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Fixed-Time Sliding Mode control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 514-528页

作者： Jianquan Yang Chunxi Yang Xiufeng Zhang Jing Na Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyKunming 650500 Yunnan International Joint Laboratory of Intelligent Control and Aoolication of Advanced Equipment Kunming 650500China IEEE

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

关键词： control allocation dynamic model fixed-time stabilization modular reconfigurable flight array(MRFA) sliding mode

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Exploring reservoir computing:Implementation via double stochastic nanowire networks

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Chinese Physics B 2024年第3期33卷 572-582页

作者：唐健峰夏磊李广隶付军段书凯王丽丹 College of Artificial Intelligence Southwest UniversityChongqing 400715China Brain-inspired Computing & Intelligent Control of Chongqing Key Laboratory Chongqing 400715China National & Local Joint Engineering Laboratory of Intelligent Transmission and Control Technology Chongqing 400715China Chongqing Brain Science Collaborative Innovation Center Chongqing 400715China Key Laboratory of Luminescence Analysis and Molecular Sensing Ministry of EducationSouthwest UniversityChongqing 400715China State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing 400715China

Neuromorphic computing,inspired by the human brain,uses memristor devices for complex *** studies show that self-organizing random nanowires can implement neuromorphic information processing,enabling data *** paper presents a model based on these nanowire networks,with an improved conductance variation *** suggest using these networks for temporal information processing via a reservoir computing scheme and propose an efficient data encoding method using voltage *** nanowire network layer generates dynamic behaviors for pulse voltages,allowing time series prediction *** experiment uses a double stochastic nanowire network architecture for processing multiple input signals,outperforming traditional reservoir computing in terms of fewer nodes,enriched dynamics and improved prediction *** results confirm the high accuracy of this architecture on multiple real-time series datasets,making neuromorphic nanowire networks promising for physical implementation of reservoir computing.

关键词： double-layer stochastic(DS)nanowire network architecture neuromorphic computation nanowire network reservoir computing time series prediction

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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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Relative Position-Based Collaborative Navigation for Cluster UAVs 7th

Relative Position-Based Collaborative Navigation for Cluster...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 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 Aerospace Science and Industry Group Intelligent Technology Research Institute Co. Ltd. Beijing100074 China

ISBN: (纸本)9789819733316

The inertial equipment carried by UAVs without satellite signal assistance will accumulate errors over time, which cannot meet the requirement of obtaining high-precision cluster navigation information for cluster UAVs in long-duration flights. Aiming at this problem, a scheme for cooperative navigation of cluster UAVs based on relative position assistance is proposed. Firstly, the state equations of the cooperative navigation system are established by modeling the errors of inertial devices of low-precision UAVs;secondly, the relative position information of low-precision UAVs and high-precision UAVs as well as other low-precision UAVs transmitted between UAVs through the data chain is taken as the observation equation;finally, the inertial errors of low-precision UAVs are compensated by using the traceless Kalman filtering for the error compensation, which improves the navigation accuracy. After 30 min simulation results show that the cooperative navigation scheme converges the velocity and position errors of the low-precision UAV to 0.5 m/s and 5 m, respectively, which improves the navigation accuracy greatly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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The Shape Perception Method for Space Continuum Robot Based on Structure-Sensor Integration

The Shape Perception Method for Space Continuum Robot Based ...

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2024 China Automation Congress, CAC 2024

作者： Wang, Guopeng Yao, Senchun Zhang, Xiaolong Li, Yuntao Di, Xinpeng Li, Yanmei Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai China Shanghai Jianke Engineering Consulting Co. Ltd Shanghai China

ISBN: (纸本)9798350368604

Continuum robots are widely used in spacecraft interior detection and dangerous environment detection due to their multiple degrees of freedom and adaptability to narrow spaces. However, the shape perception problem of continuum robots seriously affects their closed-loop control and precise operation capabilities. This paper proposes a shape perception method based on a structural sensing integrated module, which helps to achieve high-precision shape perception of space continuum robots. First, the structural sensing integrated module is designed and its kinematics model is analyzed. Second, the data obtained by the sensor are processed by Kalman filtering, and a multiple keypoint error compensation method based on the BP neural network model is proposed. Next, a shape perception method based on Bezier curves is introduced, and a shape fitting accuracy evaluation index considering global information is designed. Then, an experiment is carried out on a shape perception test platform to verify the shape perception method of the continuum robot based on the BP neural network, and the experiments showed that its average relative distance error is less than 2.5%. Finally, slit crossing and docking tests are carried out on the space continuum robot, and the arrival accuracy is better than 3.5mm, which demonstrated the effectiveness ofthe proposed shape perception method and its potential application in actual space missions. © 2024 IEEE.

关键词： Kalman filters

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Parameter-Free Shifted Laplacian Reconstruction for Multiple Kernel Clustering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1072-1074页

作者： Xi Wu Zhenwen Ren F.Richard Yu the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010China the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010 the Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou UniversityWuzhou 543002 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518060China

Dear Editor,This letter proposes a parameter-free multiple kernel clustering(MKC)method by using shifted Laplacian *** MKC can effectively cluster nonlinear data,but it faces two main challenges:1)As an unsupervised method,it is up against parameter problems which makes the parameters intractable to tune and is unfeasible in real-life applications;2)Only considers the clustering information,but ignores the interference of noise within Laplacian.

