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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Tang, Lvbang Wang, Hesheng Li, Peng Wang, Yong Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China China School of Mechanical Engineering and Automation China Beijing Institute of Control Engineering China

ISBN: (纸本)9781728163215

In this paper, we propose a time-efficient approach to generate safe, smooth and dynamically feasible trajectories for quadrotors in the obstacle-cluttered environment. By using the uniform B-spline to represent trajectories, we transform the trajectory planning to a graph-search problem of B-spline control points in discretized space. Highly strict convex hull property of B-spline is derived to guarantee the dynamical feasibility of the entire trajectory. A novel non-uniform kino-dynamic search strategy is adopted, and the step length is dynamically adjusted during the search process according to the Euclidean signed distance field (ESDF), making the trajectory achieve reasonable time-allocation and be away from obstacles. Non-static initial and goal states are allowed, therefore it can be used for online local re-planning as well as global planning. Extensive simulation and hardware experiments show that our method achieves higher performance compared with the state-of-the-art method. © 2019 IEEE.

关键词： Trajectories

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control Strategies for Target-Attacker-Defender Games of USVs

Control Strategies for Target-Attacker-Defender Games of USV...

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作者： Bin Lin Lei Qiao Zehua Jia Zhijian Sun Min Sun Weidong Zhang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong University Department of Automation Shanghai Jiao Tong University CROSSOCEAN OF SUZHOU TECHNOLOGY CO.ITD

This paper presents two strategies for the targetattacker-defender(TAD) game of unmanned surface vessels(USVs) with bounded velocity and angular *** use nonlinear model predictive control(NMPC) to design strategies which minimize the effort for each agent to win the game.A novel R-C-S trajectory framework is proposed to evaluate the time for USVs to reach the prearranged coordinates,and is applied to both sides' strategies of the TAD *** is assumed that strategies of both sides are unknown to each *** attacker's strategy is based on the dynamic artificial potential field method,which guides the attacker to evasive actions according to the threat level of the *** strategy for the defender and the target guides the two agents to cooperate for the overall interest of the *** performance of the proposed algorithms is tested in numerical simulations,and it turns out that the the strategies perform better than traditional methods.

关键词： USV target-attacker-defender game active defense dynamic artificial potential field

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Thin layer identification using a theoretical X-ray logging while drilling (LWD) density imaging tool

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Petroleum Science 2025年

作者： He, Wen-Bin Fan, Ji-Lin Zhang, Qiong Jin, Ya Yuan, Wei Zhang, Quan-Wen Department of Control Science and Engineering School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China China National Logging Corporation Shaanxi Xi'an710077 China China Oilfield Services Limited Hebei Sanhe065201 China

With the increasing demand for oil exploration and subsurface resource development, density imaging plays an increasingly important role in identifying thin layers. However, conventional density imaging tools are limited by poor vertical resolution and therefore suffer from errors in accurately estimating the thickness and relative dip angle of thin layers. This affects the accurate evaluation of thin layer oil and gas reserves. To address this issue, this study evaluates the feasibility of employing novel methods based on advanced tool design. First, an electronically controllable X-ray source is selected to replace the traditional Cs-137 source, aiming to improve the tool's vertical resolution while reducing the radioactive risks commonly associated with chemical sources. Simulation results show that the X-ray tool provides sufficient depth of investigation with better vertical resolution while maintaining the same level of measurement sensitivity. Once the tool design is established, Fisher's optimal segmentation method is improved to enhance the estimation of thin layer thickness and relative dip angle. This is completed by transforming identifying thin layer interface into a mathematical clustering problem. The thin layer interface is fitted using the nonlinear least squares method, which enables the calculation of its parameters. The results demonstrate a 38.5% reduction in RMSE (root mean square error) for thin layer thickness and a 33.7% reduction in RMSE for relative dip angle, demonstrating the superior performance of enhanced X-ray tool in thin layer identification. This study provides a new perspective on the design of density imaging tools and assessment of thin layer, which can help in future thin layer hydrocarbon reserves evaluation and development decisions. © 2025 The Authors

关键词： X ray films

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Development of power drive technology for high lift system of commercial aircraft

Development of power drive technology for high lift system o...

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CSAA/IET International Conference on Aircraft Utility systems 2020, AUS 2020

作者： Liu, Tong Zhang, Yue Wang, Weida Ju, Jiachen Yu, Wenbin Department of Flight Control System Shanghai Aircraft Design and Research Institute 5188 Jinke Rd. Shanghai201210 China Department of Science and Technology Management Commercial Aircraft Corporation of China Ltd. 1919 Shibo Ave. Shanghai200126 China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University 800 Dongchuan Rd. Shanghai200240 China

ISBN: (纸本)9781839535635

In this paper, the development of power driving technology for high lift system of modern commercial aircraft is presented. Three kinds of power driving technical schemes of high lift system are demonstrated together with their characteristics. Various applications of power drive technology on present mainstream aircrafts have been addressed and analyzed respectively. In addition to the analysis of existing power drive technology, this work presented that distributed electric power drive technology could be a potential future development trend. The paper can be read as a reference for selecting power driving technical scheme of high lift systems at conceptual design phase of a commercial aircraft. © 2020 Institution of engineering and Technology. All rights reserved.

