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9th International Conference on Systems and Informatics, ICSAI 2023

作者： Zhao, Luodi Long, Zhao Beihang University Digital Navigation Center Beijing100191 China Beihang University Science and Technology on Aircraft Control Laboratory Beijing100191 China

ISBN: (纸本)9798350383706

In dynamic precise point positioning (PPP)/ strapdown inertial navigation system (SINS) integration, abnormal observations and system model errors are both of the most important factors affecting the positioning performance. Generally, adaptive robust filtering is used to lower the impact of abnormal observations and system model errors on navigation performance, which are difficult to be accurately identified and separated. Meanwhile, the navigation performance depends greatly on the filtering model which is closely related to the error model of the inertial sensors. The inertial stochastic error model is normally determined by experience which fail to reflect the real situation of the navigation system. An enhanced two-step robust adaptive filtering algorithm is proposed to address this issue. The algorithm can respectively identify and process the system model errors and the abnormal observations in two steps. Moreover, the stochastic error of inertial sensors is modeled by an art-of-state technique called the generalized method of wavelet moments (GMWM). The results of the practical car experiments indicate that the augmented algorithm can promote the positioning performance of PPP/SINS tightly-coupled system and enhance the robustness against the system model disturbance and abnormal observations. © 2023 IEEE.

关键词： Inertial navigation systems

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Grouping of the UAV Swarm Based on Automatic Fuzzy Clustering

Grouping of the UAV Swarm Based on Automatic Fuzzy Clusterin...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Liu, Zhiheng Zhou, Rui Chen, Jinyong Zhang, Ning School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Science and Technology on Aircraft Control Laboratory AVIC Xi’an Flight Automatic Control Research Institute Xi’an710065 China

ISBN: (纸本)9789811966125

The confrontation between UAV swarms will be an important combat style in the future, and a reasonable division of such a target air fleet is instructive to the deployment of our own resources. In this paper, we combine the genetic fuzzy clustering and the cluster validation to achieve autonomous grouping of the UAV swarm. Firstly, the flight state parameters such as position, speed, and yaw angle are used as characteristic components to measure the differences among UAVs. Then, the proposed approach establishes a mathematical model for grouping of the UAV swarm by fuzzy C-means algorithm. In addition, we compare five advanced clustering validity indexes and a clustering validation method based on graph theory, from which an evaluation criterion more applicable to grouping of the UAV swarm is selected. Finally, numerical simulations are performed to verify that the proposed approach can divide the air fleet autonomously and rationally in complex task scenarios. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Fuzzy-Cycle: Visible to Infrared Ship Image Translation Based on CycleGAN 6

Fuzzy-Cycle: Visible to Infrared Ship Image Translation Base...

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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： He, Long Yu, Yue Liu, Chang Sun, Yangyang Jiang, Feng Hu, Xiaoning Pan, Chengwei Dong, Xiwang School of Artificial Intelli-gence Beihang University Beijing China Beijing Institute of Control and Electronic Technology Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University School of Artificial Intelligence Institute of Unmanned System Beijing China

ISBN: (纸本)9798350356618

Detecting targets in infrared ship images is crucial for various applications, such as maritime rescue and ship inspection. Training contemporary mainstream detection and segmentation models, however, requires large-scale, high-quality infrared ship image datasets. In open-world maritime confrontation scenarios, the complex and variable environment, scarcity of target ships, and limited acquisition conditions make it challenging to construct high-quality infrared ship image datasets. To address this issue, this paper proposes an unpaired visible-infrared ship image translation model based on CycleGAN, named Fuzzy-Cycle. The model introduces a fuzzy cycle loss to encourage the model to learn feature mapping rules between different domains while minimizing attention to unnecessary features. Additionally, the method employs U-Net as the generator network to retain shallow image features during upsampling and selects PatchGAN as the discriminator network, embedding Haar wavelet transform to enhance the discriminator's ability to analyze image frequency domain features. Experiments on the VAIS dataset demonstrate that the proposed algorithm outperforms mainstream unpaired image transfer models, showing excellent performance in the task of visible-infrared ship image translation. Furthermore, zero-shot image translation experiments on the HRSC2016 dataset prove the generalizability and reliability of the proposed method. © 2024 IEEE.

关键词： Wavelet transforms

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Study of Flow and Heat Transfer in an Ejector-Driven Swirl Anti-Icing Chamber

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Fluid Dynamics & Materials Processing 2024年第5期20卷 989-1014页

作者： Yi Tu Yuan Wu Yu Zeng Hunan University of Arts and Sciences Hunan Key Laboratory of Distributed Electric Propulsion Vehicle Control TechnologyChangde415000China Liaoning Provincial Key Laboratory of Aircraft Ice Protection AVIC Aerodynamics Research InstituteShenyang110034China School of Aeronautic Science and Engineering Beihang UniversityBeijing100191China

The formation of ice on the leading edge of aircraft engines is a serious issue,as it can have catastrophic *** Swirl Anti-Icing(SAI)system,driven by ejection,circulates hot fluid within a 360°annular chamber to heat the engine inlet lip surface and prevent *** study employs a validated Computational Fluid Dynamics(CFD)approach to study the impact of key geometric parameters of this system on flow and heat transfer characteristics within the anti-icing ***,the entropy generation rate and exergy efficiency are analyzed to assess the energy utilization in the *** research findings indicate that,within the considered flow range,reducing the nozzle specific areaφfrom 0.03061 to 0.01083 can enhance the ejection coefficient by over 60.7%.This enhancement increases the air circulating rate,thereby intensifying convective heat transfer within the SAI ***,the reduction inφalso leads to a significant increase in the required bleed air pressure and a higher entropy generation rate,indicating lower exergy *** nozzle angleθnotably affects the distribution of hot and cold spots on the lip surface of the SAI ***θfrom 0°to 20°reduces the maximum temperature difference on the anti-icing chamber surface by 60 K.

