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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Yang, Xiangyu Song, Chuang Chen, Linxiu Hao, Mingrui Zhang, Hang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811939976

In the cooperative combat mission of UAV cluster, the collaborative estimation of targets by airborne multi-source heterogeneous sensors can make the utmost of the multivariate detection performance of moving sensors placed in multiple spatial positions in complex confrontation environments, in order to deal with the problem of independent estimation failure of sensors carried by single aircraft under the multiple compound interference of non-cooperative targets. In this paper, the typical target motion model, estimation model and interference model are established, then a collaborative estimation method of airborne target detection sensors with different detection accuracy and different interference countermeasure capability is designed for each aircraft in the UAV cluster, based on spatial allocation strategy, nonlinear filtering, interference detection, consistency correlation and information fusion. It is verified by Monte Carlo simulation study that this method can guarantee the obtainment of continuous and accurate guidance information for each aircraft in the cluster, so as to improve the strike accuracy of each UAV and complete the strike mission. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Compression Format and Systolic Array Structure Co-design for Accelerating Sparse Matrix Multiplication in DNNs 24th

Compression Format and Systolic Array Structure Co-design f...

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24th International Conference on Algorithms and Architectures for Parallel Processing, ICA3PP 2024

作者： Cao, Yongxiang Jiang, Jixiang Zhao, Guocheng Wang, Wei Jiang, Hongxu Song, Yanfei School of Computer Science and Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819615445

The systolic array (SA) architecture is widely used in accelerator/AI chip design due to its excellent matrix multiplication acceleration effect. However, the mismatch between the traditional sparse matrix compression format and the SA architecture results in poor SA performance in computing sparse matrices. To solve the problem, we propose a method for co-designing the sparse compression format and SA architecture. This work proposes the Vector Group Compressed Coordinate (VGCC) data stream compression format and designs a sparse SA architecture based on hardware encoding and decoding. VGCC can handle data streams of any size without increasing the index bit width. The VGCC compression size is significantly smaller than general sparse compression formats such as COO/CSR. In a sparse matrix with a sparsity of 90%, it saves 67.13% of storage space compared to the state-of-the-art ECOO data stream compression format and achieves an average acceleration of 1.54 times. We also propose a VGCC-friendly SA architecture. Our SA architecture engine reduces logic consumption by 51.6% compared to Sparse TPU while achieving a 3.23x speedup. To mitigate the issue of high no-load rates in systolic arrays, we introduce a Data Transmission Priority (DTP) data matching algorithm. With sparsity levels ranging from 50% to 90%, the algorithm’s calculation speed is enhanced by 1.124x to 1.991x. We implemented a sparse DNN accelerator on an FPGA Zynq UltraScale+MPSoC ZCU102, utilizing the VGCC compression format proposed in this study for compressing input data. When compared to the S2 Engine, the accelerator achieved a 3.37x speed improvement in matrix multiplication with 75% sparsity, significantly enhancing the speed of sparse matrix multiplication. The accelerator achieved an average throughput of 1079.33GOP/s when inferencing DNNs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Systolic arrays

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Distributed Cooperative Search Based on DRH-NSGA Under Communication Constraint

Distributed Cooperative Search Based on DRH-NSGA Under Commu...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Si, Jia Shuai Cheng, Jin Hao, Ming Rui Liu, Zhen Chang Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811966125

For unmanned aerial vehicle (UAV) cooperative search mission under communication distance limitation environment, considering that the computation scale of rolling time domain optimization increases exponentially with the change of predicted steps and the problem that searching performance metrics are difficult to be selected, the distributed receding horizon non-dominated sorting genetic algorithm (DRH-NSGA) is proposed, and the distributed receding horizon (DRH) process is optimized by non-dominated sorting genetic algorithm (NSGA),and the cooperative search problem in dynamic environment is solved. Firstly, the motion and sensor models of UAV are established. Considering the possibility of interference or communication interruption during UAV communication, the communication interruption probability is added based on the communication distance constraint. In this paper, the environment awareness map is constructed, considering the motion characteristics of time-sensitive targets, and based on the updating of target probability by using Bayesian theory, the updating of time-sensitive target prediction transition probability is added to improve the accuracy of moving target existence probability map. Finally, the search performance index is designed reasonably, and the RH framework is used to optimize the search path. The simulation results show that the distributed cooperative search algorithm based on DRH-NSGA can shorten the single step planning time while ensuring the convergence speed and ensure the real-time decision-making of UAV search. At the same time, it can effectively take into account the search of moving targets after covering the search area. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Multi-UAV Cooperative Path-Planning under complex Threat Environment 42

Multi-UAV Cooperative Path-Planning under Complex Threat Env...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Zhenchang Liu, Yuting Zhao, Hongyin Lu, Hanchen Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789887581543

This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance requirements. The simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Unmanned aerial vehicles (UAV)

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Research Status and Application of Mission Assignment Method and Cooperative Positioning and Navigation for Cluster Aircraft

Research Status and Application of Mission Assignment Method...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Danting, Sheng Mingrui, Hao Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811966125

In order to solve the problem of multi-aircraft cluster cooperative combat, this paper tries to classify and sum up the existing achievements on task assignment method and cooperative positioning and navigation. Among the distributed methods of task allocation, the contract net-based method of task allocation and the distributed method of simulating the complex and orderly collective behavior of social creatures are briefly described. According to the method of cooperative positioning of swarm aircraft, it is divided into measuring the relative distance of aircraft, measuring the relative angle of aircraft and layered cooperative navigation system. Combining with the classical research and application, this paper analyzes and summarizes the existing task allocation methods and the achievements of cooperative positioning and navigation, and forecasts the future engineering application in this field. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft

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Design and simulation of a two-stage linear inverted pendulum control system based on fuzzy LQR control 7

Design and simulation of a two-stage linear inverted pendulu...

