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Weapon-Target Assignment algorithm for Simultaneous and Sequenced Arrival

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2018年第11期41卷 2361-2373页

作者： Volle, Kyle Rogers, Jonathan Georgia Inst Technol Sch Mech Engn Atlanta GA 30332 USA

Weapon-target assignment is a multi-agent control problem in which each weapon is assigned to a target to minimize the expected survival value of the targets. In this work, a multi-objective version of the weapon-target assignment problem is considered in which the quality of an assignment is dependent on both the total effectiveness of the weapons assigned to each target and the relative timing of agents' arrival. Such timing constraints may be important in real-world scenarios in which a mission planner wishes to enforce an element of surprise on each target. Building on previous work, a new modified cost function is presented that couples weapon effectiveness and timing metrics into a combined cost. In cases where weapon-target closing speeds are limited to a certain range, this combined cost allows the inclusion of arrival time constraints in the assignment decision process. The performance of this new cost function is demonstrated through theoretical analysis and simulation. Results show that the proposed cost function balances the dual goals of optimizing effectiveness and arrival time considerations under closing speed limitations and that a user-defined tuning parameter can be used to adjust the priority of the dual goals of sequenced arrival and achieving the desired probability of kill.

关键词： Weapon Target Assignment algorithm Weapon Target Assignment Branch and Bound algorithm Monte Carlo Simulation algorithm performance Optimization algorithm Mobile Robotic System Damage Assessment Annealing Computing

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Recursive Range Estimation Using Astrophysical Signals of Opportunity

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2017年第9期40卷 2201-2213页

作者： Runnels, Joel T. Gebre-Egziabher, Demoz Univ Minnesota Aerosp Engn & Mech Dept 110 Union St SE Minneapolis MN 55455 USA

An estimator for determining the range of a space vehicle relative to some origin by using astrophysical signals of opportunity is developed. The signals used are x-ray photons emitted by pulsars. The estimator is an extended Kalman filter, which estimates the time difference of arrival of x-ray photons at the space vehicle and the origin. The performance of the estimator is validated by Monte Carlo simulations and postprocessing x-ray data from the NASA/Japan Aerospace Exploration Agency Suzaku mission. It is found that the proposed algorithm performance is comparable (as measured by estimation error covariance) to the maximum-likelihood estimator used on this problem, which has been successfully used on a similar x-ray pulsar navigation problem in the past.

关键词： Extended Kalman Filter Monte Carlo Simulation Japan Aerospace Exploration Agency algorithm performance FIR Filters Earth Adaptive Filter Small Satellites Computing Nebulae

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Localisation algorithm for security access control in railway communications

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第14期14卷 2151-2159页

作者： Li, Jing Wu, Hao Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Beijing Engn Res Ctr High Speed Railway Broadband Beijing 100044 Peoples R China

With the dense deployment and wide applications of the Internet of Things in railway systems, the location-based security access control scheme is becoming increasingly important. In this study, the received signal strength (RSS) and channel state information (CSI) in railway communications are measured by AR9344 network interface card. Then, based on the measurement data, the authors propose trajectory-based, neural network-based (NN-based) and ray tracing-based (RT-based) localisation algorithms, serving for location-based security access control. Specifically, the trajectory-based algorithm combined with trajectory simulation, movement detection and dynamic time warping algorithms, realises passengers enter/exit pattern detection. The NN-based algorithm leverages back-propagation network (BPN) and constructs training sets with measurement-based RSS and CSI, finishing accurate localisation. Besides, they evaluate the algorithm performance under different layers of BPN. RT-based localisation algorithm combines measurement data and simulation analysis, leveraging simulated-based multiple-input multiple-output received power and delay spread to realise lightweight localisation. After evaluation, the RT-based algorithm can achieve the highest accuracy of localisation, up to 99.9% and is designed to be straightforward for integration with commercial access points and deployment to railway communications.

关键词： railway communication ray tracing indoor radio wireless channels MIMO communication authorisation neural nets RSSI telecommunication security backpropagation received signal strength CSI railway communications AR9344 network interface card measurement data neural network-based trajectory-based algorithm trajectory simulation NN-based algorithm leverages back-propagation network measurement-based RSS accurate localisation algorithm performance RT-based localisation algorithm lightweight localisation commercial access points dense deployment Internet of Things railway systems location-based security access control scheme

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Coning algorithm Design by Explicit Frequency Shaping

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2010年第4期33卷 1123-1132页

作者： Savage, Paul G. Strapdown Associates Inc Maple Plain MN 55359 USA

A new optimum approach is presented for strapdown coning algorithm design based on Explicit matching of desired response to expected coning input magnitude as a function of coning frequency. Unlike previous time or frequency Taylor series expansion techniques, the new method achieves optimization through minimum least-squares estimation over a user selected design frequency range. The error being minimized is the square of the weighted algorithm error, the weighting factor being user specified coning amplitude over frequency. This methodology allows the coning algorithm coefficients to be independently designed for each coning axis to achieve optimal balanced performance over the frequency range of expected coning inputs. performance of the new algorithm design technique is evaluated by comparison with previous time and frequency-series approaches, in discrete and stochastic coning environments, and over a time based extreme dynamic maneuvering profile. A generalized method is presented for translating system performance requirements into expected coning amplitude versus frequency profiles for calculating Explicit algorithm coefficients, and for evaluating coning algorithm accuracy. The paper includes derivations of generalized formulas for calculating algorithm coefficients for previous time and frequency-series design approaches.

