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When Shannon Meets Nonstochastic Information: Communication and Estimation

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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Vibration Simulation and Experimental Analysis of Medium-Frequency Transformer With the Nanocrystalline Core

Vibration Simulation and Experimental Analysis of Medium-Fre...

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Electrical Engineering (CIYCEE), IEEE China International Youth Conference on

作者： Bin Chen Binsheng Xi Hao Guo Li Xu Bo Tang Hubei Provincial Engineering Technology Research Center for Power Transmission Line China Three Gorges University Yichang China College of Electrical Engineering & New Energy China Three Gorges University Yichang China Intelligent live working technology and equipment (robot) Key Laboratory of Hunan Province and Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory Changsha China

ISBN: (纸本)9781665400657

Medium-frequency transformer (MFT) is the core component of high voltage and large capacity DC/DC converter, but high frequency and high power density will lead to intensified transformer vibration. Magnetostriction and air gap Maxwell force are the main sources of vibration and noise. In this paper, nanocrystalline alloy with high saturation magnetic density, high magnetic permeability and low high frequency loss is used as the core of MFT to study its vibration characteristics. Considering the influence of transverse isotropy of nanocrystalline alloy core mechanical properties, the transient electromagnetic field-structure field weak coupling calculation method based on ANSYS finite element method is used to calculate two MFTs with 10kVA/5kHz shell-type and core-type nanocrystalline cores under no-load sine condition. The calculated volume force is imported into the structural field to obtain the vibration acceleration and displacement changes of the core, and the simulation value is compared with the experimental measurement value. The results show that the vibration of the shell-type core is stronger than that of the core-type core under the action of Maxwell force and magnetostrictive force. And the vibration acceleration frequency is twice the excitation frequency. The research in this paper can provide a basis for the design and optimization of vibration and noise of MFT.

关键词： Vibrations Magnetic field measurement Magnetostriction Force Metals Transformer cores Numerical models

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Energy Harvesting by Flexible Piezoelectric Generator for Tag Attached on the Oscillating Fish Tail

SSRN

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SSRN 2022年

作者： Chen, Weixing Hu, Yibo Peng, Yinghan Zhu, Chong Zhang, Weidong Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Using marine fish-tags to obtain marine environmental information is a significant method for monitoring marine ecology. Nevertheless, the battery capacity of current fish-tags is limited, and most of the fish-tags use invasive implantation methods. In this paper, we propose a principle to harvest energy by flexible piezoelectric generator attached on the oscillating fish tail. The vibration of the caudal fin is utilized to excite the flexible piezoelectric generator to oscillate to produce electrical energy when the fish swims. Based on the principle, a dynamic model of the flexible piezoelectric generator under the excitation of fish-tail swing and an output model of the voltage generated by the flexible piezoelectric generator due to deformation are established. Then, a bionic fish tail is manufactured and the energy harvesting experiments are carried out to verify the accuracy of the models. Finally, an energy harvesting module is designed and a test bed of bionic fish-tail swing energy harvesting is built. The test results show that 6μJ of energy is collected when the tail swings 20 minutes with an amplitude of 3 degrees and a frequency of 1.5Hz. The proposed principle offers a promising non-invasive and longer endurance solution for fish-tags. © 2022, The Authors. All rights reserved.

关键词： Fish

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Dynamic Gesture Recognition Algorithm Based on 3D Convolutional Neural Network

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Computational Intelligence and Neuroscience 2021年 2021卷 4828102页

作者： Liu, Yuting Jiang, Du Duan, Haojie Sun, Ying Li, Gongfa Tao, Bo Yun, Juntong Liu, Ying Chen, Baojia Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Yichang443002 China

Gesture recognition is one of the important ways of human-computer interaction, which is mainly detected by visual technology. The temporal and spatial features are extracted by convolution of the video containing gesture. However, compared with the convolution calculation of a single image, multiframe image of dynamic gestures has more computation, more complex feature extraction, and more network parameters, which affects the recognition efficiency and real-time performance of the model. To solve above problems, a dynamic gesture recognition model based on CBAM-C3D is proposed. key frame extraction technology, multimodal joint training, and network optimization with BN layer are used for making the network performance better. The experiments show that the recognition accuracy of the proposed 3D convolutional neural network combined with attention mechanism reaches 72.4% on EgoGesture dataset, which is improved greatly compared with the current main dynamic gesture recognition methods, and the effectiveness of the proposed algorithm is verified. © 2021 Yuting Liu et al.

