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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Gao, Yan Wei, Donghui Bai, Chenggang Quan, Quan School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The multicopter formation is widely used in many different complex circumstances. And the semi-autonomous multicopter formation controlled with a single pilot on the ground draws people’s attention due to the great adaptability to various kinds of environments. In this paper, we focus on the problem of passing through narrow channels with semi-autonomous multicopter formation. Similar to the definition for a single multicopter, the altitude hold mode for the multicopter formation is defined first. Then, the formation decision-making and formation low-level control of the altitude hold mode are proposed one by one. Finally, a hardware-in-the-loop simulation and a real experiment are performed with four multicopters to pass through a narrow channel. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Decision making

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含呼吸裂纹的旋转扭型变截面叶片的动态接触特性

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Journal of Central South University 2024年第3期31卷 858-877页

作者：汪伟伟马辉赵晨光吴志渊王洪基 School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-propulsion Systems Ministry of EducationNortheastern UniversityShenyang 110819China Wuhan Lotus Cars Co. Ltd.Wuhan 430024China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

航空发动机叶片经常发生裂纹故障失效,从而引发一系列事故。以往的研究主要集中在裂纹引起的非线性振动上,而裂纹呼吸过程中裂纹表面的接触状态往往被忽略。然而,考虑裂纹表面的接触行为是非常重要的,因为它会导致裂纹叶片的非线性振动... 详细信息

航空发动机叶片经常发生裂纹故障失效,从而引发一系列事故。以往的研究主要集中在裂纹引起的非线性振动上,而裂纹呼吸过程中裂纹表面的接触状态往往被忽略。然而,考虑裂纹表面的接触行为是非常重要的,因为它会导致裂纹叶片的非线性振动。为了进一步研究裂纹诱发非线性振动的机理,本文提出了一种基于自编非协调六面体单元(SNCHE)的旋转叶片动态接触呼吸裂纹模型,并使用弹簧单元模拟呼吸效应。通过接触有限元模型验证了模型的有效性。此外,还研究了裂纹参数(裂纹深度和裂纹位置)及载荷参数(气动振幅和气动频率)对裂纹叶片动态接触特性的影响。在此基础上,提出了一个呼吸裂纹量化指标(BCQI)来表征呼吸裂纹的非线性水平。结果表明,在裂纹呼吸过程中,裂纹面从叶片侧面向裂纹尖端中心方向闭合。并且BCQI随裂纹深度、气动幅值和转速的增加而增大,随裂纹位置越靠近叶尖而减小。

关键词：呼吸裂纹动态接触特性旋转叶片非线性动力学非协调六面体单元

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Semi-Markov Telecommunication Networks Model

Semi-Markov Telecommunication Networks Model

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2024 International Conference on Actual problems of Electron Devices engineering, APEDE 2024

作者： Svetlov, Mikhail S. L’vov, Alexey A. Martirosyan, Arman M. Martirosyan, David M. Bagaev, Igor S. Khasanov, Semen T. Laboratory of Control and Automation Problems in Mechanical Engineering Institute of Precision Mechanics and Control of RAS Saratov Russia Institute of Institute of Electronic Engineering and Instrumentation Yuri Gagarin State Technical University of Saratov Saratov Russia Institute of Applied Information Technologies and Communications Yuri Gagarin State Technical University of Saratov Saratov Russia Phystech-School of Applied Mathematics and Computer Science Moscow Institute of Physics and Technology Moscow Russia

ISBN: (纸本)9798350393316

This paper proposes a semi-Markov model of telecommunication network (TCN). The variant of dynamic traffic adaptive control of queuing system as a special case of TCN is considered. The main purpose of control is to minimize the average cost per unit of time to service the incoming flow of information (packets). This takes into account the different bandwidth of the channels, the processing speed of information in the channel and the information capacity of the buffers. The approach to the organization of dynamic control taking into account noise immunity (information reliability) and information security is discussed. © 2024 IEEE.

关键词： Bandwidth

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CDP-GAN:Near-Infrared and Visible Image Fusion Via Color Distribution Preserved GAN

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1698-1701页

作者： Jun Chen Kangle Wu Yang Yu Linbo Luo the School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex SystemsEngineering Research Center of Intelligent Technology for Geo-ExplorationMinistry of EducationChina University of GeosciencesWuhan 430074China the Shanghai Institute of Technical Physics Key Laboratory of Infrared System Detecting and Imaging TechnologyChinese Academy of SciencesShanghai 200083China the School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China

Dear Editor,This letter is concerned with dealing with the great discrepancy between near-infrared(NIR)and visible(VS)image fusion via color distribution preserved generative adversarial network(CDP-GAN).Different from the global discriminator in prior GAN,conflict of preserving NIR details and VS color is resolved by introducing an attention guidance mechanism into the ***。

关键词： details dealing preserving

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滚动轴承静态和动态不对中对转子系统非线性振动特性的影响

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Journal of Central South University 2023年第3期30卷 871-903页

作者：王鹏飞杨阳徐宏阳马辉韩清凯罗忠闻邦椿 School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China China North Vehicle Research Institute Beijing 100072China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education(Northeastern University) Shenyang 110819China

在滚动轴承不对中问题的研究中,以往的研究中很少考虑轴承不对中对转子系统振动特性的影响。基于现有研究的局限性,首先,给出了一种考虑轴承不对中的5自由度非线性力模型,该模型综合考虑了轴承的平行和角不对中、静态与动态不对中、内... 详细信息