关键词： algorithm performance Taylor Series Resonance Frequencies Computing algorithms Strapdown Inertial Navigation System Dynamic Response Angular Motion Strapdown System Kalman Filter Numerical Optimization

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Vehicle motion planning with time-varying constraints

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2004年第3期27卷 506-509页

作者： Cerven, WT Bullo, F Coverstone, VL Univ Illinois Coordinated Sci Lab Urbana IL 61801 USA

This paper presents a new variant of the rapidly exploring random trees (RRT) for use with a motion primitive-based planner. By the inclusion of time as a state, it is able to accommodate time-varying obstacles and final conditions. This method is shown to be probabilistically complete, finding a solution with a probability of one as the number of iterations goes to infinity. This method was then applied to the example of a spacecraft landing on an idealized asteroid, for which analysis of a batch of runs was completed. This method showed itself to be reliable with typical run times of less than 3 min. Although the randomized method shown is not optimal, there exist methods to refine the tree to increase optimality.

关键词： Motion Planning Saturn Pluto Asteroids Spacecraft Landing Solar Power Gravity Assist Trajectories algorithm performance Aerospace Engineering Randomized algorithms

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Computationally Distributed Real-Time Dual Rate Kalman Filter

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2014年第4期37卷 1064-1068页

作者： Steffes, Stephen German Aerosp Ctr DLR Nav & Control Syst Dept D-28359 Bremen Germany

Many systems include sensors with large measurement delays that must be fused in a Kalman filter in real time. Often, the filter state must be propagated at a higher rate than the rate at which measurements are taken. This can lead to a significant amount of unused CPU time during the time steps in which no measurements are available. This paper presents a method of fusing delayed measurements for a restricted set of systems, which more efficiently uses processing resources at the expense of data availability. The new method splits the filter into a high-rate and a low-rate task running in parallel. The high-rate task propagates the whole states, and the low-rate task propagates and updates an error state filter, which can be distributed over several high-rate periods.

关键词： Kalman Filter Sensors Real Time Operating System Linear Quadratic Gaussian algorithm performance Real Time System Sounding Rockets Accelerometer Star Tracker

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The ground truth about metadata and community detection in networks

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SCIENCE ADVANCES 2017年第5期3卷 1602548-1602548页

作者： Peel, Leto Larremore, Daniel B. Clauset, Aaron Catholic Univ Louvain Inst Informat & Commun Technol Elect & Appl Math Louvain La Neuve Belgium Univ Namur naXys Namur Belgium Santa Fe Inst Santa Fe NM 87501 USA Univ Colorado Dept Comp Sci Boulder CO 80309 USA Univ Colorado BioFrontiers Inst Boulder CO 80309 USA

Across many scientific domains, there is a common need to automatically extract a simplified view or coarse-graining of how a complex system's components interact. This general task is called community detection in networks and is analogous to searching for clusters in independent vector data. It is commonto evaluate the performance of community detection algorithms by their ability to find so-called ground truth communities. This works well in synthetic networks with planted communities because these networks' links are formed explicitly based on those known communities. However, there are no planted communities in real-world networks. Instead, it is standard practice to treat some observed discrete-valued node attributes, ormetadata, as ground truth. We show that metadata are not the same as ground truth and that treating themas such induces severe theoretical and practical problems. Weprove that no algorithmcan uniquely solve community detection, and we prove a general No Free Lunch theoremfor community detection, which implies that there can be no algorithm that is optimal for all possible community detection tasks. However, community detection remains a powerful tool and node metadata still have value, so a careful exploration of their relationship with network structure can yield insights of genuine worth. We illustrate this point by introducing two statistical techniques that can quantify the relationship between metadata and community structure for a broad class ofmodels. We demonstrate these techniques using both synthetic and real-world networks, and formultiple types ofmetadata and community structures.

