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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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Reconfigurable Converter-Formed Soft Open Point- Assisted Dynamic Restoration for Distribution Systems with Cold-load Pickup

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IEEE Transactions on Sustainable Energy 2025年

作者： Yang, Xiaodong Li, Zihao Ding, Lijian Hu, Zhengli Fang, Hui Sun, Wei Wu, Qiuwei Wen, Jinyu Hefei University of Technology State Key Laboratory of High Efficiency and High Quality Electric Energy Conversion Hefei230009 China State Grid Anhui Ultra High Voltage Company Hefei230022 China Tsinghua University Tsinghua-Berkeley Shenzhen Institute Tsinghua Shenzhen International Graduate School Shenzhen518055 China Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Wuhan430074 China

Improving the power supply resilience under extreme conditions is an important construction goal faced by modern distribution systems (DSs). In this paper, we develop a dynamic restoration framework for renewable DSs with cold-load pickup (CLPU), assisted by the reconfigurable converter-formed multi-terminal soft open point (R-SOP) to minimize the de-energized loads and renewables curtailment under extreme weather events. Traditional SOP often designed as symmetric capacity topology, which may limit the DS restoration quality by the converter capacity of symmetric SOPs. To address this, a dynamic network reconfiguration model of DSs is established that embedded with R-SOP, whose typical feature is the asymmetric converter capacity design while keeping the total port capacity unchanged compared with traditional SOP. On this basis, a multi-period distribution service restoration model is formulated integrating the converter reconfiguration of R-SOP, DS topology changes and coordinated actions of flexible resources to enhance the restoration level and improve the renewable energy utilization. Moreover, restoration strategies that ignore the CLPU phenomenon may face remarkable gap from the realistic system operating conditions. Accordingly, a frequency-constrained dynamic restoration model is proposed in a faster-timescale to respond to the CLPU and restore the DS in a reliable and adaptable manner. Numerical simulations on two modified IEEE test systems and an actual distribution system verify the effectiveness of the developed framework. © 2010-2012 IEEE.

关键词： Restoration

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Epigenetics in the modern era of crop improvements

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Science China Life Sciences 2025年第6期 1570-1609页

作者： Yan Xue Xiaofeng Cao Xiangsong Chen Xian Deng Xing Wang Deng Yong Ding Aiwu Dong Cheng-Guo Duan Xiaofeng Fang Lei Gong Zhizhong Gong Xiaofeng Gu Chongsheng He Hang He Shengbo He Xin-Jian He Yan He Yuehui He Guifang Jia Danhua Jiang Jianjun Jiang Jinsheng Lai Zhaobo Lang Chenlong Li Qing Li Xingwang Li Bao Liu Bing Liu Xiao Luo Yijun Qi Weiqiang Qian Guodong Ren Qingxin Song Xianwei Song Zhixi Tian Jia-Wei Wang Yuan Wang Liang Wu Zhe Wu Rui Xia Jun Xiao Lin Xu Zheng-Yi Xu Wenhao Yan Hongchun Yang Jixian Zhai Yijing Zhang Yusheng Zhao Xuehua Zhong Dao-Xiu Zhou Ming Zhou Yue Zhou Bo Zhu Jian-Kang Zhu Qikun Liu State Key Laboratory of Wheat Improvement Peking University Institute of Advanced Agricultural Sciences Shandong Laboratory of Advanced Agricultural Sciences in Weifang State Key Laboratory of Plant Genomics and National Center for Plant Gene Research Institute of Genetics and Developmental Biology Chinese Academy of Sciences State Key Laboratory of Hybrid Rice College of Life Sciences Wuhan University School of Life Sciences Division of Life Sciences and Medicine University of Science and Technology of China State Key Laboratory of Genetic Engineering Collaborative Innovation Center of Genetics and Development Department of Biochemistry and Biophysics Institute of Plant Biology School of Life Sciences Fudan University Key Laboratory of Plant Design National Key Laboratory of Plant Molecular Genetics Shanghai Center for Plant Stress Biology CAS Center for Excellence in Molecular Plant Sciences Chinese Academy of Sciences Center for Plant Biology School of Life Sciences Tsinghua University Key Laboratory of Molecular Epigenetics of the Ministry of Education (MOE) Northeast Normal University State Key Laboratory of Plant Environmental Resilience Frontiers Science Center for Molecular Design Breeding College of Biological Sciences China Agricultural University College of Life Sciences Institute of Life Science and Green Development Hebei University Biotechnology Research Institute Chinese Academy of Agricultural Sciences College of Biology Hunan Key Laboratory of Plant Functional Genomics and Developmental Regulation Hunan Engineering and Technology Research Center of Hybrid Rapeseed Hunan University Institute of Advanced Agricultural Sciences School of Advanced Agricultural Sciences Peking University State Key Laboratory for Conservation and Utilization of Subtropical Agro-Bioresources Guangdong Laboratory for Lingnan Modern Agriculture South China Agricultural University National Institute of Biological Sciences Key Laboratory of Seed Innovation Institute of Genetics and Developme