关键词： Convolution

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One for all: Geometric structural-guided single domain generalization for vibration damper defect detection

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Engineering Applications of Artificial Intelligence 2025年 156卷

作者： Ke Yang Zhedong Hu Xiaoyu Zhao Qianming Wang Dongyang Hu Yongjie Zhai School of Control and Computer Engineering North China Electric Power University 619 Yonghua North Street China Baoding Key Laboratory of Intelligent Robot Perception and Control in Electric Power System 619 Yonghua North Street China

Improving the generalization capabilities of deep learning-based vibration damper defect detection models is crucial for their applicability in complex power scenarios. Existing models struggle to cope with scenario data not encountered during training, including diverse geographical regions, weather conditions, and lighting scenarios. To address these challenges, this paper introduces a novel single domain generalization(DG) method for vibration damper defect detection, aimed at enhancing the generalization capabilities of current models. Under analyzing the structural and morphological characteristics of vibration damper defects, this study selects their geometric structural features as domain invariant features(DIF), guiding model training with artificial samples generated via three dimensional(3D) modeling. To ensure comprehensive learning of the DIF of vibration damper defects, this study employs multi-scale contrastive learning(MCL) loss and multi-morphology similarity metric learning(MSM) loss during the feature extraction and candidate box processing stages, respectively. These approaches guide the model in extracting geometric features and achieving consistent expression of defect characteristics. The experimental results demonstrate that the proposed method outperforms advanced object detection models in DG for vibration damper defect detection, achieving an average DG accuracy of 68.6% across multiple target domains and a sensitivity of only 0.219, thereby realizing the “one-time training, everywhere application” concept in vibration damper defect detection models.

关键词： Contrastive Learning

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Complete, minimal and continuous kinematic error models of perfect multi-dof joints for parallel manipulators

Complete, minimal and continuous kinematic error models of p...

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ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020

作者： Kong, Lingyu Chen, Genliang Zhang, Zhuang Xie, Anhuan Wang, Hao Zhang, Dan Intelligent Robot Research Center Zhejiang Lab Hangzhou Zhejiang Province China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Department of Mechanical Engineering Lassonde School of Engineering York University Toronto Canada

ISBN: (纸本)9780791883990

Kinematic error model plays an important role in improving the positioning accuracy of robot manipulators by kinematic calibration. In order to get a better calibration result, the error model should satisfy complete, minimal and continuous criteria. In order to meet the complete requirement, the multi degree-of-freedom (DOF) joints, such as universal or spherical joint in parallel robots, have to be regarded as serial chains formed by multiple independent single DOF joints, such that the manufacturing errors of these joints can be considered. However, several previous work found that these manufacturing errors for some parallel manipulators have little effect on the accuracy improvement. Besides, considering these kind of errors will cause the kinematics to be much more complicated. Therefore, under the assumptions of perfectly manufactured universal, spherical and cylinder joints, a complete, minimal and continuous (CMC) error model is presented in this paper. The identifiability of the kinematic errors of these multi-DOF joints are analytically analyzed. In order to verify the correctness and effectiveness of the proposed method, a numerical simulation of kinematic calibration is conducted on a 6-UPS parallel manipulator. The calibration result is also compared to the one derived from the error model with 138 error parameters. Since the error model and calibration methods are described uniformly, it can be applied to most parallel manipulators. Copyright © 2020 ASME.

关键词： Kinematics

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Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

SSRN

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SSRN 2022年

作者： Chen, Weixing Wen, Yu Tong, Xiaochuan Lin, Chaoxiong Li, Jiang Wang, Shuyou Xie, Wei Mao, Lifeng Zhao, Xianchao Zhang, Weidong Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai China

In this paper, based on Kane's method, the dynamic model of a complete ship-borne Stewart platform considering ship motion and actuator inertia is established and modal analysis is carried out. Then, based on the modal theory, the modal space PD controller (MSPDC) and modal space sliding mode controller (MSSMC) are designed to realize the decoupling control of the ship-borne Stewart platform, and its stability is proved by Lyapunov stability analysis. Finally, the simulation physical model of the Stewart platform is established, and the simulation experiments of heave and roll single-DOF sinusoidal wave compensation and multi-DOF random wave compensation are carried out. The results show that the modal space control method has great advantages in attitude compensation accuracy and anti-interference ability. Moreover, The Significant Compensation Rate (SCR) is proposed in this paper to evaluate the six-DOF compensation accuracy under random wave. When compensating for random wave with interference, the position SCR of the proposed modal space sliding mode controller is increased from 95.37 % to 99.28 %, and the angle SCR is increased from 85.57 % to 99.65 % compared with the PD controller with gravity compensation (PDCGC). © 2022, The Authors. All rights reserved.

