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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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A Microstrip Magnetic Dipole Antenna with Reconfigurable Beamwidth 6

A Microstrip Magnetic Dipole Antenna with Reconfigurable Bea...

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6th IEEE International Conference on Electronic information and Communication Technology, ICEICT 2023

作者： Liang, Renhang Liang, Zhixi Li, Yuanxin Jiang, Hongyan Long, Yunliang School of Electronics and Information Technology Sun Yat-sen University Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou China

ISBN: (纸本)9798350399059

This paper presents a novel microstrip magnetic dipole (MD) antenna with reconfigurable beamwidth. The proposed design is composed of a microstrip magnetic antenna and two metal planes. The angle of the metal planes is adjustable, and the metal planes are used as a reconfigurable corner reflector. As the angle varies, the reflection coefficients in the operating band (5.67-5.91GHz) are retained below -10dB, and the E-plane half-power beamwidth (HPBW) varies from 37° to 142°. The maximum gain of 12.1 dBi is obtained when the beamwidth is 37°, and the minimum gain of 8.9 dBi is obtained when the beamwidth is 142°. The proposed design is a good candidate for base station applications to enhance traffic capacity. © 2023 IEEE.

关键词： Microstrip antennas

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Continuous-variable Quantum key Distribution Access Network

Continuous-variable Quantum Key Distribution Access Network

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Wang, Tao Xu, Yuehan Li, Lang Liu, Xu Tan, Zicong Huang, Peng Zeng, Guihua Shanghai Jiao Tong University State Key Laboratory of Advanced Optical Communication Systems and Networks Center of Quantum Sensing and Information Processing Shanghai200240 China

ISBN: (纸本)9798350375909

Quantum key distribution (QKD) networks are crucial for the development of quantum networks and the early stages of the quantum internet, enabling unconditional secure key distribution and guaranteeing data security. However, current QKD networks are still limited in their structure, and are hard to achieve super multi-user access due to high system costs associated with the original point-to-point QKD system. In this paper, we introduce two cost-effective continuous-variable QKD (CV-QKD) access network schemes. The first one is a round-trip multi-band CV-QKD access network. Specifically, the frequency division multiplexing (FDM) technology is used to support multi-user access, and the round-trip optical architecture is adopted to realize low cost. As a result of the encoding properties of CV-QKD, different users can utilize the quadrature components in various frequency bands to transmit key information. The proposed network theoretically supports hundreds of users and can be easily expanded using simple equipment. The second one is a CV-QKD access network based on directed detection. With the help of the Kramers-Kronig relation, the receiver at the optical network unit can obtain the quadrature components just using a photodetector. Besides, it can also solve the practical issues in the plug-and-play structure. Compared with a quantum access network based on the point-to-point QKD system, these two schemes can provide cost-effective solutions for the subsequent large-scale verification and implementation of quantum access networks. © 2024 IEEE.

关键词： Kramers-Kronig relations

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Channel parameters-independent multi-hop nondestructive teleportation

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Chinese Physics B 2022年第2期31卷 201-208页

作者： Hua-Yang Li Yu-Zhen Wei Yi Ding Min Jiang School of Electronics&Information Engineering Soochow UniversitySuzhou 215006 China 2School of Information EngineeringHuzhou UniversityHuzhou 313000China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

A multi-hop nondestructive teleportation scheme independent of channel parameters based on Bell pairs is presented,where the coefficients of the quantum channel are unknown to all the communication *** Bell measurement and channel matching technology the unknown channel parameters can be eliminated probabilistically with the help of the intermediate *** the source node Alice can teleport an unknown state to the remote destination node *** our scheme the teleportation is generalized first to the scenario independent of channel parameters,which makes the requirement of quantum channel *** scheme still preserves the initial unknown state even if this teleportation ***,performance analysis shows that our scheme has a higher communication efficiency.

关键词： multi-hop quantum communication entanglement swapping teleportation

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A Sub-array MIMO Radar Waveform Design with Wide Pulse Compression Main-lobe

A Sub-array MIMO Radar Waveform Design with Wide Pulse Compr...

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2023 IEEE International Radar Conference, RADAR 2023

作者： Du, Xiaohe Zhou, Shenghua Zhang, Mengchen Xidian University National Key Laboratory of Radar Signal Processing Xi'an China Academy of Space Information Systems Xi'an China

ISBN: (纸本)9781665482783

Existing multiple-input multiple-output radar wave-form optimization works focus on full-digital radar, which is only a small part of existing radar system. Sub-array MIMO radar, in which sub-array antennas operate in the phased-array mode and different sub-array transmit differen waveforms, is more practical in some real applications. This paper studies a sub-array MIMO radar waveform optimization method. A waveform optimization criterion is presented to suppresses range compression sidelobes, mutual correlation sidelobes for differernt spatial regions, and the mismatch from a desired transmit beampattern. The sequential quadratic programming (SQP) algorithm is used to solve the optimization problem. Numerical results indicate that this method can efficiently control the distribution of signal energy in space and to suppress auto and mutual correlation sidelobes of angular waveforms. © 2023 IEEE.

关键词： Beamforming

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An Improved Method for Approximating the Infinite-Horizon Value Function of the Discrete-Time Switched LQR Problem

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Journal of systems Science & Complexity 2024年第1期37卷 22-39页

作者： HOU Tan LI Yuanlong LIN Zongli Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.

关键词： Optimal control switched linear systems switched LQR problem.

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FASTC: A Fast Attentional Framework for Semantic Traversability Classification Using Point Cloud 26

FASTC: A Fast Attentional Framework for Semantic Traversabil...