关键词： Conceptual design

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CNN-based flow control device modelling on aerodynamic airfoils

Research Square

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Research Square 2021年

作者： Portal-Porras, Koldo Fernandez-Gamiz, Unai Zulueta, Ekaitz Ballesteros-Coll, Alejandro Zulueta, Asier Nuclear Engineering and Fluid Mechanics Department University of the Basque Country UPV/EHU Nieves Cano 12 Araba Vitoria-Gasteiz01006 Spain System Engineering and Automation Control Department University of the Basque Country UPV/EHU Nieves Cano 12 Araba Vitoria-Gasteiz01006 Spain

Wind energy has become an important source of electricity generation, with the aim of achieving a cleaner and more sustainable energy model. However, wind turbine performance improvement is required to compete with conventional energy resources. To achieve this improvement, flow control devices are implemented on airfoils. Computational Fluid Dynamics (CFD) simulations are the most popular method for analyzing this kind of devices, but in recent years, with the growth of Artificial Intelligence, predicting flow characteristics using neural networks is becoming increasingly popular. In this work, 158 different CFD simulations of a DU91W(2)250 airfoil are conducted, with two different flow control devices, rotating microtabs and Gurney flaps, added on its Trailing Edge (TE). These flow control devices are implemented by using the cell-set meshing technique. These simulations are used to train and test a Convolutional Neural Network (CNN) for velocity and pressure field prediction and another CNN for aerodynamic coefficient prediction. The results show that the proposed CNN for field prediction is able to accurately predict the main characteristics of the flow around the flow control device, showing very slight errors. Regarding the aerodynamic coefficients, the proposed CNN is also capable to predict them reliably, being able to properly predict both the trend and the values. In comparison with CFD simulations, the use of the CNNs reduces the computational time in four orders of magnitude. © 2021, CC BY.

关键词： Computational fluid dynamics

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Mission planning for repeated multi-spacecraft non-contact debris removal

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Chinese Journal of Aeronautics 2025年

作者： Hang XU Lujiang LIU Yanning GUO Youmin GONG Bin SONG Guangfu MA Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Shanghai Institute of Aerospace System Engineering Shanghai 201109 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Non-contact debris removal methods are fuel-efficient in a single operation compared to contact-based strategies as spacecraft don’t need to match debris velocity. To comprehensively analyze this scheme, maneuvering schemes for maximum debris removal with minimum fuel consumption, including task assignment, sequence planning, and trajectory planning, must be formulated. The coupling between variables’ dimensions and optimization results in task assignment poses challenges, as debris removal is repetitive and uncertain, leading to a vast search space. This paper proposes a novel Greedy Randomized Adaptive Search Procedure with Large Neighborhood and Crossover Mechanisms (GRASP-LNCM) to address this problem. The hybrid dynamic iteration mechanism improves computational efficiency and enhances the optimality of results. The model innovatively considers unsuccessful single removal by using a quantitative method to assess removal percentage. In addition, to improve the efficiency of sequence and trajectory planning, a Suboptimal Search Algorithm (SSA) based on the Lambert property and accelerated Multi-Revolution Lambert Problem (MRLP) solving strategy is established. Finally, a real Iridium-33 debris removal mission is studied. The simulation demonstrates that the proposed algorithm achieves state-of-the-art performance in several typical scenarios. Compared to the contact-based scheme, the new one is simpler, saving more fuel under certain conditions.

关键词： Space debris Planning Non-contact method Optimization Greedy randomized adaptive search procedure

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Finite-Time Observer-Based Robust Continuous Twisting control for the Attitude of an Uncertain Quadrotor UAV Subjected to Disturbances 17

Finite-Time Observer-Based Robust Continuous Twisting Contro...

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17th IEEE International Conference on Mechatronics and automation, ICMA 2020

作者： Mechali, Omar Xu, Limei Senouci, Abdelkader Xie, Xiaomei Xin, Chen Mechali, Abdesslam University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611731 China Control and Automation Laboratory Ecole Supérieure Ali Chabati Reghaia Algiers Algeria University of Hassiba Ben Bouali Department of Mechanical Engineering Chlef Algeria

ISBN: (纸本)9781728164151

This paper deals with robust attitude control problem of the quadrotor UAV in the presence of model uncertainties and external disturbances such as wind gusts. A Disturbance Observer-Based control (DOBC) method is proposed by combining an Improved Twisting control (ITC) algorithm and a Finite-Time Observer (FTO). Within the ITC scheme, the chattering problem of discontinuous Sliding Mode control (SMC) techniques can be reduced due to the continuous control signal. Besides, finite-time convergence of the system states can be ensured to achieve accurate control. On the other hand, to reject external disturbances, the FTO observer is incorporated into the control framework. Stability analysis of the closed-loop system is rigorously investigated by using a homogeneous Lyapunov Function (LF). Experimental tests are conducted to validate the theoretical findings. A comparative study is made involving the proposed ITC-FTO strategy and three other controllers, including Continuous Twisting controller (TC), Integral Backstepping Sliding Mode controller (IBSMC), and a Nominal Backstepping controller (NBSC). Overall, the obtained results show that the suggested control system yields performance improvement regarding accuracy and robustness. Meanwhile, the chattering effect of conventional SMC is remarkably alleviated. © 2020 IEEE.

