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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Ziye, Zhao Nan, Xiang Bowen, Qin Intelligent Science and Technology Academy Limited of CASIC Beijing China Key Lab of Aerospace Defense Intelligent System and Technology Beijing China

ISBN: (纸本)9789819710829

To solve the contradiction between the low combat effectiveness and small scope of action of single unmanned equipment and the difficulty of unmanned clusters to focus on the core value of the battlefield and the low level of intelligence in the urban terrain, the Small-Swarm of UGVs (SS-UGVs) system composed of multiple unmanned ground vehicles is urgently needed. Taking the SS-UGVs system constructed by heterogeneous multi-unmanned vehicles as the research object, with following control, battlefield reconnaissance and target search, multi-task collaborative distribution and multi-platform collaborative roundup as typical combat tasks, a SS-UGVs hybrid collaborative planning and control system is proposed. The system interaction design, drive algorithm development, and real vehicle scenario test verification are realized. The test results show that the hybrid architecture system has compatibility and openness, and the internal intelligent drive algorithm has modularity and fungibility, which initially forms the effectiveness of SS-UGVs in urban terrain, effectively improves the battlefield efficiency and mission execution robustness of SS-UGVs, and promotes the rapid generation of larger scale unmanned swarms cooperative combat capability. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Ground vehicles

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A fast calculation method for three-impulse contingency return trajectory during the near-moon phase based on differential algebra

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Chinese Journal of Aeronautics 2025年第4期38卷 286-304页

作者： Lin LU Haiyang LI Tianshan DONG Wanmeng ZHOU College of Aerospace Science and Technology National University of Defense TechnologyChangsha 410073China Hunan Key Laboratory of Intelligent Planning and Simulation for Aerospace Missions Changsha 410073China Beijing Institute of Spacecraft System Engineering Beijing 100094China China Astronaut Research and Training Center Beijing 100094China

Aimed at the demand of contingency return at any time during the near-moon phase in the manned lunar landing missions,a fast calculation method for three-impulse contingency return trajectories is ***,a three-impulse contingency return trajectory scheme is presented by combining the Lambert transfer and maneuver at the special ***,a calculation model of three-impulse contingency return trajectories is ***,fast calculation methods are proposed by adopting the high-order Taylor expansion of differential algebra in the twobody trajectory dynamics model and perturbed trajectory dynamics ***,the performance of the proposed methods is verified by numerical *** results indicate that the fast calculation method of two-body trajectory has higher calculation efficiency compared to the semi-analytical calculation method under a certain accuracy *** to its high efficiency,the characteristics of the three-impulse contingency return trajectories under different contingency scenarios are further analyzed *** findings can be used for the design of contingency return trajectories in future manned lunar landing missions.

关键词： Manned lunar landing Contingency return trajectory Trajectory calculation method Differential algebra Trajectory characteristic analysis

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Visual Navigation and Shape Reconstruction for Asteroid Approaching Phase 3rd

Visual Navigation and Shape Reconstruction for Asteroid Ap...

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Hu, Ronghai Jiao, Zhuang Hu, Handong Intelligent Science and Technology Academy Limited of CASIC Beijing100043 China Key Lab of Aerospace Defense Intelligent Systems and Technology Beijing100043 China

ISBN: (纸本)9789819710867

Visual navigation and shape reconstruction are of paramount importance for the safety and success of asteroid missions. This paper proposes a new method using silhouette and pixel area measurements to simultaneously estimate the position of probe and the shape of target during approaching an asteroid. First, the silhouette of target projected on the image plane is extracted using segmentation algorithms, and its pixel area is also calculated for subsequent processing. Second, the relative position of the probe concerning the target asteroid is normalized and estimated based on the pixel area on the hypothesis of uniform linear motion. Then, a parametric shape model of the target is established with a one-dimensional vector and is estimated and fused by minimizing the reprojection error of the silhouette. Finally, synthetic image sequences are generated and Monte Carlo simulations are conducted to verify the proposed method, and the numerical results demonstrate its advances in accuracy. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Asteroids

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Design approach of contingency point return trajectory for manned lunar missions based on homotopy continuation 3

Design approach of contingency point return trajectory for m...