关键词： parameter letter Parameter

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Integrating reduced graphene oxides and PPy nanoparticles for enhanced electricity from water evaporation

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International Journal of Smart and Nano Materials 2023年第2期14卷 230-242页

作者： Bingkun Tian Xiaofeng Jiang Weicun Chu Chunxiao Zheng Wanlin Guo Zhuhua Zhang State Key Laboratory of Mechanics and Control for Aerospace Structures Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Educationand Institute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjingChina

Developing high-performance nanostructured materials is key to deliver the potential of hydrovoltaic technology into practical *** single-component materials have approached its limit in generating hydrovoltaic electricity,the development of multi-component hydrovoltaic materials has been necessary in continuously boosting the electricity ***,we report a hydrovoltaic material by integrating reduced graphene oxides and polypyrrole nanoparticles(rGO/PPy),where the rGO contributes improved conductivity and large specific surface area while PPy nanoparticles enable enhanced interaction with *** device fabricated with this material generates a short-circuit current of 6μA as well as a maximum power density of over 1μW/cm3 from natural evaporation of *** the substantial ion-PPy interaction enables robust voltage generation from evaporation of various salt ***,an outstanding scaling ability is demonstrated by connecting 10 devices in series that generate a sustainable voltage of up to~2.5 V,sufficing to power many commercial devices,*** bulb and LCD screen.

关键词： Hydrovoltaic generator water evaporation reduced graphene oxide Ppy nanoparticles

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Breeze-activated wind speed sensor with ultra-low friction resistance for self-powered gale disaster warning

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science China(Technological sciences) 2023年第1期66卷 57-70页

作者： HE HuiCheng MU JiLiang MU JinBiao FENG ChengPeng ZHAO JuanHong WANG Yin ZHOU Hao ZHANG Le HE Jian CHOU XiuJian Science and Technology on Electronic Test and Measurement Laboratory North University of ChinaTaiyuan 030051China Sichuan Aerospace Fenghuo Servo Control Technology Corporation Chengdu 610000China

The early warning and monitoring of gale disasters are very important for the safety of people’s lives and properties. Triboelectric nanogenerators(TENGs) are popular for wind speed sensors due to their self-powered property. However, a TENG cannot easily work at low wind speeds due to the limitation of the high frictional resistance structure. In this paper, a TENG-based breezeactivated wind speed sensor(BAWS) with an ultra-low frictional resistance is proposed. The key drive unit of the BAWS is a Savonius-like vertical axis wind turbine, which is fabricated by arrayed airfoil profile blades with excellent flow field characteristics. Here a wind turbine plays dual roles in driving the electromagnetic generator below it to supply energy and lead the TENG above it to sense the wind force. Compared to a classical turbine with a wind cup, the designed turbine has a low resistance torque. The synergistic effect of the drive unit with low-resistance and triboelectric materials with low viscosity allows the BAWS to be activated even at a wind speed of 2.9 m/s. The sensitivities of the voltage frequency and current amplitude of the TENG are used to reflect the electrical property of the BAWS. The measured values are 0.291 Hz/(m·s-1) and 0.221 μA/(m·s-1),which reflects the good sensitivity of the BAWS. Moreover, the linearity of the BAWS reaches up to 0.991, which shows an accurate output for the wind speed. In addition, the device is equipped with a combined electromagnetic-solar unit as the sole power source to meet the sensor’s all-weather operation requirements. This work expands the application prospects of selfpowered sensing technology in the field of disaster warning.

关键词： gale disaster warning triboelectric nanogenerator wind speed sensor Savonius-like vertical axis wind turbine self-powered wireless sensing

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Research on lightweight detection algorithm of Infrared Image based on YOLOv5 4

Research on lightweight detection algorithm of Infrared Imag...

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4th International Conference on Advanced Algorithms and Signal Image Processing, AASIP 2024

作者： Zhang, Wenyi Mo, Hongwei Wu, Songling Li, Xiaomin Harbin Engineering University School of Intelligent Science and Engineering Harbin150000 China Beijing Aerospace Automatic Control Institute Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

ISBN: (数字)9781510682818

ISBN: (纸本)9781510682801

At present, infrared image can show good detection effect in complex environment because of its unique imaging characteristics, which brings a lot of convenience to people's production and life. However, because the infrared image contains a great lot of unnecessary information, it has great requirements for computing power and memory capacity, so it is challenging to satisfy the demands of real-time detection on resource-constrained portable mobile devices. To solve this problem, this paper proposes a refined lightweight algorithm built upon the YOLOv5, which changes the backbone network of the model to GhostNet network, introduces CA attention mechanism into the model to improve the detection effect of small targets, and changes the loss function of the model to Focal-EIoU loss function to improve the location effect of the boundary box and quicken the model's rate of convergence. Then replace the conventional convolution used in the sampling process of the model with the space-to-depth convolution module, in order to enhance the model's detection performance on low-resolution images and enable the extraction of more feature information. According to the experimental results, the enhanced detection algorithm is just 1% less than the initial YOLOv5 algorithm, and the model volume and floating point calculation are reduced by 31.9% and 36% respectively. This is better suited for deployments that are lightweight. © 2024 SPIE.

关键词： Convolution

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A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

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Journal of Systems Engineering and Electronics 2024年第5期35卷 1219-1230页

作者： XU Changyi WANG Yun DUAN Yiman ZHANG Chao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and EngineeringDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Discrete event system(DES)models promote system engineering,including system design,verification,and *** advancement in manufacturing technology has endowed us to fabricate complex industrial ***,the adoption of advanced modeling methodologies adept at handling complexity and scalability is ***,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the *** this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the *** traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone *** with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new ***,this general modeling approach has wide potential for future complex and intelligent industrial systems.

关键词： industrial complex system operation specifying Boolean semantic discrete event system(DES)theory intelligent operation

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