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2023 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio science Meeting, AP-S/URSI 2023

作者： Wang, Yuhui Diao, Guijie Ni, Hong Yang, Shunchuan Research Institute for Frontier Science Beihang University Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781665442282

A stable finite-difference time-domain (FDTD) sub-grid ding method using the summation-by-parts simultaneous approximation term (SBP-SAT) technique is proposed. To meet the SBP properties and keep Yee's grids unchanged, the projection operators are carefully designed to extrapolate fields on the boundaries. Then, the SATs are used to weakly enforce the boundary conditions between multiple mesh blocks with different mesh sizes. Therefore, its long-term stability is theoretically guaranteed. An iris filter is simulated to validate the effectiveness of the proposed method. Results show that the proposed SBP-SAT FDTD subgridding method is stable, accurate and efficient. © 2023 IEEE.

关键词： Finite difference time domain method

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A MULTI-AGENT JAMMING DECISION-MAKING METHOD BASED ON SP-HASAC

A MULTI-AGENT JAMMING DECISION-MAKING METHOD BASED ON SP-HAS...

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IET International Radar Conference 2023, IRC 2023

作者： Gao, Jingpeng Shen, Chen Gao, Lu Jiang, Zhiye College of Information and Communication Engineering Harbin Engineering University Harbin China Beijing Institute of Electronic System Engineering Beijing China National Key Laboratory of Science and Technology on Test Physics and Numerical Mathematics Beijing Institute of Space Long March Vehicle Beijing China

ISBN: (纸本)9781839539954

In the study of the multi-UAV penetration mission decision method, the Heterogeneous Agent Soft Actor-Critic algorithm uses the HAML framework and the maximum entropy principle to enable UAVs to have stronger anti-jamming capability and exploration capability. However, it is difficult to accurately evaluate the action value of UAVs and the training stability is poor. To address this issue, this paper proposes a multi-agent based on the state prediction-HASAC(SP-HASAC) jamming decision method. Based on the idea of advantage function decomposition and environmental dynamics model, the state prediction network is designed to extract more abundant spatial information of penetration battlefield and achieve accurate evaluation of the action value of multi-UAV. Combining with the negative domain activation theory, the ReLU function is improved to realize the stable training of multi-UAV. The simulation results show that in the electronic penetration scenario of three UAVs against a single radar, the training convergence time of the proposed improved algorithm is reduced by 22% compared with the original algorithm. Three UAVs penetration to twice the burn-through distance still has more than 70% penetration success rate. © The Institution of engineering & Technology 2023.

关键词： Jamming

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Wideband Channel Measurement and Characterization Based on 5G Passive Sounding in Railway Scenarios

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China Communications 2025年第4期22卷 13-26页

作者： Zheng Peng Fei Dan Chen Chen Chen Haoran Huang Yanyan Ai Bo School of Electronic and Information Engineering Beijing Jiaotong UniversityBeijing 100044China State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Nanjing Rongcai Transportation Technology Research Institute Co. LtdNanjing 211121China Frontiers Science Center for Smart High-Speed Railway System Beijing Jiaotong UniversityBeijing 100044China

With the development of wireless communication,the fifth generation mobile communication technology(5G)has emerged as a hot topic in highspeed railway communication system and has moved towards industrial *** the radio propagation characteristics in 5G high-speed train(HST)scenarios is essential for enhancing wireless coverage and overall system *** propose a novel 5G passive sounding scheme to extract channel impulse responses(CIRs)using channel state information reference signals(CSI-RS)from the target 5G base station(BS).Detailed procedures for timefrequency synchronization,CSI-RS detection and extraction are presented through *** the laboratory work involving absolute power calibration,phase coherence calibration and power delay profile(PDP)validation,we validate the accuracy and performance of the developed ***,a measurement campaign was conducted in HST scenarios encompassing both residential and undeveloped *** path loss(PL)model and the channel characteristics including stationarity interval(SI),multipath components(MPCs),shadow fading(SF),Rician K-factor,root mean square(RMS)delay spread and received correlation coefficients are analyzed and *** estimated channel characteristics and the statistical model presented in this paper will contribute to the research on HST radio propagation and the development of 5G railway communication systems.

关键词： 5G channel characterization channel measurement high-speed train passive sounding

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Brain-inspired Intelligent Robotics:Theoretical Analysis and systematic Application

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Machine Intelligence Research 2023年第1期20卷 1-18页

作者： Hong Qiao Ya-Xiong Wu Shan-Lin Zhong Pei-Jie Yin Jia-Hao Chen The State Key Laboratory of Management and Control for Complex System Institute of AutomationChineseAcademyof SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Chinese Academy of Science Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China

Traditional joint-link robots have been widely used in production lines because of their high precision for single *** the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is *** types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals *** this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal *** paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal *** software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.

