy oxides with haloperoxidase-like, peroxidase-like, and glutathione oxidase-like activities. These oxides can catalyze bromide ions and hydrogen peroxide to generate hypobromous acid, which interferes with bacterial quorum sensing, and hydroxyl radicals, which disrupt structure and function. Furthermore, these oxides consume glutathione, which maintains the internal redox balance of bacteria. This allows for multi-pathway synergistic and efficient bacterial damage and inactivation, helping to address the problems of existing antifouling nanozyme materials, which suffer from a single catalytic pathway and poor component adjustability. This allows for the practical expansion of high-entropy nanozyme coatings, and has potential application prospects in the field of marine biofouling.

Techniques for reducing biofouling on optical equip- ment, using minimum power in a marine environment are provided. An example of an apparatus according to the disclosure includes a housing including a cavity and an ultraviolet transparent window disposed over the cavity, an optical device disposed in the cavity and directed towards the ultraviolet transparent window, one or more ultraviolet light emit- ting diodes disposed in the cavity and directed towards the ultraviolet transparent window, and a controller operably coupled to the one or more ultraviolet light emitting diodes and configured to provide at least one lamp power function to the one or more ultraviolet light emitting diodes, wherein the at least one lamp power function is based on at least a flash power value, a flash duration, a rest power value and a rest duration.

This invention discloses a method and system for monitoring underwater biological attachments on ship hulls using images, belonging to the field of underwater image monitoring technology for ship hulls. The method acquires a continuous binocular depth image sequence and a local velocity field image of the target observation area; calculates a pixel-level temporal depth variance map within a sliding time window, and outputs a dynamic occlusion mask image by combining it with the velocity field image; smooths the mask image and multiplies it with the normalized variance map to generate a spatial fusion weight matrix; extracts depth maxima on time frames to generate a local penetration depth map and calculates a mean depth map; weights the two images using the weight matrix and stitches them together to generate a candidate substrate depth map; calculates a spatial gradient matrix and combines it with the weight matrix to generate a diffusion steering matrix; then, it performs edge-preserving filtering on the candidate substrate depth map to generate a bottom rigid reference surface depth map, and finally generates an adaptive pressure control command. This invention achieves high-precision perspective and three-dimensional substrate reconstruction of a bottom rigid surface under dynamic flexible occlusion.