关键词： Swirl anti-icing heat transfer exergy efficiency hot and cold spot aircraft engine

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Deep Neural Network-Based Penetration Trajectory Generation for Hypersonic Gliding Vehicles Encountering Two Interceptors 41

Deep Neural Network-Based Penetration Trajectory Generation ...

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第41届中国控制会议

作者： Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A deep learning-based approach is developed to address the penetration problem for the hypersonic gliding vehicle(HGV) in this *** dynamics of HGV and the penetration problem are ***,a recently proposed second-order cone programming(SOCP) method is utilized to solve penetration trajectory optimization ***,the generated trajectories are used to train the deep neural network(DNN),which is then applied as the command *** DNN-based controllers are trained offline and act as real-time controllers *** are carried out to verify the effectiveness and real-time performance of the DNN-driven scheme.

关键词： Hypersonic Gliding Vehicle Penetration Trajectory Neural Network Real-Time Interceptors

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Deep Lagrangian Network Learning and control of Robotic Exoskeleton Based on Multi-Sensor-Cyber Information Fusion

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2024年 2卷 331-339页

作者： Guo, Qing Zhan, Haoran Zhang, Jiyu University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611731 China Chengdu The Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province 611731 China Hangzhou RoboCT Technology Development Company Ltd. Hangzhou311100 China

The overall performance improvement of model-based controller depends on the accurate plant model. However, many complicated plants exist unmodeled uncertainties caused by irregular structure, motion frictions, and external disturbances, which are difficult to obtain the mathematical model with high accuracy. In this work, a multi-sensor-cyber is constructed to sample the physics information about human-exoskeleton interaction and exoskeleton joint motion. Meanwhile, a model identification method based on Deep Lagrangian Network (DeLaN) is presented in robotic exoskeleton to realize multi-sensor information fusion and obtain the reasonable parameters of Lagrangian model. Then a human-exoskeleton cooperative motion control based on nonlinear extended state observer is proposed to guarantee that the exoskeleton tracks two joint demands in the case of tolerable human-exoskeleton interaction. Finally, the effectiveness of the proposed model identification and control scheme is verified by the experimental results in two-DOF exoskeleton platform. © 2023 IEEE.

关键词： Information fusion

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An active high-static-low-dynamic-stiffness vibration isolator with adjustable buckling beams:theory and experiment

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Applied Mathematics and Mechanics(English Edition) 2024年第3期45卷 425-440页

作者： Kefan XU Muqing NIU Yewei ZHANG Liqun CHEN School of Science Harbin Institute of TechnologyShenzhen 518055Guangdong ProvinceChina College of Aerospace Engineering Shenyang Aerospace UniversityShenyang 110136China Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai Frontier Science Center of MechanoinformaticsShanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai 200444China Shanghai Institute of Aircraft Mechanics and Control Shanghai 200092China

High-static-low-dynamic-stiffness(HSLDS)vibration isolators with buckling beams have been widely used to isolate external *** active adjustable device composed of proportion integration(PI)active controllers and piezoelectric actuators is proposed for improving the negative stiffness stroke of buckling beams.A nonlinear output frequency response function is used to analyze the effect of the vibration *** prototype of the active HSLDS device is built,and the verification experiment is *** results show that compared with the traditional HSLDS vibration isolator,the active HSLDS device can broaden the isolation frequency bandwidth,and effectively reduce the resonant amplitude by adjusting the active control *** maximum vibration reduction rate of the active HSLDS vibration isolator can attain 89.9%,and the resonant frequency can be reduced from 31.08 Hz to 13.28 ***,this paper devotes to providing a new design scheme for enhanced HSLDS vibration isolators.

关键词： active control high-static-low-dynamic-stiffness(HSLDS) vibration isola-tor dynamic analysis

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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Output group formation tracking control for heterogeneous systems with collision avoidance and connectivity maintenance 41

Output group formation tracking control for heterogeneous sy...

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第41届中国控制会议

作者： Shiyu Zhou Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the output group formation tracking problem for heterogeneous systems with collision avoidance and connectivity maintenance methods,and the group formation tracking error can be controlled within an arbitrarily small ***,the distributed observers are proposed to estimate the leader's state for each group and the state of itself,*** constructing the desired potential fields and deviating to get the negative forces,the high safety control protocol is put ***,the algorithm consisting of several equations and inequalities is given to calculate the parameters in the *** using Lyapunov stability theory,the stability of the error' systems have been *** last,the effectiveness of the proposed method has been verified by an experiment about the atmospheric monitoring task.

关键词： Time-varying group formation tracking Heterogeneous multi-agent system Collision avoidance and connectivity maintenance

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A novel guidance law based on proximal policy optimization 41

A novel guidance law based on proximal policy optimization

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第41届中国控制会议

作者： Yang Jiang Jianglong Yu Qingdong Li Zhang Ren Xiwang Dong Yongzhao Hua School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a new guidance law based on deep reinforcement learning is proposed for the high-speed maneuvering target attack ***,the missile-target kinematic model is established,and the action space and state space of reinforcement learning are ***,according to the missile strike process,the reward function suitable for this scenario is *** proximal policy optimization(PPO) based guidance law construction is ***,the strike effect in multiple sets of experiments verifies the effectiveness of the method proposed in this paper.

关键词： reinforcement learning proximal policy optimization high-speed maneuvering target

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