SearcharxivSearch

arXiv subjects

Yifang Zhang

Publications and source records attributed to Yifang Zhang.

2 recordsLinked to original sources

MZ-Rain: Moisture-Budget-Guided Zero-Inflated Model for Station-Level Precipitation Nowcasting

Accurate station-level precipitation nowcasting is critical for agriculture, water resource management, and disaster prevention, which typically is formulated as a time series forecasting problem. However, conventional time-series modeling techniques face two major challenges in addressing station-level precipitation nowcasting: (1) Lack of Physics-Guided Modeling}, where meteorological variables are treated as a homogeneous set without accounting for their distinct roles in precipitation formation, leads to predictions that deviate from the physical processes governing precipitation. (2) Severe zero inflation in precipitation, where dry intervals dominate the dataset, obscuring meaningful precipitation patterns and complicating the predictive modeling. To address these challenges, we propose \textbf{MZ-Rain}, a moisture-budget-guided zero-inflated sLSTM framework for station-level precipitation nowcasting. Guided by the moisture budget equation, MZ-Rain decomposes the precipitation formation process into process-specific pathways corresponding to moisture storage, moisture transport, surface evaporation, and precipitation persistence, and captures their temporal evolution through dedicated sLSTM branches. To account for the zero-inflated nature of precipitation, MZ-Rain introduces an adaptive Tweedie modeling strategy that adaptively modulates the rainfall mean while jointly learning precipitation occurrence as an auxiliary task, enabling the model to better balance dry-wet discrimination and quantitative precipitation estimation. Extensive experiments across diverse geographical and climatic regimes demonstrate that MZ-Rain consistently outperforms strong baselines on multiple evaluation metrics, including CSI, FAR, MSE, and MAE. In particular, the model exhibits superior skill in forecasting heavy precipitation events, while benefiting from physically grounded process modeling.

cs.AI

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby improving structural compactness compared with conventional multi-element compensation schemes. By leveraging parallel gas springs and customized cam modules, the proposed architecture provides dual-axis torque assistance tailored to specific task requirements. The second key contribution is the formulation of a coupled 2-DoF mathematical model that explicitly captures the interdependence between the two compensation units through the shared spring. Based on this model, an optimization-based design framework is developed to synthesize customized cam profiles from prescribed torque references, establishing a systematic link from task requirements to hardware realization. The complete lower-leg CAD integration is presented in detail. Static FEA and kinematic simulations confirm the design's feasibility and torque-relief effectiveness. The results highlight the proposed design as a compact, customizable solution for 2-DoF humanoid ankle torque compensation.

cs.RO