Epigenetic mechanisms are integral to plant growth, development, and adaptation to environmental stimuli. Over the past two decades, our comprehension of these complex regulatory processes has expanded remarkably, producing a substantial body of knowledge on both locus-specific mechanisms and genome-wide regulatory patterns. Studies initially grounded in the model plant Arabidopsis have been broadened to encompass a diverse array of crop species, revealing the multifaceted roles of epigenetics in physiological and agronomic traits. With recent technological advancements, epigenetic regulations at the single-cell level and at the large-scale population level are emerging as new focuses. This review offers an in-depth synthesis of the diverse epigenetic regulations, detailing the catalytic machinery and regulatory functions. It delves into the intricate interplay among various epigenetic elements and their collective influence on the modulation of crop traits. Furthermore, it examines recent breakthroughs in technologies for epigenetic modifications and their integration into strategies for crop improvement. The review underscores the transformative potential of epigenetic strategies in bolstering crop performance, advocating for the development of efficient tools to fully exploit the agricultural benefits of epigenetic insights.

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Research on the burst failure analysis method of type IV cylinders based on the fiber strength reduction effect

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Fuhe Cailiao Xuebao/Acta Materiae Compositae Sinica 2025年第5期42卷 2567-2582页

作者： Li, Ruiqi Hu, Haixiao Li, Shuxin Chen, Hongda Cao, Dongfeng Liu, Hao Zheng, Kaidong Zhang, Yu Liu, Rui State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of Technology Wuhan430070 China National Energy Key Laboratory for New Hydrogen-ammonia Energy Technologies Foshan Xianhu Laboratory Foshan528200 China School of Science Wuhan University of Technology Wuhan430070 China School of Materials Science and Engineering Wuhan University of Technology Wuhan430070 China General Research and Development Institute China FAW Co. Changchun130000 China

Composite material hydrogen storage cylinders are the most effective solution for high-pressure gaseous hydrogen storage. The carbon fiber fully wrapped plastic liner cylinder (Type IV cylinder) is the most important potential in the development of hydrogen storage. Accurately predicting the burst pressure and failure mode of type IV cylinders is basement for the lightweight design of these cylinders. Current burst failure prediction methods are developed base on traditional laminated structural models, where the influence of fiber bundles cross undulation that occurs during the helical winding process are not considered. This paper comprehensively investigated the influence of fiber bundles cross undulation on the fiber strength by combining numerical and experimental approaches, and a failure prediction method which takes into account of the strength knock-down effect was developed for type IV cylinders. The burst pressures and failure locations of three different types of IV cylinders were predicted and compared with the ones that predicted by traditional method which does not consider the strength knock-down effect. The physical bursting experiments were conducted, and the results validate that the numerical analysis method considering the strength knock-down effect can give more accurate prediction of the failure location and reduce the prediction error of the bursting pressure, the maximum error is reduced from +15.42% to +6.07%. © 2025 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.

关键词： Convergence of numerical methods

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Single-image super-resolution of gamma-ray imaging system using deep denoiser prior based on plug-and-play framework

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Matter and Radiation at Extremes 2025年第2期10卷 56-70页

作者： Guo-Guang Li Liang Sheng Bao-Jun Duan Yang Li Yan Song Zi-Jian Zhu Wei-Peng Yan Dong-Wei Hei Qing-Zi Xing Key Laboratory of Particle and Radiation Imaging(Tsinghua University) Ministry of EducationBeijing 100084China Laboratory for Advanced Radiation Sources and Application Tsinghua UniversityBeijing 100084China Department of Engineering Physics Tsinghua UniversityBeijing 100084China State Key Laboratory of Intense Pulsed Radiation Simulation and Effect Northwest Institute of Nuclear TechnologyXi’an 710024China

Gamma-ray imaging systems are powerful tools in radiographic ***,the recorded images suffer from degradations such as noise,blurring,and downsampling,consequently failing to meet high-precision diagnostic *** this paper,we propose a novel single-image super-resolution algorithm to enhance the spatial resolution of gamma-ray imaging systems.A mathematical model of the gamma-ray imaging system is established based on maximum a posteriori *** the plug-and-play framework,the half-quadratic splitting method is employed to decouple the data fidelit term and the regularization *** image denoiser using convolutional neural networks is adopted as an implicit image prior,referred to as a deep denoiser prior,eliminating the need to explicitly design a regularization ***,the impact of the image boundary condition on reconstruction results is considered,and a method for estimating image boundaries is *** results show that the proposed algorithm can effectively addresses boundary *** increasing the pixel number of the reconstructed images,the proposed algorithm is capable of recovering more ***,in both simulation and real experiments,the proposed algorithm is demonstrated to achieve subpixel resolution,surpassing the Nyquist sampling limit determined by the camera pixel size.