在滚动轴承不对中问题的研究中,以往的研究中很少考虑轴承不对中对转子系统振动特性的影响。基于现有研究的局限性,首先,给出了一种考虑轴承不对中的5自由度非线性力模型,该模型综合考虑了轴承的平行和角不对中、静态与动态不对中、内圈与外圈不对中等多种情况。其次,将该模型应用在转子有限元模型中,分析了不对中对轴承动态接触特性和转子系统振动特性的影响。然后,给出了衡量轴承不对中程度的评价指标。最后,对比分析了平行和角不对中、静态与动态不对中的异同点。结果表明,轴承不对中提高了转子的共振转速,在共振区出现了幅值跳跃现象,表现出硬式非线性特征。从频率特征上来看,滚动轴承动态平行不对中和动态角不对中分别导致转子旋转频率成分fr和2fr的幅值增大。动态不对中导致轴承的承载区随着轴承内圈的旋转而时刻变化。该研究可为转子-轴承系统的故障识别提供理论依据和有价值的参考。

关键词：滚动轴承-转子系统不对中非线性动力学分岔故障诊断

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弹流润滑下考虑切片耦合的直齿轮啮合刚度的迭代模型

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Journal of Central South University 2023年第10期30卷 3414-3434页

作者：黄文康马辉赵志芳王鹏飞彭志科张晓旭赵松涛 School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education Northeastern UniversityShenyang 110819China Institute of Vibration Shock&Noise State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200240China Harbin Marine Boiler and Turbine Research Institute Harbin 150078China School of Mechanical Engineering Tongji UniversityShanghai 201804China

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切... 详细信息

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切片耦合、延长啮合、齿轮体柔性耦合和修正的轮齿刚度的影响。为提高准确性,通过去除能量的重复计算来修正轮齿刚度。此外,还推导了切片耦合与变形协调方程之间的迭代关系。提出的模型通过MASTA软件和参考文献进行验证。分析了弹流润滑和切片耦合对直齿轮啮合特性的影响。研究结果显示,考虑切片耦合后,带有鼓向修形的直齿轮的时变啮合刚度显著增大,并且导致边缘的集中载荷转移到齿面的中间部位。

关键词：弹流润滑时变啮合刚度切片耦合变形协调方程

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A comprehensive review of electrochemical hybrid power supply systems and intelligent energy managements for unmanned aerial vehicles in public services

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Energy and AI 2022年第3期9卷 148-171页

作者： Caizhi Zhang Yuqi Qiu Jiawei Chen Yuehua Li Zhitao Liu Yang Liu Jiujun Zhang Chan Siew Hwa College of Mechanical and Vehicle Engineering The State Key Laboratory of Mechanical TransmissionsChongqing Automotive Collaborative Innovation CentreChongqing UniversityChongqing400044China College of Automation Chongqing UniversityKey Laboratory of Complex System Safety and ControlMinistry of EducationChongqing UniversityChongqing400044China School of Mechanical Engineering University of Science and Technology BeijingBeijing100083China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou310027China Institute for Sustainable Energy/College of Sciences Shanghai UniversityShanghai 200444China School of Mechanical and Aerospace Engineering Nanyang Technological University50 Nanyang Avenue639798Singapore Sichuan Energy Internet Research Institute Tsinghua UniversityChengdu 610213Sichuan ProvinceChina

The electric unmanned aerial vehicles (UAVs) are rapidly growing due to their abilities to perform some difficult or dangerous tasks as well as many public services including real-time monitoring, wireless coverage, search and rescue, wildlife surveys, and precision agriculture. However, the electrochemical power supply system of UAV is a critical issue in terms of its energy/power densities and lifetime for service endurance. In this paper, the current power supply systems used in UAVs are comprehensively reviewed and analyzed on the existing power configurations and the energy management systems. It is identified that a single type of electrochemical power source is not enough to support a UAV to achieve a long-haul flight;hence, a hybrid power system architecture is necessary. To make use of the advantages of each type of power source to increase the endurance and achieve good performance of the UAVs, the hybrid systems containing two or three types of power sources (fuel cell,battery, solar cell, and supercapacitor,) have to be developed. In this regard, the selection of an appropriate hybrid power structure with the optimized energy management system is critical for the efficient operation of a UAV. It is found that the data-driven models with artificial intelligence (AI) are promising in intelligent energy management. This paper can provide insights and guidelines for future research and development into the design and fabrication of the advanced UAV power systems.

关键词： Unmanned aerial vehicles(UAVs) Power supply system Fuel cell system Artificial intelligence(AI) Energy management systems

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Smart Plant Application of Autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

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15th International Conference on Advanced Computer Theory and engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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Event-triggered learning of Euler-Lagrange systems: A Koopman operator framework

Event-triggered learning of Euler-Lagrange systems: A Koopma...

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IEEE Conference on Decision and control

作者： Kaikai Zheng Dawei Shi Shilei Li Yang Shi MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing China Department of Mechanical Engineering Faculty of Engineering University of Victoria Victoria BC Canada

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Euler-Lagrange (EL) systems represent a crucial and large class of dynamical systems, and a precise model of the true system would be beneficial in planning and tracking problems. This work aims to learn an unknown EL system using noisy measurement data to achieve improved data utilization efficiency. Specifically, for the considered EL system, a linear representation of the system is constructed using the Koopman operator, which is further characterized by sample data using Willems’ fundamental lemma. Moreover, an event-triggered learning mechanism is proposed to improve data utilization efficiency, and it is designed based on the analysis of the learning error bounds. The effectiveness of the proposed event-triggered learning approach is validated through a manipulator example.

关键词： Learning systems Event detection Manipulators Safety Planning Noise measurement Dynamical systems

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