关键词： Brain-inspired intelligent robot software and hardware decision making muscle control cognitive intelligence.

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High-precision urban rail map construction based on multi-sensor fusion

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High-Speed Railway 2024年第4期2卷 265-273页

作者： Zhihong Huang Ruipeng Gao Zejing Xu Yiqing Liu Zongru Ma Dan Tao School of Electronic and Information Engineering Beijing Jiaotong UniversityBeijing 100044China School of Cyberspace Science and Technology Beijing Jiaotong UniversityBeijing 100044China Research Institute Traffic Control Technology Co.Ltd.Beijing 100070China

The construction of high-precision urban rail maps is crucial for the safe and efficient operation of railway transportation ***,the repetitive features and sparse textures in urban rail environments pose challenges for map construction with *** by this,this paper proposes a high-precision urban rail map construction algorithm based on multi-sensor *** algorithm integrates laser radar and Inertial Measurement Unit(IMU)data to construct the geometric structure map of the urban *** utilizes image point-line features and color information to improve map accuracy by minimizing photometric errors and incorporating color information,thus generating high-precision *** results on a real urban rail dataset demonstrate that the proposed algorithm achieves root mean square errors of 0.345 and 1.033m for ground and tunnel scenes,respectively,representing a 19.31%and 56.80%improvement compared to state-ofthe-art methods.

关键词： Urban rail Multi-sensor fusion Point-line features Photometric error

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Swarm-Based Dynamic Coverage of Multi-ASV systems in the Presence of Measurement Noises

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 7237-7250页

作者： Liu, Lu Jiao, Shijian Han, Bing Li, Tieshan Peng, Zhouhua Dalian Maritime University School of Marine Electrical Engineering Dalian116026 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China Shanghai Ship and Shipping Research Institute National Engineering Research Center of Ship & Shipping Control System Shanghai200135 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles, limited communication distance, and measurement noises. A modular control method including planning, guidance, and control is proposed. At the planning level, a swarm-based dynamic coverage strategy is developed to achieve the coverage of a given domain. Both the collision avoidance and connectivity preservation issues are solved by using artificial potential fields. At the kinematic level, novel adaptive line-of-sight guidance laws are presented based on cascade extended state observers (CESOs), such that accurate guidance signals are given by compensating for time-varying sideslip angle and suppressing measurement noises. At the kinetic level, two CESOs are developed to estimate the internal model uncertainties and external environmental disturbance, and antidisturbance kinetic control laws are designed subsequently. The proposed CESOs overcome the noises sensitivity problem of classical observers, and thus facilitate the practical implementation under measurement noises. The input-to-state stability of the closed-loop system is confirmed by the Lyapunov theory and cascade stability theory. Simulation and hardware-in-the-loop experiment results are provided to demonstrate the effectiveness of the proposed swarm-based dynamic coverage method. © 1967-2012 IEEE.

关键词： Velocity measurement

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Temperature fluctuations and heat transport in partitioned supergravitational thermal turbulence

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Acta Mechanica Sinica 2024年第6期40卷 20-30页

作者： Dongpu Wang Jing Liu Rushi Lai Chao Sun Beijing Key Laboratory of Space Thermal Control Technology Beijing Institute of Spacecraft System EngineeringBeijing100094China Center for Combustion Energy Key Laboratory for Thermal Science and Power Engineering of MoEand Department of Energy and Power EngineeringTsinghua UniversityBeijing100084China Department of Engineering Mechanics School ofAerospace EngineeringTsinghua UniversityBeijing100084China

We report an experimental study of the local temperature fluctuationsδT and heat transport in a partitioned supergravitational turbulent convection *** to the dynamics of zonal flow in the normal system without partition walls,the probability density function(PDF)at a position in the mixing zone exhibits a downward bending shape,suggesting that the multi-plume clustering effect plays an important *** partitioned system,zonal flow is suppressed and the PDFs indicate that the single-plume effect is ***,statistical analysis shows that the PDF ofδT is sensitive to ***,the thermal spectra follow P(f)∼f^(-5) in the normal system,which is relevant to the zonal *** absolute value of the scaling exponent of P(f)and the scaling range become small in the partitioned system,which provides another evidence for the influence of zonal flow on the energy ***,heat transfer enhancement is found in the partitioned system,which may result from zonal flow being restricted and then facilitating the radial movement of thermal plumes to the opposite conducting *** work may provide insights into the flow and heat transport control of some engineering and geophysical flows.

关键词： Partitioned turbulent convection Supergravity Probability density function Power spectra Heat transfer

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Heuristic Task Allocation Method for Heterogeneous Lunar Robots under Dynamic Resource Cost

Heuristic Task Allocation Method for Heterogeneous Lunar Rob...