关键词： Sliding mode control

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Enabling Stateful TCP Performance Profiling with Key Event Capturing

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IEEE Transactions on Network and Service Management 2025年

作者： Geng, Ruopeng Lu, Jianyuan Fang, Chongrong Zhang, Shaokai Zhao, Jiangu Zong, Zhigang Lyu, Biao Zhu, Shunmin Cheng, Peng Chen, Jiming Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Alibaba Group Hangzhou310052 China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

TCP ensures reliable transmission through its stateful implementation and remains crucial today. TCP performance profiling is essential for tasks like diagnosing network performance problems, optimizing transmission performance, and developing new TCP variants, etc. Existing profiling methods lack enough attention to TCP state transition to provide detailed insights on TCP performance. Thus, we build TcpSight, a tool focusing on TCP state transition throughout connection lifetimes. TcpSight conducts stateful analysis by capturing key events using an efficient per-connection lock-free data management mechanism. Besides, TcpSight enhances profiling by integrating application layer information collected from the TCP stack. With the profiling results, users can identify the culprit of TCP performance degradation, and evaluate the performance of TCP algorithms. We design optional modules and filtering mechanisms to reduce TcpSights overhead. Our evaluation presents that TcpSight incurs an additional CPU consumption of about 16.6% (without filtering) and 10.6% (with filtering) when the server's load is 55.7%, and generates storage consumption about 1.88 KB per connection on average. We also give application cases of TcpSight and the deployment experiences in Alibaba Cloud. TcpSight helps in revealing meaningful findings and insights into exploiting TCP in the production deployment. © 2004-2012 IEEE.

关键词： Information management

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The Combination of Two control Strategies for Series Hybrid Electric Vehicles

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 596-608页

作者： Can Luo Zhen Shen Simos Evangelou Gang Xiong Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Cloud Computing Center Chinese Academy of Sciences IEEE Department of Electrical and Electronic Engineering Imperial College London Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

关键词： DC-Link voltage control power follower control strategy series hybrid electric vehicles tuning

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Space Charge Transport of $\boldsymbol{\text{Al}_2 \mathrm{O}_3}$ /Silicone Rubber Composites Under Thermal Aging

Space Charge Transport of $\boldsymbol{\text{Al}_2 \mathrm{O...

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International Conference on High Voltage engineering and Application, ICHVE

作者： Yunxiao Zhang Chenning Yan Kai Wu Yuanxiang Zhou Tianfeng Zhang College of Electrical Engineering and Automation Fuzhou University Fuzhou Fujian China Department of Electrical Engineering State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China The Wind Solar Storage Division of State Key Laboratory of Power System and Generation Equipment School of Electrical Engineering Xinjiang University Urumqi China Electric Power Research Institute Anhui Electric Power Company of State Grid Hefei China

ISBN: (数字)9781665407502

ISBN: (纸本)9781665407519

Silicone rubber (SIR) has been widely used in the insulation of cable accessories due to its excellent performance. In this paper, pure SIR and nano $\boldsymbol{\text{Al}_2 \mathrm{O}_3 / \text{SIR}}$ composites are thermally aged for 0–80 days at $\boldsymbol{200^{\circ} \mathrm{C}}$ . The effects of long-term thermal aging on the space charge transport are analyzed. The results show that with the increase of thermal aging time, the accumulation of heteropolar charge of pure SIR and nano $\boldsymbol{\text{Al}_{2}\mathrm{O}_{3}/\text{SIR}}$ composites gradually decreases and changes to the accumulation of homopolar charge. Compared with pure SIR, the space charge accumulation of $\boldsymbol{\text{Al}_{2}\mathrm{O}_{3}/\text{SIR}}$ composites decreases significantly and changes little with the increase of thermal aging time. It is believed that when doped nano $\boldsymbol{\text{Al}_{2}\mathrm{O}_{3}}$ in SIR, the increase of carrier mobility and the introduction of metal oxides reacting with fallen free radicals to form stable compounds both lead to less space charge accumulation of $\boldsymbol{\text{Al}_{2}\mathrm{O}_{3}/\text{SIR}}$ composites.

关键词： Nanocomposites Impurities Metals High-voltage techniques Aging Space charge Thermal analysis

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