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2024 3rd International Conference on aerospace, Aerodynamics and Mechatronics Engineering, AAME 2024

作者： Lu, Lin Li, Haiyang Dong, Tianshan Zhu, Binyu College of Aerospace Science and Engineering National University of Defense Technology Changsha410073 China Hunan Key Laboratory of Intelligent Planning and Simulation for Aerospace Missions Changsha410073 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

In terms of the requirement of contingency return during the circumlunar flight phase in manned lunar missions, this article presents a contingency point return trajectory design approach. In consideration of the point return constraint, an initial value estimate model is proposed. A nonlinear programming problem is constructed and solved by adopting an improved differential evolution algorithm with good global search ability. On the basis of the initial value estimate, homotopy continuation is used to gradually approximate and obtain the high-fidelity solution. The simulation results indicate that the design approach can effectively calculate a contingency point return trajectory with good convergence. © Published under licence by IOP Publishing Ltd.

关键词： Lunar missions

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PRI-based radar signal binning algorithm and simulation implementation 7

PRI-based radar signal binning algorithm and simulation impl...

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7th IEEE Information technology and Mechatronics Engineering Conference, ITOEC 2023

作者： He, Yonghua Sang, Xin Li, Yonggang Wang, Jiangyu Guo, Qianyong Wu, Peng University of Aerospace Engineering Department of Electronic and Optical Engineering Beijing China Key Lab. of Electron. Info. Equipment System Research for National Defense Science and Technology Beijing China

ISBN: (纸本)9798350334197

In a radar signal sorting system, sorting based on PRI features is an important part of the system, and PRI classification is generally divided into two parts, one is to determine the PRI value, and the other is to perform sequence retrieval based on PRI. This paper first describes the PRI characteristics of several typical radar signals, and then introduces in detail several classical PRI feature extraction algorithms, such as the dynamic extended correlation algorithm, the statistical histogram algorithm and the CDIF algorithm, and carries out theoretical analysis and experimental validation of these algorithms. © 2023 IEEE.

关键词： Graphic methods

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Radar signal binning based on improved SDIF algorithm 7

Radar signal binning based on improved SDIF algorithm

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7th IEEE Information technology and Mechatronics Engineering Conference, ITOEC 2023

作者： Sang, Xin He, Yonghua Li, Yonggang University of Aerospace Engineering Department of Electlonic and Optical Engineering Beijing China Key Lab. of Electron. Info. Equipment System Research for National Defense Science and Technology Beijing China

ISBN: (纸本)9798350334197

When the traditional SDIF algorithm is applied to the binning of jittered signals, the jitter of the PRI leads to a cumulative dispersion phenomenon, so that the accumulated value never exceeds the detection threshold, leading to the failure of the SDIF algorithm. Based on this, the algorithm is improved on the basis of the traditional SDIF algorithm, combined with some of the literature and the expertise learnt. The experimental simulation results show that the improved SDIF algorithm has better results than the traditional SDIF algorithm in handling jitter signals. © 2023 IEEE.

关键词： Jitter

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A Radar Signal Sorting Algorithm Based on Improved PRI Transform 7

A Radar Signal Sorting Algorithm Based on Improved PRI Trans...

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7th IEEE Information technology and Mechatronics Engineering Conference, ITOEC 2023

ISBN: (纸本)9798350334197

When the traditional PRI transform algorithm is used to sort jittered signals, the algorithm will fail when the jitter is greater than 5%, and the traditional PRI transform algorithm is not ideal for sorting sinusoidal pulse sequences, slip pulse sequences, and a mixture of these three pulse sequences. Based on this, the algorithm is improved on the basis of the traditional PRI transform algorithm, combined with the expertise learned. © 2023 IEEE.

