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DNN Task Assignment in UAV Networks: A Generative AI Enhanced Multi-Agent Reinforcement Learning Approach

IEEE Internet of Things Journal 2025年第10期12卷 13340-13352页

作者： Tang, Xin Chen, Qian Weng, Wenjie Liao, Binhan Wang, Jiacheng Cao, Xianbin Li, Xiaohuan Guilin University of Electronic Technology Guangxi University Key Laboratory of Intelligent Networking and Scenario System School of Information and Communication Guilin541004 China Nanyang Technological University College of Computing and Data Science 639798 Singapore Guilin University of Electronic Technology School of Architecture and Transportation Engineering Guilin541004 China Nanning530001 China Beihang University School of Electronic and Information Engineering Key Laboratory of Advanced Technology of Near Space Information System Ministry of Industry and Information Technology of China Beijing100191 China

Unmanned Aerial Vehicles (UAVs) offer high mobility and flexible deployment capabilities, making them ideal for Internet of Things (IoT) applications. However, the substantial amount of data generated by various applications within the existing low-altitude network requires processing through Deep Neural Networks (DNN) on UAVs, which is challenging due to their limited computational resources. To address this issue, we propose a two-stage optimization method for flight path planning and task allocation based on a mother-child UAV swarm system. In the first stage, we employ a greedy algorithm to solve the path planning problem by considering the task size of the target area to be inspected and the shortest flight path as constraints. The goal is to minimize both the flight path of the UAV and the overall cost of the system. In the second stage, we introduce a novel DNN task assignment algorithm that combines Multi-Agent Deep Deterministic Policy Gradient (MADDPG) and Generative Diffusion Models (GDM), named GDM-MADDPG. This algorithm takes advantage of the reverse denoising process of GDM to replace the actor network in MADDPG. It enables UAVs to generate specific DNN task assignment actions based on agents' observations in a dynamic environment, thereby improving the efficiency of task assignment and overall system performance. The simulation results demonstrate that our algorithm outperforms the benchmarks in terms of path planning, Age of Information (AoI), task completion rate, and system utility, demonstrating its effectiveness. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Modeling Method and Application of Rational Finite Element Based on Absolute Nodal Coordinate Formulation

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Acta Mechanica Solida Sinica 2018年第2期31卷 207-228页

作者： Chao Ma Cheng Wei Jing Sun Bin Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Department of Aerospace Engineering Harbin Institute of Technology

In multibody system dynamics, the absolute nodal coordinate formulation （ANCF） uses power functions as interpolating polynomials to describe the displacement field. It can get accurate results for flexible bodies that undergo large deformation and large rotation. However, the power functions are irrational representation which cannot describe the complex shapes precisely, especially for circular and conic sections. Different from the ANCF representation, the rational absolute nodal coordinate formulation （RANCF） utilizes rational basis functions to describe geometric shapes, which allows the accurate representation of complicated displacement and deformation in dynamics modeling. In this paper, the relationships between the rational surface and volume and the RANCF finite element are provided, and the generalized transformation matrices are established correspondingly. Using these transformation matrices, a new four-node three-dimensional RANCF plate element and a new eight-node three-dimensional RANCF solid element are proposed based on the RANCF. Numerical examples are given to demonstrate the applicability of the proposed elements. It is shown that the proposed elements can depict the geometric characteristics and structure configurations precisely, and lead to better convergence in comparison with the ANCF finite elements for the dynamic analysis of flexible bodies.

关键词： Multibody system dynamics Absolute nodal coordinate formulation Flexible deformation Spline representation Rational finite element

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A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing

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Science China(Technological Sciences) 2021年第3期64卷 462-480页

作者： DING XiLun WANG YeCong WANG YaoBing XU Kun Robotics Institute Beihang UniversityBeijing 100191China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing 100094China

Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.

关键词： space robotic system on-orbit servicing large space manipulator humanoid space robot verification kinematics calibration

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

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space(Science & technology) 2021年第1期2021卷 119-126页

作者： Rui Wang Changchun Liang Dong Pan Xiaodong Zhang Pengfei Xin Xiaodong Du Beijing Institute of Spacecraft System Engineering Beijing 100094China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing 100094China

In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is *** predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the *** overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction *** effectiveness of this method is verified by simulation and experiment.

