Underwater acoustics is of fundamental importance for marine science and technology. However, acoustic waves transmitted by state‐of‐the‐art underwater acoustic systems are not inherently phase locked, which hinders the development of underwater acoustic technology. For example, the precision of underwater distance measurement can only achieve centimeter level. As a versatile tool, optical frequency combs have enabled revolutionary progress in optical metrology and precision measurement. In parallel with optical frequency combs, here, the generation of fully stabilized, underwater acoustic frequency combs is reported, in which equidistant acoustic modes are produced via a hydroacoustic transducer. The precision of each individual acoustic mode is measured to be 10−9 at 1 s and 10−12 at 1000 s averaging times. Underwater distance measurements are carried out in an anechoic pool using a dual‐comb scheme. Comparison with reference values shows consistency within 50 µm (7 × 10−6 in relative). The relatively long‐duration experiments at 7 m distance yield an Allan deviation of 1.8 µm (2.6 × 10−7 in relative) at 1 s and further 480 nm (6.8 × 10−8 in relative) at 40 s averaging times. The approach to acoustic frequency comb generation offers a promising and powerful platform for future underwater distance measurement, positioning, and navigation.

Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired trajectories on the surface. The continuum robot is modeled using the pseudo-rigid-body model, where the continuum body of the robot is approximated by rigid links joined by flexible joints. The quasistatic motion model of the robot is formulated as a potential energy minimization problem. The Jacobian of the quasistatic motion model is used in calculating the actuations that steer the tip in the desired directions. The proposed method is validated experimentally in a clinical 3-T MRI scanner.

In this paper, we propose a method aiming to measure the absolute distance via the slope of the inter-mode beat phase by sweeping the repetition frequency of the frequency comb. The presented approach breaks the inertial thinking of the extremely stable comb spacing, and the bulky phase-locking circuit of the repetition frequency is not required. In particular, the non-ambiguity range can be expanded to be infinite. To verify the performance of presented method, a series of distance experiments have been devised in different scenarios. Compared with the reference values, the experimental results show the differences within 25 µm at 65 m range in the laboratory, and within 100 µm at 219 m range out of the lab.

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The paper presents a method aimed at accurately reconstructing transparent objects using the area source. The method called polarized light measurements (PLM) combines two reconstruction techniques: polarization analyses and light-path triangulation. The originality of this study relies on the PLM method that enables to extract the radiometric cues and geometric cues simultaneously during the surface reconstruction. To validate performance, a series of the comparison experiments are developed on different objects for the diverse thickness, material and curvature radius of unit under test. The subsequent error analyses are applied to evaluate the method, and the error distribution can be well observed in the results. The PLM performs an efficient process and a higher accuracy compared with traditional reconstruction on transparent objects made by the polarization analyses and triangulation method used alone.