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2024 IAF Space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Xu, Rui Zhou, Junhui Li, Zhaoyu Zhu, Shengying Pan, Bo Zhao, Zhijun Yu, Dengyun School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China China Aerospace Science and Technology Corporation Beijing100048 China

ISBN: (纸本)9798331312183

China, in collaboration with multiple countries, is preparing to construct a long-term, independently operated international lunar research station on the surface of the moon in the coming years. The construction of an unmanned lunar research station requires the collaboration of diverse and heterogeneous lunar robots to successfully carry out missions. Task allocation for heterogeneous lunar robots is a crucial technical requirement, focusing on constructing evaluation matrix, designing optimization objective functions, and developing algorithms for optimization matching. The state changes during the execution of tasks by robots result in different resource costs for completing other task goals compared to the initial resource costs. Therefore, one of the major challenges in task allocation for multi-robot systems is effectively managing dynamic resource costs during the construction of evaluation matrix (and subsequent optimization based on the matrix). However, the current approach tends to calculate static cost without considering cost changes during task execution, which deviates from standard engineering practices. Instead, the primary contribution of this paper lies in designing a heuristic algorithm capable of optimizing task allocation outcomes while accounting for the dynamic changes in resource costs incurred during goal achievement. In this paper, we propose a heuristic task allocation method for heterogeneous lunar robots under dynamic resource cost. Given a multi-robot cooperative task, our method firstly constructs a task allocation model based on robotic capability and task resource consumption. Next, based on relaxation planning graph, the resource cost for each lunar rover to complete all task goals is calculated, and the cost of transitioning between different goal states is estimated (to efficiently update the resource cost of completing each goal as the lunar rover's state changes). Subsequently, the evaluation matrix is constructed. Then, a heu

关键词： Multipurpose robots

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A Phase-Dependent and EMG-Driven Variable Stiffness control Strategy for Upper Limb Rehabilitation Robot

A Phase-Dependent and EMG-Driven Variable Stiffness Control ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Pengcheng Guo, Shuxiang Li, Chunying Southern University of Technology and Science Department of Electronic and Electrical Engineering Shenzhen China Aerospace Center Hospital School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665481090

Bilateral training is a widely adopted approach in upper limb rehabilitation due to its effectiveness and ease of implementation. Variable stiffness actuators enhance this approach by facilitating compliant human-machine interaction, ensuring both comfort and safety. However, optimizing stiffness levels for individual subjects to maximize training effectiveness remains a significant challenge. The difficulty of different task phases varies across subjects, necessitating customized robotic assistance. This paper proposes an adaptive stiffness modulation strategy that leverages the cyclic nature of rehabilitation tasks. An adaptive frequency oscillator is employed for real-time phase detection, while a tuning rule, based on motion tracking error and muscular activation, dynamically adjusts stiffness levels. Experimental validation with two participants demonstrated that the proposed strategy effectively promotes affected arm motion and tailors assistance to the user's specific needs. © 2024 IEEE.

关键词： Human robot interaction

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Power control and Interference Pricing Strategies for Heterogeneous Networks With Renewable Energy Sources

Power Control and Interference Pricing Strategies for Hetero...

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作者： Zhou, Chengcheng Xu, Haitao Tang, Runze Lin, Ruijie Guo, Chao Han, Zhu University of Science and Technology Beijing School of Computer and Communication Engineering Beijing China Beijing Institute of Electronic System Engineering Beijing China China Academy of Information and Communications Technology Beijing China Beijing Electronics Science and Technology Institute Department of Electronic and Communication Engineering Beijing China University of Houston HoustonTX77004 United States Kyung Hee University Department of Computer Science and Engineering Seoul446-701 Korea Republic of

In this article, the power control and interference pricing problems between the macro base station (MBS) and small cell base stations (SBSs) in Heterogeneous networks (HetNets) are investigated. To optimally allocate power resources and effectively manage the power resources to reduce interference in HetNets, an innovative Stackelberg differential game approach is proposed. In the proposed Stackelberg game, the SBSs control their transmit power to achieve cost minimization based on the interference price offered by the MBS. Given the optimal power control strategies of SBSs, the MBS can adjust the interference price to realize the objective optimization. Renewable energy sources are introduced into the proposed HetNets, and differential equations formulate the SBSs' dynamic energy. Meanwhile, the MBS's state is given by the dynamic spectrum resources. Then the differential game is imported to achieve optimal power control and interference pricing. The open-loop Nash equilibrium solutions are first analyzed for the MBS and SBSs. Then the feedback Nash equilibrium solutions are given. Under the feedback pattern, the proposed model's performances in the non-cooperative and cooperative situations are discussed. Numerical simulations are given to show the convergence and effectiveness of the proposed game approach. © 1967-2012 IEEE.

关键词： Power control

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