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Two-Stage Hand-Eye Calibration based on Variance Minimization Principle

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Ding, Tao Tian, Dazhuang Wu, Hao Zhu, Dahu Li, Wenlog Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components School of Automotive Engineering Wuhan430070 China Wuhan University of Technology Hubei Digital Manufacturing Key Laboratory School of Mechanical and Electronic Engineering Wuhan430070 China Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components Hubei Provincial Engineering Research Center of Robot and Intelligent Manufacturing Wuhan430070 China Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan430074 China

Hand-eye calibration in industrial scenarios greatly determines the efficiency and effectiveness of 3D vision-guided robotic tasks. Most of the existing hand-eye calibration methods, however, rely on collecting large-scale point cloud samples to guarantee high measurement accuracy, which is time-consuming and particularly influenced by measurement defects such as local missing, noise, and uneven density. To overcome this challenging problem, we present a novel two-stage hand-eye calibration method based on the variance minimization principle. In the first stage, a robust function weighted variance minimization (RFWVM) registration algorithm is proposed for fine registration of defective point clouds, aiming at solving the coarse hand-eye calibration matrix with few-shot point clouds. In the second stage, an objective function of the calibration error correction algorithm is established via the point-to-plane distance variance minimization, which is intended to suppress the influence of measurement defects. Through these two stages, the globally optimal hand-eye matrix is solved by iteratively correcting the coarse hand-eye calibration matrix. A series of experiments validate the universality, accuracy, and robustness of the proposed method. © 1963-2012 IEEE.

关键词： Error correction

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Enhancing the performance of CaTiO3-GDC heterostructure electrolytes in LT-CFCs

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Ceramics International 2025年第15期51卷 20131-20142页

作者： Li, Dongchen Cui, Yingying Hong, Xiaofang Shah, M.A.K. Yousaf Mushtaq, Naveed Rauf, Sajid Arshad, Naila Irshad, Sultan Alodhayb, Abdullah N. Yousaf, Muhammad Lu, Yuzheng Department of Electrical and Automation Shandong Labor Vocational and Technical College Jinan250300 China Jiangsu Provincial Key Laboratory of Solar Energy Science and Technology/Energy Storage Joint Research Center School of Energy and Environment Southeast University No.2 Si Pai Lou Nanjing210096 China College of Mechatronics and Control Engineering Shenzhen University Guangdong Province 518000 China School of Physics Electronics and Intelligent Manufacturing Huaihua University Hunan Huaihua418008 China College of Electronics and Information Engineering Shenzhen University Guangdong Province 518000 China Department of Physics and Astronomy College of Science King Saud University Riyadh11451 Saudi Arabia College of Chemistry and Environmental Engineering Shenzhen University Guangdong Province Shenzhen518055 China School of Electronic Engineering Nanjing Xiaozhuang University Nanjing211171 China

Designing ceramic fuel cells (CFCs) with fast ionic conduction and superior electrochemical performance at low temperatures is critical for advancing hydrogen applications. Here, we developed a heterostructure electrolyte by combining the ionic conductor Gd0.1Ce0.9O2 (GDC) with the semiconductor material CaTiO3 (CTO) to shape into the composite heterostructure (semiconductor ionic heterostructure) CTO-GDC. The designed heterostructure with different fermi levels established the depletion zone due to the redistribution of charges at the interface, leading to enhancement of the ionic conduction;meanwhile, the established built-in electric field suppresses the electronic conduction speed of the ion's transportation at the interface of the constructed heterostructure (CTO-GDC). The formation of heterostructure introduces a number of oxygen vacancies, as confirmed via x-ray photoelectron spectroscopy (XPS) and electron paramagnetic resonance (EPR), benefiting the transportation of ions in the composite heterostructure. The prepared composite heterostructure shows the highest power output of 810 mW/cm2 at a low operational temperature of 520 °C. The CTO-GDC shows high ionic conductivity of 0.17 S cm−1 at 520 °C and low activation energy of 0.785 eV at 520-420 °C. The composite containing a 50 % molar ratio of GDC and CTO demonstrated exceptional performance by successfully inhibiting electron transit, improving ionic conductivity, and achieving outstanding power output. The enhanced ionic conductivity with low activation energy of composite heterostructure suggests that designing a heterostructure seems an efficient approach to fuel cell application. © 2025

关键词： Paramagnetic resonance

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When Shannon Meets Nonstochastic Information: Communication and Estimation

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IEEE Transactions on Automatic Control 2025年

作者： Zhang, Wentao Zuo, Zhiqiang Zhao, Rui Wang, Yijing Hu, Guoqiang Zhang, Hui Wang, Yaonan Hunan University School of Robotics Changsha410082 China Nanyang Technological University Continental-NTU Corporate Lab Singapore639798 Singapore Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Nanyang Technological University School of Electrical and Electronic Engineering Singapore639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This notes focuses on the issue of whether or not the state of a plant can be estimated when the inputs of communication channel involve noise and disturbance simultaneously. It turns out to calculate the maximum capacity of stationary memoryless multiple quasi-access channel under nonstochastic information theory. It is shown that the maximum information rate over such a channel is determined by a convex hull spanned by the zero-error capacities which are specified on the underlying sample spaces. Moreover, the state of a plant could be estimated provided that the maximal information rate is strictly greater than the topology entropy. © 1963-2012 IEEE.