关键词： deep denoiser prior enhance spatial resolution maximum posteriori estimationwithin radiographic diagnosishoweverthe maximum posteriori estimation gamma ray imaging plug play framework recorded images

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Electrochemically and chemically in-situ interfacial protection layers towards stable and reversible Zn anodes

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Science Bulletin 2025年第1期70卷 104-124页

作者： Yuqing Yang Liping Qin Qiong He Chengjie Yin Yongpeng Lei Shuquan Liang Guozhao Fang School of Materials Science and Engineering Key Laboratory of Electronic Packaging and Advanced Functional Materials of Hunan ProvinceCentral South UniversityChangsha 410083China College of Biological and Chemical Engineering Guangxi University of Science and TechnologyNanning 545006China School of Chemical and Blasting Engineering Anhui University of Science and TechnologyHuainan 232001China State Key Laboratory of Powder Metallurgy Central South UniversityChangsha 410083China National Energy Metal Resources and New Materials Key Laboratory Central South UniversityChangsha 410083China

Aqueous zinc metal batteries(AZMBs)have received widespread attention for large-scale sustainable energy storage due to their low toxicity,safety,***,the technology and industrialization of AZMBs are greatly plagued by issues of Zn anode such as persistent dendrites and parasitic side reactions,resulting in rapid capacity degradation or battery *** or chemically in-situ interfacial protection layers have very good self-adaption features for stability and reversibility of Zn anodes,which can also be well matched to current battery ***,the in-situ interfacial strategies are far from the practical design for effective Zn ***,a targeted academic discussion that serves the development of this field is very ***,the comprehensive insights on electrochemically and chemically in-situ interfacial protection layers for Zn anode were proposed in this *** showcased a systematic summary of research advances,followed by detailed discussions on electrochemically and chemically in-situ interfacial protection *** importantly,several crucial issues facing in-situ interfacial protection strategies have been further put *** final section particularly highlighted a systematic and rigorous scheme for precise designing highly stable and reversible in-situ interface for practical zinc anodes.

关键词： In-situ strategy Interfacial layer Zn anode Solid electrolyte interphase Aqueous zinc metal batteries

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Integration of Electrical Properties and Polarization Loss Modulation on Atomic Fe–N‑RGO for Boosting electromagnetic Wave Absorption

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Nano-Micro Letters 2025年第2期17卷 517-532页

作者： Kaili Zhang Yuefeng Yan Zhen Wang Guansheng Ma Dechang Jia Xiaoxiao Huang Yu Zhou State Key Laboratory of Precision Welding&Joining of Materials and Structures Harbin Institute of TechnologyHarbin 150001People’s Republic of China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001People’s Republic of China MIIT Key Laboratory of Advanced Structural‑Functional Integration Materials&Green Manufacturing Technology Harbin Institute of TechnologyHarbin 150001People’s Republic of China

Developing effective strategies to regulate graphene’s conduction loss and polarization has become a key to expanding its application in the electromagnetic wave absorption(EMWA)*** on the unique energy band structure of graphene,regulating its bandgap and electrical properties by introducing heteroatoms is considered a feasible ***,metal-nitrogen doping reduced graphene oxide(M–N-RGO)was prepared by embedding a series of single metal atoms M–N_(4) sites(M=Mn,Fe,Co,Ni,Cu,Zn,Nb,Cd,and Sn)in RGO using an N-coordination atom-assisted *** composites had adjustable conductivity and polarization to optimize dielectric loss and impedance matching for efficient EMWA *** results showed that the minimum reflection loss(RL_(min))of Fe–N-RGO reaches−74.05 dB(2.0 mm)and the maximum effective absorption bandwidth(EAB_(max))is 7.05 GHz(1.89 mm)even with a low filler loading of only 1 wt%.Combined with X-ray absorption spectra(XAFS),atomic force microscopy,and density functional theory calculation analysis,the Fe–N_(4) can be used as the polarization center to increase dipole polarization,interface polarization and defect-induced polarization due to d-p orbital hybridization and structural ***,electron migration within the Fe further leads to conduction loss,thereby synergistically promoting energy *** study demonstrates the effectiveness of metal-nitrogen doping in regulating the graphene′s dielectric properties,which provides an important basis for further investigation of the loss mechanism.