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26th European Conference on Artificial Intelligence, ECAI 2023

作者： Chen, Yirui Wei, Pengjin Liu, Zhenhuan Wang, Bingchao Yang, Jie Liu, Wei Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education China

ISBN: (纸本)9781643684369

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature extraction module that utilizes PointNet to capture features from point clouds organized in vertical volume and a 2D encoder-decoder structure to conduct traversability classification instead of the widely used 3D convolutions. This results in less computational cost while even better performance is achieved at the same time. We then propose a new spatio-temporal attention module to fuse multi-frame information, which can properly handle the varying density problem of LIDAR point clouds, and this makes our module able to assess distant areas more accurately. Comprehensive experimental results on augmented Semantic KITTI and RELLIS-3D datasets show that our method is able to achieve superior performance over existing approaches both quantitatively and quantitatively. Our code is publicly available at https://***/chenyirui/FASTC. © 2023 The Authors.

关键词： Semantics

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Digital Twin Enabled Flight control System Testing: A Physical-Virtual Mapping Experiment 22

Digital Twin Enabled Flight Control System Testing: A Physic...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Ren, Cheng Chen, Cailian Zhu, Shanying Ma, Yehan Guan, Xinping Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798331527471

Flight control system testing (FCST) is one of the most important testing during aircraft final assembly, however, traditional testing method highly rely on manual labor, resulting in low testing quality and efficiency. Targeting at improving the testing quality and efficiency, in this paper, we apply digtial twin (DT) technology in the FCST process for the first time. A virtual experimental platform named DT-FCST is constructed which is identical to a real wing experimental platform, supporting testing elements management and physical-virtual mapping experiments. The development process of the DT-FCST platform is detailed. Several experiments are conducted to demonstrate the effectiveness of DT technology. Based on motion scripts integrating real-time data from the cockpit, the cockpit control sticks and flight control surfaces are driven to achieve consistency between physical and virtual motions. With the help of DT technology, the entire movement process of control sticks and flight control surfaces are mapped with high fidelity in the DT-FCST platform, greatly enhancing the testing efficiency and monitoring quality. © 2024 IEEE.

关键词： Cockpits (aircraft)

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Facile intercalation of alkali ions in WO_(3)for modulated electronic and optical properties:Implications for artificial synapses and chromogenic application

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Science China(Physics,Mechanics & Astronomy) 2024年第2期67卷 149-160页

作者： Changmeng Huan Zihan Lu Silin Tang Yongqing Cai Qingqing Ke School of Microelectronics Science and Technology Sun Yat-sen UniversityZhuhai 519082China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen UniversityZhuhai 519082China Institute of Applied Physics and Materials Engineering University of MacaoTaipaMacao 999078China

Tungsten oxides(WO_(3))are widely recognized as multifunctional systems owing to the existence of rich *** diverse phases exhibit distinct octahedra-tilting patterns,generating substantial tunnels that are ideally suited for ***,a quantitative comprehension regarding the impact of distinct phases on the kinetics of intercalated conducting ions remains ***,we employ first-principles calculations to explore the spatial and orientational correlations of ion transport inγ-and h-WO_(3),shedding light on the relationship between diffusion barriers and the size of the conducting *** findings reveal that different types and concentrations of alkali-metals induce distinct and continuous lattice distortions in WO_(3)***,γ-WO_(3)is more appropriate to accommodate Li+ions,exhibiting a diffusion barrier and coefficient of 0.25 eV and 9.31×10^(-8)cm^(2)s^(-1),***,h-WO_(3)features unidirectional and sizeable tunnels that facilitate the transport of K+ions with an even lower barrier and a high coefficient of 0.11 e V and 2.12×10^(-5)cm^(2)s^(-1),***,the introduction of alkali-metal into WO_(3)tunnels tends to introduce n-type conductivity by contributing s-electrons to the unoccupied W 5d states,resulting in enhanced conductivity and tunable electronic *** alkali metals in WO_(3)tunnels are prone to charge transfer,forming small polaronic states and modulating the light absorption in the visible and nearinfrared *** tunable electronic and optical properties,combined with the high diffusion coefficient,underscore the potential of WO_(3)in applications such as artificial synapses and chromogenic devices.

关键词： WO_(3)polymorphs ion insertion kinetic activity tunable electronic and optical properties iontronics

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Decoupling Tightly Spaced Antennas with Dielectric Resonators

Decoupling Tightly Spaced Antennas with Dielectric Resonator...

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2023 Cross Strait Radio Science and Wireless Technology Conference, CSRSWTC 2023

作者： Jin, Zhichao Lu, Kai Yang, Nan Hu, Peng Fei Yang, Donglai Sun Yat-sen University Guangzhou China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems China

ISBN: (纸本)9798350358971

A decoupling method based on parasitic dielectric resonators (DRs) is proposed for compact multiple-input multiple-output (MIMO) antenna systems. Because a DR can scatter electromagnetic waves strongly at its resonance frequencies, it can serve as an effective decoupling structure. In this work, this concept is applied to a dual-port monopole antenna system. The two monopoles are separated 20mm (0.235 λ0), with an original isolation level of 8 dB. By introducing a pair of cylindrical DRs (with a material relative permittivity of 7.9), the isolation level between the two monopoles can be improved by 12-25 dB from 3.4-3.6 GHz. Simulation results show that an overlapping bandwidth (|S11| © 2023 IEEE.

关键词： Decoupling dielectric resonators (DRs) multiple-input and multiple-output (MIMO)

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