关键词： algorithm performance community detection ground truth metadata networks no free lunch

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Multidisciplinary approach to intelligent unmanned-airborne-vehicles mission planning

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JOURNAL OF AIRCRAFT 2006年第2期43卷 318-335页

作者： McManus, IA Walker, RA Queensland Univ Technol Brisbane Qld 4001 Australia

The increasing popularity of unmanned airborne vehicles (UAVs) has led to a greater desire to deploy UAVs within civilian airspace. Previous UAV platforms have possessed a limited degree of onboard intelligence. Consequently these UAVs have been constrained to operations within restricted areas or constantly supervision by a human operator. These previous approaches have not enabled the full potential of UAVs to be exploited. The onboard intelligence of UAVs needs to be increased to fully unlock their potential. This paper focuses upon increasing the UAV's onboard intelligence in one specific area, namely, mission planning. Onboard planning techniques have been developed for UAVs in the past. However, the previous approaches have not considered civilian airspace applications and as a result have not been suitable for these applications. This paper presents a novel multidisciplinary approach to onboard UAV mission planning, which combines robotics and three-dimensional graphics techniques. The paper will describe the development of the multidisciplinary approach and its application to mission planning for UAV operations in civilian airspace. Specific optimizations that have been made for the civilian airspace problem will be discussed. Results will be presented based upon testing scenarios built using real-world airspace and terrain information from southeast Queensland, Australia. These results will prove the higher performance and operational freedom achieved by this new approach compared to previous approaches.

关键词： Controlled Airspace Robotics Real Time Operating System Path Planning Aircraft performance Aviation Pilot Aircraft Dynamics Instrument Flight Rules algorithm performance

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Guidance and Control of a Projectile with Reduced Sensor and Actuator Requirements

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2011年第6期34卷 1757-1766页

作者： Fresconi, Frank USA Res Lab Precis & Guided Flight Dynam Team Weap & Mat Res Directorate Aberdeen Proving Ground MD 21015 USA

Successfully guiding a projectile launched from a gun is an extremely challenging task. Striking a balance between performance and affordability requires innovative solutions. This paper introduces a unique guidance and control strategy that enables precision and trajectory shaping with reduced Sensor and actuator needs. The derivation of this guidance and control algorithm is based on flight dynamics. Flight experiments were conducted to verify that the algorithm guided the projectile to the target and to demonstrate its application to different airframes. Features of the algorithm (such as expected precision, maneuver conservation, and trajectory shaping) were investigated through modeling and simulation. Position bias errors drove the precision;errors due to the guidance and control algorithm were on the order of 0.1 m. An analysis was conducted on the lateral acceleration available from the airframe, lateral acceleration required for this algorithm, and lateral acceleration required for classic proportional navigation. For control-authority-limited munitions proportional navigation was unable to intercept the target point, whereas the current guidance algorithm successfully hit the target. Trajectory shaping with this algorithm is demonstrated through simulation.

关键词： Spin Stabilized Projectiles Actuators Sensors Airframes algorithm performance Proportional Navigation Flight Dynamics Flight Control algorithms Angle of Attack GPS

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Comparison of Stochastic Optimization algorithms in Hydrological Model Calibration

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JOURNAL OF HYDROLOGIC ENGINEERING 2014年第7期19卷 1374-1384页

作者： Arsenault, Richard Poulin, Annie Cote, Pascal Brissette, Francois Ecole Technol Super Montreal PQ H3C 1K3 Canada Rio Tinto Alcan Jonquiere PQ G7S 4R5 Canada

Ten stochastic optimization methods-adaptive simulated annealing (ASA), covariance matrix adaptation evolution strategy (CMAES), cuckoo search (CS), dynamically dimensioned search (DDS), differential evolution (DE), genetic algorithm (GA), harmony search (HS), pattern search (PS), particle swarm optimization (PSO), and shuffled complex evolution-University of Arizona (SCE-UA)-were used to calibrate parameter sets for three hydrological models on 10 different basins. Optimization algorithm performance was compared for each of the available basin-model combinations. For each model-basin pair, 40 calibrations were run with the 10 algorithms. Results were tested for statistical significance using a multicomparison procedure based on Friedman and Kruskal-Wallis tests. A dispersion metric was used to evaluate the fitness landscape underlying the structure on each test case. The trials revealed that the dimensionality and general fitness landscape characteristics of the model calibration problem are important when considering the use of an automatic optimization method. The ASA, CMAES, and DDS algorithms were either as good as or better than the other methods for finding the lowest minimum, with ASA being consistently among the best. The SCE-UA method performs better when the model complexity is reduced, whereas the opposite is true for DDS. Convergence speed was also studied, and the same three methods (CMAES, DDS, and ASA) were shown to converge faster than the other methods. The SCE-UA method converged nearly as fast as the best methods when the model with the smallest parameter space was used but was not as worthy in the higher-dimension parameter space of the other models. Convergence speed has little impact on algorithm efficiency. The methods offering the worst performance were DE, CS, GA, HS, and PSO, although they did manage to find good local minima in some trials. However, the other available methods generally outperformed these algorithms. (C) 2014 American Soc

关键词： Hydrology Model calibration Stochastic optimization Parameter search Model complexity algorithm performance

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