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7th International Symposium on Autonomous systems, ISAS 2024

作者： Peng, Siting Ren, Jun Li, Lei Ma, Yichao Song, Zhichao The Beijing Electro-Mechanical Engineering Institute Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350363173

This paper introduces in detail the origin of the development of automatic control methods, applications and current research hotspots. It also introduces some control methods commonly used in industrial and agricultural production, and expounds the current application hotspots and new advanced control methods that are developing rapidly. The background, current situation and classification of the inverted pendulum platform are introduced in detail. In the first chapter, the LQR method in modern control theory is introduced in detail. The influence of parameters is analyzed through simulink space modeling and simulation control experiment. At the same time, the real-time experiment is also done in combination with the hardware platform. In the second chapter, the fuzzy control theory in intelligent control is introduced in detail. By combining fuzzy control with LQR method, suitable LQR parameters are calculated by pole assignment. After proper adjustment, reasonable fuzzy rules are adopted and adaptive fuzzy control principle is applied to adjust the control situation in real time. Using simulink space modeling, a good simulation control effect is obtained. Finally, the summary is made. © 2024 IEEE.

关键词： Fuzzy control

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Vibration-Based Fault Diagnosis for Railway Point Machines Using VMD and Multiscale Fluctuation-Based Dispersion Entropy

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Chinese Journal of Electronics 2024年第3期33卷 803-813页

作者： Yongkui SUN Yuan CAO Peng LI Guo XIE Tao WEN Shuai SU National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University School of Electronic and Information Engineering Beijing Jiaotong University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University

As one of the most important railway signaling equipment,railway point machines undertake the major task of ensuring train operation *** fault diagnosis for railway point machines becomes a hot *** the advantage of the anti-interference characteristics of vibration signals,this paper proposes an novel intelligent fault diagnosis method for railway point machines based on vibration signals.A feature extraction method combining variational mode decomposition(VMD) and multiscale fluctuation-based dispersion entropy is developed,which is verified a more effective tool for feature ***,a two-stage feature selection method based on Fisher discrimination and ReliefF is proposed,which is validated more powerful than single feature selection ***,support vector machine is utilized for fault *** comparisons show that the proposed method performs *** diagnosis accuracies of normal-reverse and reverse-normal switching processes reach 100% and 96.57% ***,it is a try to use new means for fault diagnosis on railway point machines,which can also provide references for similar fields.

关键词： Fault diagnosis Railway point machine Vibration signal Variational mode decomposition Two-stage feature selection

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Status and Application of Artificial Intelligence-Based Cooperative Positioning and Navigation technology for UAV Clusters 1

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Sheng, Danting Cheng, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Intelligent Science and Technology Academy Limited of CASIC Beijing100041 China

ISBN: (数字)9789819710911

ISBN: (纸本)9789819710904

Aiming at the UAV cluster cooperative navigation, this paper tries to summarize the development experience and existing results on two issues, namely, the application of filtering and artificial intelligence in UAV cluster cooperative navigation. The application of filtering in UAV cluster cooperative navigation briefly describes the application of Kalman filtering and extended Kalman filtering, traceless Kalman filtering and other nonlinear filters, intelligent optimization algorithms combined with particle filtering in cooperative navigation. Artificial Intelligence Methods in Cooperative Navigation of UAV Clusters describes the application of deep feed-forward networks, brain-like information fusion methods based on integrated learning, multivariate interpolation of radial-based neural networks and Kalman filtering combined in the field of cooperative navigation. The results of existing applications of filtering and artificial intelligence in UAV cluster cooperative navigation are analyzed and summarized, and the future development of the field is outlooked. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Kalman filters

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Morphing-Aided Maneuver control of Morphing Aircraft with Variable Wing Span and Sweep Angle

Morphing-Aided Maneuver Control of Morphing Aircraft with Va...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wang, Zijian Hou, Mingzhe Hao, Mingrui Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811966125

This paper presents a longitudinal morphing-aided maneuver control model of an aircraft which could change wing span and change sweep angle, and solved the morphing aircraft control problem of parameter uncertainty and external disturbance by a robust composite control strategy with nonlinear control allocation. Based on DATCOM simulation software and nonlinear least square interpolation, the aerodynamic model is obtained, and established the longitudinal morphing-aided maneuver control model of morphing aircraft. To ensure the maneuverability of the morphing aircraft, a nominal controller which could converge in finite time is designed. The integral sliding mode disturbance observer with super screw control is designed to eliminate the tremor, and the uncertainties and external disturbances are observed and compensated. Then the obtained control signals are assigned to each control inputs through nonlinear control allocation. The simulation result show the effectiveness of the scheme, and prove that the aircraft has good tracking performance by independently changing the shape to assist the traditional control surface. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft control

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Image Matching Method for SAR and Optical Image Based on Siamese Network 1

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Yang, Yanjiao Wang, Ziwei Qu, Guangzhou Ma, Meng Liu, Shuaishuai Chi, Qingxi Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9789819710874

ISBN: (纸本)9789819710867

Aiming at the difficulty of the similarity extraction between the SAR and optical satellite image, an image Matching method for SAR and Optical image based on siamese network is studied. The radar system can provide SAR images while also providing SAR distance and other measurement information. Optical satellites can obtain real-time optical images and provide corresponding longitude and latitude information. Based on the satellite positioning algorithm, the cumulative error of sins can be corrected by kalman filter using SAR and optical image matching results and SAR measurements. Simulation results show the effectiveness of the algorithm. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Synthetic aperture radar

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