{"id":"https://openalex.org/W2059698169","doi":"https://doi.org/10.1109/tim.2014.2386951","title":"Optimal State Estimation of Spinning Ping-Pong Ball Using Continuous Motion Model","display_name":"Optimal State Estimation of Spinning Ping-Pong Ball Using Continuous Motion Model","publication_year":2015,"publication_date":"2015-01-15","ids":{"openalex":"https://openalex.org/W2059698169","doi":"https://doi.org/10.1109/tim.2014.2386951","mag":"2059698169"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2014.2386951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2014.2386951","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114391581","display_name":"Yongsheng Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yongsheng Zhao","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347988","display_name":"Yifeng Zhang","orcid":"https://orcid.org/0000-0001-9169-210X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yifeng Zhang","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101528125","display_name":"Rong Xiong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100336337","display_name":"Jianguo Wang","orcid":"https://orcid.org/0000-0002-6282-0456"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jianguo Wang","raw_affiliation_strings":["Center for Autonomous Systems, Faculty of Engineering and Information Technologies, University of Technology, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Center for Autonomous Systems, Faculty of Engineering and Information Technologies, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114391581"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9361,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8237628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"64","issue":"8","first_page":"2208","last_page":"2216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5926207900047302},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47664958238601685},{"id":"https://openalex.org/keywords/fourier-series","display_name":"Fourier series","score":0.47610506415367126},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46897873282432556},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3952046036720276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3936622738838196},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.37786930799484253},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3676469326019287},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33893883228302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23103395104408264},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.20280036330223083},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10509109497070312}],"concepts":[{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5926207900047302},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47664958238601685},{"id":"https://openalex.org/C207864730","wikidata":"https://www.wikidata.org/wiki/Q179467","display_name":"Fourier series","level":2,"score":0.47610506415367126},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46897873282432556},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3952046036720276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3936622738838196},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.37786930799484253},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3676469326019287},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33893883228302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23103395104408264},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.20280036330223083},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10509109497070312},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2014.2386951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2014.2386951","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6132516227","display_name":null,"funder_award_id":"61473258","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W151866386","https://openalex.org/W168148528","https://openalex.org/W1535581754","https://openalex.org/W1559566475","https://openalex.org/W1861253312","https://openalex.org/W2006804034","https://openalex.org/W2013264013","https://openalex.org/W2023801472","https://openalex.org/W2040351281","https://openalex.org/W2088792975","https://openalex.org/W2094086691","https://openalex.org/W2102105423","https://openalex.org/W2105696347","https://openalex.org/W2112089018","https://openalex.org/W2112090547","https://openalex.org/W2112963000","https://openalex.org/W2131531493","https://openalex.org/W2142300342","https://openalex.org/W2144636911","https://openalex.org/W2162447456","https://openalex.org/W2170090166","https://openalex.org/W2328433174","https://openalex.org/W2373057761","https://openalex.org/W2541791348","https://openalex.org/W3147935447","https://openalex.org/W6675879000"],"related_works":["https://openalex.org/W2989775562","https://openalex.org/W2002316083","https://openalex.org/W2305542682","https://openalex.org/W2507513082","https://openalex.org/W2754413006","https://openalex.org/W2922119012","https://openalex.org/W2082214929","https://openalex.org/W2329001915","https://openalex.org/W3045828253","https://openalex.org/W62536778"],"abstract_inverted_index":{"Precise":[0],"trajectory":[1,41,56,91,163,204],"prediction":[2,42],"is":[3,117,158],"a":[4,37,98,146,166,190,196,219],"fundamental":[5],"issue":[6],"for":[7,77,150],"ping-pong":[8,45,105],"robot":[9],"systems.":[10],"Due":[11],"to":[12,50,60,119,136,188,200],"the":[13,19,22,29,61,64,112,114,121,128,141,144,161,170,175,201,224,235,240],"difficulty":[14],"of":[15,21,31,43,63,103,143,239],"spin":[16,52,78,88],"estimation":[17,89,157,193],"and":[18,90,182,206,237],"complexity":[20],"motion":[23,66,100,152,176],"model,":[24],"most":[25],"existing":[26],"algorithms":[27],"ignore":[28],"effect":[30],"spin,":[32],"which":[33,84,126],"will":[34,85],"result":[35],"in":[36,40],"significant":[38],"deviation":[39],"spinning":[44,104],"ball.":[46],"Some":[47],"literatures":[48],"proposed":[49,171,241],"estimate":[51],"state":[53,153,177],"based":[54,107],"on":[55,108],"bias,":[57],"but":[58],"due":[59],"limitations":[62],"discrete":[65],"model":[67,101,129],"they":[68],"derived,":[69],"only":[70],"polynomial":[71,180],"fitting":[72],"method":[73,172,187],"can":[74,215,228],"be":[75,216,229],"used":[76,118],"estimation,":[79],"rather":[80],"than":[81],"model-based":[82,147,191],"method,":[83],"cause":[86],"inaccurate":[87],"prediction.":[92],"In":[93],"this":[94,212],"paper,":[95],"we":[96],"derive":[97],"continuous":[99],"(CMM)":[102],"ball":[106],"forces":[109],"analysis.":[110],"During":[111],"derivation,":[113],"Fourier":[115],"series":[116],"fit":[120],"velocity":[122],"changing":[123],"over":[124],"time,":[125],"transforms":[127],"from":[130],"unsolvable":[131],"coupled":[132],"variable-coefficient":[133],"differential":[134],"equations":[135],"solvable":[137],"uncoupled":[138],"equations.":[139],"On":[140],"strength":[142],"CMM,":[145],"optimal":[148,192,226],"algorithm":[149],"ball's":[151],"<sup":[154],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[156],"proposed.":[159],"Using":[160],"initial":[162],"acquired":[164],"by":[165,194],"stereo":[167],"vision":[168],"system,":[169],"first":[173],"estimates":[174],"approximately":[178],"with":[179],"fitting,":[181],"then":[183],"uses":[184],"gradient":[185],"descent":[186],"achieve":[189],"minimizing":[195],"cost":[197],"function":[198],"corresponding":[199],"differences":[202],"between":[203],"predictions":[205],"observations.":[207],"We":[208],"also":[209],"prove":[210],"that":[211],"optimization":[213,221],"problem":[214],"plotted":[217],"as":[218],"convex":[220],"problem;":[222],"thus,":[223],"globally":[225],"solution":[227],"obtained.":[230],"The":[231],"experimental":[232],"results":[233],"confirm":[234],"effectiveness":[236],"accuracy":[238],"method.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-30T08:08:38.191290","created_date":"2025-10-10T00:00:00"}