关键词： Improved PRI Transformation Algorithm Traditional PRI Transformation Algorithm

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Adaptive Optimization Tracking Control for an Unmanned Aerial Vehicle with Disturbance Suppression

Adaptive Optimization Tracking Control for an Unmanned Aeria...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Yang, Meiying Zhu, Hai Xia, Xingyu Liu, Zhe Yao, Wen Ai Institute Shanghai Jiao Tong University MoE Key Lab of Artificial Intelligence Shanghai China Defense Innovation Institute Chinese Academy of Military Science Beijing China Intelligent Game and Decision Laboratory Beijing China College of Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (纸本)9781665410205

Aiming at the tracking control for an unmanned aerial vehicle (UAV) with uncertainty and external disturbances, an adaptive optimization control method is proposed based on the backstepping method. The model uncertainty in the UAV is estimated using neural networks. Moreover, a disturbance observer is designed to estimate and counteract the disturbance in real-time. In addition, reinforcement learning (RL) is used to solve optimal problems and overcome the difficult issues of the Hamilton-Jacobi-Bellman (HJB) equation. In the controller design, dynamic surfaces are employed to avoid complex derivation issues in the virtual controller and improve operating efficiency. Furthermore, the stability of the UAV system is proved by the Lyapunov theory. Finally, the effectiveness and superiority of the proposed method are verified through numerical simulations and real-world experiments. © 2024 IEEE.

关键词： Disturbance rejection

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An Improved Maddpg Algorithm Based on Apollonius Circle Guidance and Opponent Modeling for Multi-Uav Pursuit-Evasion Game

SSRN

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SSRN 2024年

作者： Wang, Xiao Bai, Xueqian Yang, Zhaohui Ma, Zhe Sun, Kewu Li, Jiake College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China Intelligent Science & Technology Academy Limited of CASIC Beijing100043 China Key Lab of Aerospace Defense Intelligent System and Technology 100043 China

The pursuit-evasion problem in artificial systems, especially in game-theoretic scenarios with multiple Unmanned Aerial Vehicles (UAVs) in a Multi-Agent system (MAS), is highly challenging. Control theory principles are commonly used, ensuring consistency in UAV swarm behavior and forming specific formations. However, control theory approaches may encounter complexities and uncertainties in diverse scenarios. To overcome these challenges, AI methods like Deep Reinforcement Learning (DRL) have been integrated, enabling UAVs to act autonomously based on learned policies. However, DRL often requires substantial data, impacting interpretability and robustness. To advance research in Multi-Agent Reinforcement Learning (MARL) for multi-UAV pursuit-evasion games, this paper introduces a new algorithm Expert knowledge and Opponent modeling Multi-Agent Deep Deterministic Policy Gradient (EO-MADDPG). EO-MADDPG is composed of two primary components: the integration of expert knowledge and real-time sampled data, and the prediction of evader actions. The expert knowledge includes a multi-UAV formation control algorithm and an encirclement policy, which takes into account the consensus algorithm and the Apollonius circle guidance. Furthermore, the training network framework is optimized by integrating opponent action information for prediction. In our experiments, we consider scenarios involving 3 vs. 1 and 3 vs. 2 situations, where pursuers utilize EO-MADDPG while evaders follow fixed policies. Our new method consists of two parts, prompting us to conduct ablation experiments for each innovation to evaluate its effectiveness. The results demonstrate that EO-MADDPG enables more efficient policy exploration by multiple pursuers and enhances pursuit effectiveness by better predicting evader actions, highlighting its potential in pursuit-evasion games. © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Snap-through path in a bistable dielectric elastomer actuator

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Applied Mathematics and Mechanics(English Edition) 2022年第8期43卷 1159-1170页

作者： Wenjie SUN Wentao MA Fei ZHANG Wei HONG Bo LI School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an710048China State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace Xi’an Jiaotong UniversityXi’an710049China State Key Laboratory for Manufacturing System Engineering Shaanxi Key Lab for Intelligent RobotsSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an710049China Department of Mechanics and Aerospace Engineering Southern University of Science and TechnologyShenzhenGuangdong Province518055China

The dielectric elastomer(DE)has attracted significant attention due to its desired features,including large deformation,fast response,and high energy ***,for a DE actuator(DEA)utilizing a snap-through deformation mode,most existing theoretical models fail to predict its deformation *** paper develops a new finite element method(FEM)based on the three-parameter Gent-Gent model suitable for capturing strain-stiffening *** simulation results are verified by experiments,indicating that the FEM can accurately characterize the snap-through path of a *** method proposed in this paper provides theoretical guidance and inspiration for designing and applying DEs and bistable electroactive actuators.

关键词： dielectric elastomer actuator(DEA) snap-through bistable finite element method(FEM) strain-stiffening behavior

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