关键词： Communication channels (information theory)

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A multi-seed dynamic local graph matching model for tracking of densely packed cells across unregistered microscopy image sequences

A multi-seed dynamic local graph matching model for tracking...

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作者： Liu, Min Li, Jieqin Qian, Weili College of Electrical and Information Engineering Hunan University Changsha410082 China Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing Changsha410082 China

The tracking of plant cells in large-scale microscopy image sequences is very challenging, because plant cells are densely packed in a specific honeycomb structure, and the microscopy images can be randomly translated, rotated and scaled in the imaging process. This paper proposes a multi-seed dynamic local graph matching method to track the plant cells across unregistered microscopy image sequences, by exploiting the geometric structure and topology of cells’ relative positions as contextual information. The proposed dynamic cell matching scheme always selects the most similar cell pair in the dynamically growing neighbor set of matched cells, so it tends to prevent the matching error accumulation during the cell correspondence growing process. Furthermore, the multi-seed-based majority voting scheme can automatically rectify the matching errors produced by one seed only. Last, the cells’ lineage tracklets are associated by using the cells’ spatial–temporal context to obtain long-term trajectories. Compared with the existing local graph matching method, the experimental results show that the proposed method improves the tracking accuracy rate by about 30% in the unregistered image sequences. © 2018, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Cells

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A combined experimental and analytical method to determine the EHL friction force distribution between rollers and outer raceway in a cylindrical roller bearing

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Friction 2023年第8期11卷 1455-1469页

作者： Yu HOU Xi WANG Di YANG Zeliang XIAO School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-performance Mechanical Equipment Changsha University of Science and TechnologyChangsha 410114China

Friction force is a crucial factor causing power loss and fatigue spalling of rolling element bearings.A combined experimental and analytical method is proposed to quantitatively determine the elastohydrodynamic lubrication(EHL)friction force distribution between rollers and outer raceway in a cylindrical roller bearing(CRB).An experimental system with the instrumented bearing and housing was developed for measuring radial load distribution and friction torque of bearings.A simplified model of friction force expressed by dimensionless speed,load,and material parameters was *** inequality constrained optimization problem was established and solved by using an experimental data-driven learning algorithm for determining the uncertain parameters in the *** effect of speed,load,and lubricant property on friction force and friction coefficient was discussed.

关键词： cylindrical roller bearing(CRB) elastohydrodynamic lubrication(EHL) friction force distribution friction torque combined method

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Controllable optical bistability in a Fabry-Pérot cavity with a nonlinear three-dimensional Dirac semimetal

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Chinese Physics B 2024年第3期33卷 441-446页

作者：袁红霞李佳雪马奇军田海山叶云洋罗文昕吴杏华蒋乐勇 School of Physics and Electronics Hunan Normal UniversityChangsha 410081China School of Intelligent Manufacturing and Electronic Engineering Wenzhou University of TechnologyWenzhou 325035China Key Laboratory for Microstructural Functional Materials of Jiangxi Province College of ScienceJiujiang UniversityJiujiang 332005China

Optical bistability(OB)is capable of rapidly and reversibly transforming a parameter of an optical signal from one state to another,and homologous nonlinear optical bistable devices are core components of high-speed all-optical communication and all-optical *** this paper,we theoretically investigated the controllable OB from a Fabry-Pérot(FP)cavity with a nonlinear three-dimensional Dirac semimetal(3D DSM)in the terahertz *** OB stems from the third-order nonlinear bulk conductivity of the 3D DSM and the resonance mode has a positive effect on the generation of *** FP cavity structure is able to tune the OB because the transmittance and the reflectance can be modulated by the Fermi energy of the 3D *** believe that this FP cavity configuration could provide a reference concept for realizing tunable bistable devices.

关键词： optical bistability Dirac semimetal Fabry-Pérot cavity

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Automatic basketball detection in sport video based on R-FCN and soft-NMS 2019

Automatic basketball detection in sport video based on R-FCN...

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4th International Conference on Automation, Control and robotics Engineering, CACRE 2019

作者： Liang, Qiaokang Mei, Li Wu, Wanneng Sun, Wei Wang, Yaonan Zhang, Dan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha410082 China Department of Mechanical Engineering York University TorontoM3J 1P3 Canada

ISBN: (纸本)9781450371865

In basketball videos, the ball is always so small in the camera that its appearance feature is hard to be extracted. In this paper, we introduce a deep-learning technology to detect the basketball. Specifically, we train our basketball detection model based on the Region-based Fully Convolutional Networks (R-FCN) which uses the fully convolutional Residual Network (ResNet) as the backbone network. What’s more, we apply some new techniques including Online Hard Example Mining (OHEM), Soft-NMS and multi-scale training strategy to achieve higher detection accuracy. In detail, the OHEM method can reduce the cost of fine-tuning during training by calculating the loss of the RoIs. Soft-NMS can reduce the false positive rate by decreasing the object detection score between the overlap object. And the multi-scale training can improve the detection performance by receiving the good feature from the object with different scale. Finally, we achieve a mean average precision (mAP) value of 89.7% on a public basketball dataset. It proves that applying the deep-learning approach to basketball detection is effective. © 2019 Copyright is held by the owner/author(s).