关键词： Visual Velocity prediction

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Lightweight structure of a phase-change thermal controller based on lattice cells manufactured by SLM

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Chinese Journal of Aeronautics 2019年第7期32卷 1727-1732页

作者： Hao ZHOU Xiaoyu ZHANG Huizhong ZENG Huning YANGa Hongshuai LEI Xiao LI Yaobing WANG Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijing100094China Institute of Advanced Structure Technology Beijing Institute of TechnologyBeijing100081China

Thermal controllers equipped with phase-change materials are widely used for maintaining the moderate temperatures of various electric devices used in spacecraft. Yet, the structures of amounts of thermal controllers add up to such a large value that restricts the employment of scientific devices due to the limit of rocket capacity. A lightweight structure of phase-change thermal controllers has been one of the main focuses of spacecraft design engineering. In this work, we design a lightweight phase-change thermal controller structure based on lattice cells. The structure is manufactured entirely with AlSi10 Mg by direct metal laser melting. The dimensions of the structure are 230 mm × 170 mm × 15 mm, and the mass is 190 g, which is 60% lighter than most traditional structures(500–600 g) with the same dimensions. The 3 D-printed structure can reduce the risk of leakage at soldering manufacture by a welding process. Whether the strength of the designed structure is sufficient is determined through mechanical analysis and experiments. Thermal test results show that the thermal capacity of the lattice-based thermal controller is increased by50% compared to that of traditional controllers with the same volume.

关键词： Lattice structure Lightweight Selective laser melting(SLM) spacecraft Thermal controller

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Research of Visual Servo Control system for space intelligent Robot

Research of Visual Servo Control System for Space Intelligen...

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2015 IEEE Advanced Information technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Liang Changchun Zhang Xiaodong Pan Dong Liu Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

ISBN: (纸本)9781479919819

space intelligent robotic systems are expected to play an increasingly important role in the *** robotic onorbital service,whose key is the tracking and capturing technology,becomes research hot in recent *** this paper,the authors propose a vision servo control system for target *** manipulator will be an intelligent robotic system with large-scale movement,functional agility,and autonomous ability,and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation *** realize the autonomous movement and capture mission of SRM,a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better *** control system hierarchy is designed and reliability is considering to guarantee the abilities of control *** last,a ground experiment system is set up based on the concept of robotic control *** that,the autonomous target capturing experiments are *** experiment results validate the proposed algorithm,and demonstrates that the control system can fulfill the needs of function,real-time and reliability.

关键词： Control system On-orbital service space robot Vision servo

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Design of variable stiffness joint of manipulator

Design of variable stiffness joint of manipulator

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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Ni, Wencheng Wang, Yaobing Ma, Ruqi Sun, Kang Pan, Bo Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9781510674608

In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability. In this paper, a design method of variable stiffness modular manipulator joint with large stiffness variation range is proposed, the mechanism design and variable stiffness principle of variable stiffness joint are described, and the ability of stiffness variation in large range is verified through experiments. © 2024 SPIE.

关键词： Leaf springs

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The current feedforward compensation method for the cogging torque of permanent magnet synchronous motors 9

The current feedforward compensation method for the cogging ...

引用

9th IEEE International Conference on Cyber technology in Automation, Control and intelligent systems, CYBER 2019

作者： Xin, Liu Dong, Zhou Pei, Zhang Rui, Wang Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781728107691

The cogging torque is the inherent characteristic of permanent motors with the cogging. The cogging torque reduces the stability of the motor, especially in the status of the low speed. A compensation method based on the current feedforward is proposed in terms with the function between the torque and Q-Current by the method of space Vector PWM of the permanent magnet synchronous motors. The relation equation between the cogging torque and the rotor angle is obtained by the experimental analysis. And then, the transfer function of the current closed-loop system is obtained by using the experiment data and the system identification method. The cogging torque compensation current is calculated by the forecast for the position of the rotor. The experiment results show that the presented method can effectively improve the stability of the motor speed. © 2019 IEEE.

关键词： Permanent magnets

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A Visual-based Servo Control Method for space Manipulator Assisted Docking 6

A Visual-based Servo Control Method for Space Manipulator As...

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6th IEEE Information technology and Mechatronics Engineering Conference, ITOEC 2022

作者： Liang, Changchun Wang, Rui Liu, Xin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781665431859

Focusing on task of space manipulator assisting docking, a visual-servo close loop control method is proposed, the full system simulation model established, and simulated in control-dynamics closed loop for verification, simulations results indicates that the relative position (orientation) can be adjusted under the proposed method in a smooth way, the method can be referenced by future manipulators tasks like OOS. © 2022 IEEE.

关键词： Manipulators

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The Experimental Adaptability Design and Verification of the space Station Manipulator's Joint 3

The Experimental Adaptability Design and Verification of the...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Li, Delun Zhang, Yun Wang, Kang Liu, Xin Zhang, Li Fan, Ning Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The manipulator launched with the TianHe capsule is currently the most complex, intelligent, and integrated space intelligence system in China. It indicates that China has become the world's third country after Canada and Japan who has the ability to independently develop the space Station Manipulator. When designing the manipulator, we have to concern the space environment of vibration, vacuum, thermal and electromagnetic radiation in aerospace, and the joints must adapt to the space environment. By adopting a series of methods of multi-point compression, solid silicate bonded MoS2 known as PM5, a combining of active thermal control and passive thermal control, the problem of environmental adaptability is solved. The joint successfully passed the verification of mechanical test, thermal cycle test, thermal vacuum test and life test. The environmental adaptability design and verification of the joint can be used as a reference for joints and end effectors of space manipulator. © 2021 IEEE.

关键词： Manipulators

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