关键词： Sliding mode control

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High-Resolution Natural Image Matting by Refining Low-resolution Alpha Mattes

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IEEE transactions on image processing : a publication of the IEEE Signal Processing Society 2025年 PP卷 PP页

作者： Xianmin Ye Yihui Liang Mian Tan Fujian Feng Lin Wang Han Huang College of Data Science and Information Engineering Guizhou Minzu University Guiyang China Guizhou Key Laboratory of Pattern Recognition and Intelligent System Guizhou Minzu University Guiyang China School of Computer Science Zhongshan Institute University of Electronic Science and Technology of China Zhongshan China Guizhou Key Laboratory of Pattern Recognition and Intelligent System and the College of Data Science and Information Engineering Guizhou Minzu University Guiyang China School of Software Engineering South China University of Technology Guangzhou China Key Laboratory of Big Data and Intelligent Robot (SCUT) MOE of China Guangzhou China Guangdong Engineering Center for Large Model and GenAI Technology Guangzhou China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun China

High-resolution natural image matting plays an important role in image editing, film-making and remote sensing due to its ability of accurately extract the foreground from a natural background. However, due to the complexity brought about by the proliferation of resolution, the existing image matting methods cannot obtain high-quality alpha mattes on high-resolution images in reasonable time. To overcome this challenge, we introduce a high-resolution image matting framework based on alpha matte refinement from low-resolution to high-resolution (HRIMF-AMR). The proposed framework transforms the complex high-resolution image matting problem into low-resolution image matting problem and high-resolution alpha matte refinement problem. While the first problem is solved by adopting an existing image matting method, the latter is addressed by applying the Detail Difference Feature Extractor (DDFE) designed as a part of our work. The DDFE extracts detail difference features from high-resolution images by measuring the image feature difference between high-resolution images and low-resolution images. The low-resolution alpha matte is refined according to the extracted detail difference feature, providing the high-resolution alpha matte. In addition, the Matte Detail Resolution Difference (MDRD) loss is introduced to train the DDFE, which imposes an additional constraint on the extraction of detail difference features with mattes. Experimental results show that integrating HRIMF-AMR significantly enhances the performance of existing matting methods on high-resolution images of Transparent-460 and Alphamatting. Project page: https://***/yexianmin/HRAMR-Matting.

关键词： Feature extraction Image resolution Image color analysis Optimization Remote sensing Clustering algorithms Accuracy Visualization Transforms Training

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Analysis and prediction of multi-joint coupling torque of fingers

Analysis and prediction of multi-joint coupling torque of fi...

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2019 intelligent Rehabilitation and Human-Machine Engineering Conference, IRHE 2019

作者： Yu, Jinxu Zheng, Lin Bai, Xiaolin Du, Yihao Zhang, Lijie Xie, Ping Hebei Province Key Laboratory of Parallel Robot and Mechatronic System Institute of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Province Key Laboratory of Intelligent Rehabilitation and Neuromodulation Institute of Electric Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781839534997

In this paper, a method of analysis and modelling of multi-joint coupling torque of finger is proposed, which can be used to predict the multi-joint coupling torque of fmger m real time Firstly, through the analysis of muscle contraction dynamics and muscle activation dynamics, the single joint neuromusculoskeletal model of finger was established, and the joint torques of metacarpophalangeal (MCP) joint, proximal mterphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-H model was established, and the joint torques of MCP joint and PIP joint were equivalent to the point of DP joint by the principle of virtual work. The multi-joint neuromusculoskeletal model of the finger is established, and the coupling torque of the whole finger during flexion and extension is obtained. Finally, 17 parameters in the finger multi-joint neuromusculoskeletal model were identified, and data acquisition experiments were set up The model prediction torque and software simulation torque were compared, and the root mean square error (RMSE) of the coupling torque is 0.3275, which indicates that the model has a good effect in predicting the finger joint torque and the multi-joint coupling torque. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Data acquisition

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

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2nd IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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