关键词： Object recognition

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Visible and near-infrared emission of lead-free Cs 3 Cu 2 I 5 :Bi perovskite by valence state regulation for optical anti-counterfeiting coatings

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Materials Characterization 2025年 225卷

作者： Qi-Hua Yang Han-Qi Wei Shu-Juan Zhao Gui-Hua Li Xuan Liu Le Fu Zhi-Wei Luo Jia-Yong Si Ge-Mei Cai School of Materials Science and Engineering Central South University Changsha 410083 Hunan People's Republic of China Science Center for Phase Diagram & Materials Design and Manufacture Central South University Changsha 410083 Hunan People's Republic of China School of Materials Science and Engineering & Guangxi Key Laboratory of Information Materials Guilin University of Electronic Technology Guilin 541004 PR China College of Mechanical and Intelligent Manufacturing Central South University of Forestry and Technology Changsha Hunan 410004 China

In recent years, the proliferation of counterfeit products has led to increased concerns about anti-counterfeiting technology, with traditional single-mode fluorescence methods proving insufficient due to their susceptibility to replication. The new copper-based halide materials have shown great potential in the field of multi-mode anti-counterfeiting due to their unique structure, excellent luminescence performance, and high defect tolerance. In this work, near-infrared emission of Cs 3 Cu 2 I 5 was achieved for the first time through Bi doping. By exploiting the dual emission center characteristics of the resulting Cs 3 Cu 2 I 5 :Bi, we demonstrated its excitation wavelength-dependent emission. It was then mixed with cyclohexane to prepare an advanced fluorescent anti-counterfeiting coating for screen printing, enabling high-precision pattern printing onto various substrates. The resulting anti-counterfeiting patterns exhibit excellent weather resistance, remaining virtually unchanged after 60 days at room temperature. This study lays the foundation for expanding the emission range of Cs 3 Cu 2 I 5 and adjusting multi band emission, and confirms its potential application in the field of multi-mode anti-counterfeiting.

关键词： Fluorescence

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Fault Diagnosis of Bearing with Small Sample based on Siamese Networks and Metric Learning 3

Fault Diagnosis of Bearing with Small Sample based on Siames...

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3rd International Conference on electronic Informationtechnology and Smart Agriculture, ICEITSA 2023

作者： Wang, Qingnan Tu, Jihui School of Intelligent Manufacturing Huaihua University Hunan Huaihua China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture Huaihua University Huaihua China School of Electronic and Information Yangtze University Jingzhou China

ISBN: (纸本)9798400716775

Bearing faults, characterized by their low probability occurrence and limited sample availability, present challenges in accurate diagnosis. Traditional data-driven diagnostic methods exhibit reduced accuracy and generalization in small datasets. This paper presents a Siamese networks model based on metric learning, which is used for bearing faults classification. Vibration signals are preprocessed using continuous wavelet transform (CWT), and features are extracted through the MobileNetV3 backbone network. The model employs Euclidean distance measurement for training and classification, demonstrating high accuracy under limited sample data. © 2023 ACM.

关键词： Failure analysis

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Adaptive detection scheme for solder joints based on guided image filtering and geometrical edge selection

Adaptive detection scheme for solder joints based on guided ...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liang, Qiaokang Jin, Jing Long, Jianyong Sun, Wei Cai, Juan Xia, Xiaohu Zhang, Guangbing Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing Hunan University Changsha410082 China College of Electrical and Information Engineering Huaihua University Huaihua418000 China Department of Mechanical Engineering Hefei University Hefei China School of Electronics and Information Engineering Anhui Jianzhu University Hefei China

ISBN: (纸本)9781538680698

Aiming to effectively inspect solder joints on vehicle body-in-white, a novel detection and calibration scheme based on guided image filtering and geometrical edge selection is proposed. The scheme can be generally divided into the following three stages. In the image preprocessing stage, the homomorphic filter is utilized to adjust the illumination of the solder joint image. Then the contours of solder joints are sharpened, and the noise is eliminated by the guided image filtering. In the edge detection stage, the candidate contours are given by the improved Canny edge detection. Then, the obvious interference edges are effectively removed by the proposed geometrical edge selection method. After that, an improved K-means clustering method is used to remove the round edges of the body spots and distinguish multiple solder joints' edges. In the calibration stage, multiple solder joints' edges and centers are calculated by the least square method. The extensive experiments on various kinds of solder joints on vehicle body-in-white, which contained vehicle frame contours, rusted, scratched and spotted body, showed that the proposed scheme can detect and calibrate the solder joints quickly and accurately. © 2018 IEEE.

关键词： Edge detection

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