关键词： electromagnetic wave absorption Fe-N-RGO Dipole polarization Conduction loss Impedance matching

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The difference in anti-corrosion effect between the addition of La and Ce of a B10 alloy

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Journal of Materials Research and technology 2025年 36卷 8062-8074页

作者： Peiyou Du Tianyu Chen Guoliang Xie Qiaoqiao Wang Xinhua Liu State Key Laboratory for Advanced Metals and Materials University of Science and Technology Beijing No. 30 Xueyuan Road Beijing 100083 China Key Laboratory for Advanced Materials Processing of Ministry of Education Institute of Advanced Materials and Technology University of Science and Technology Beijing Beijing 100083 China Institute of Materials Genome Engineering Henan Academy of Sciences Zhengzhou 450046 China

Microalloying with rare earth elements is an effective method to improve the corrosion resistance of Cu–Ni alloys. The study of the effect of different rare earth elements on the corrosion resistance and corrosion behavior is significant for the optimization of Cu–Ni alloy composition. In this paper, the effect of La and Ce on the corrosion behavior of B10 alloy in 3.5 wt% NaCl solution was investigated separately, utilizing both electrochemical techniques and surface characterization methods. The results indicate that B10-0.1 wt% La alloy and B10-0.1 wt% Ce alloy have better corrosion resistance performance compared to Cu–10Ni alloy in NaCl solution. The better corrosion resistance performance of the B10-0.1 wt% La and B10-0.1 wt% Ce alloy could be mainly attributed to the preferential deposition of rare-earth oxides that promotes heterogeneous nucleation of the passive film. Furthermore, the deposition degree of La 2 O 3 is greater than that of Ce 2 O 3 during the early stage of immersion which leads to the superior corrosion resistance of the B10-0.1 wt% La alloy.

关键词： B10 alloy Rare earth elements Passivation film Corrosion resistance

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Boosting aqueous nickel-zinc battery stability with bimetallic ion-integrated 1D metal-organic nanowires

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Science China Chemistry 2025年第06期 2378-2387页

作者： Yihao Chen Jin Liang Yichun Su Guoyin Zhu Hengyue Xu Hongye Ding Guangxun Zhang Dianheng Yu Zizhou Shen Yizhou Zhang Wei Huang Huan Pang School of Chemistry and Chemical Engineering Yangzhou University Key Laboratory of Flexible Electronics (KLoFE) & Institute of Advanced Materials (IAM) School of Flexible Electronics (Future Technologies) Nanjing Tech University (Nanjing Tech) Institute of Advanced Materials and Flexible Electronics (IAMFE) School of Chemistry and Materials Science Nanjing University of Information Science & Technology Department of Chemistry Tsinghua University Key Laboratory of Flexible Electronics (KLo FE) & Institute of Advanced Materials (IAM) School of Flexible Electronics (Future Technologies) Nanjing Tech University (Nanjing Tech) State Key Laboratory of Coordination Chemistry Nanjing University

Limited by low conductivity, designing cathode materials with excellent electron transfer efficiency for high-performance nickel-zinc batteries（NZBs） remains challenging. In this study, a series of bimetallic metal-organic nanowires were fabricated by doping M ions in Ni NTA, resulting in Ni MNTA(M = Mg~2+, Mn2+, Co2+, Zn2+, Ag+), and NixCo6-xNTA（x = 1, 2, 3, 4, 5）. The proportions and types of metal ions can be modified without altering the initial coordination structure. X-ray absorption fine structure spectroscopy（XAFS） revealed that only M–O bonds, not metal bonds, were present in the material. The performance of Ni2Co4NTA as the cathode for aqueous NZBs was significantly improved, achieving the maximum energy density of 279.17Wh kg-1with the high cycle stability（retention rate of 72.0% after 1,000 cycles）. The flexible Ni2Co4NTA//Zn@carbon cloth battery employing gel electrolyte also exhibits the excellent Coulombic efficiency of 96% after 350 cycles. This approach shows considerable potential for designing one-dimensional materials with bimetallic modifications, providing new strategies for developing cathode materials for NZBs with high specific capacity and cycle stability.

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Zonotope-based fault estimation for Lipschitz nonlinear systems 3

Zonotope-based fault estimation for Lipschitz nonlinear syst...

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2024 3rd International Conference on Aerospace and Control engineering, ICoACE 2024

作者： Ma, Siyuan Zhang, Wei Jiang, Qiang Gao, Sheng School of Automatic and Electrical Engineering Shenyang Ligong University Shenyang110158 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

An estimation of fault intervals using a T-N-L structured observer is suggested for Lipschitz nonlinear systems. By augmenting state vectors, the augmentation system and its observer are established, enabling the observer to concurrently estimate fault and system states. The L∞ performance is applied to enhance the resilience of the fault interval estimation to external disturbances and unanticipated inputs. An adequate requirement for the observer design is also presented. The interval estimation of states and faults is ultimately created by using a zonotope. The proposed method exhibits advantages and feasibility when compared to existing simulation techniques. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Nonlinear systems

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