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42nd Chinese Control Conference, CCC 2023

作者： Ma, Wenyu Tian, Bailing Lu, Hanchen Shen, Hongming School of Electrical and Information Engineering Tianjin University Tianjin300072 China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789887581543

We proposed a tightly-coupled Lidar-visual-inertial odometry and mapping method, which takes advantage of measurement of Lidar, visual and inertial sensors to achieve highly accurate, real-time 6DoF state estimation and map-building in GNSS-denied environments. The proposed odometry is a tightly-coupled optimization-based method, obtains robust and low drift odometry by fusing pre-integrated IMU measurements, visual features from the image, and geometric features from Lidar data. Further, we adapt an online method to mitigate degeneracy in optimization problems to improve robustness in environmentally degenerate cases. Simulation and real-world experiments show that the proposed method exhibits similar or better robustness and accuracy with the state-of-the-art SLAM methods. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Optical radar

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Safe Tracker: A Robust Aerial system for Safe Tracking in Cluttered Environments 42

Safe Tracker: A Robust Aerial System for Safe Tracking in Cl...

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42nd Chinese Control Conference, CCC 2023

作者： Hui, Yulin Tian, Bailing Zhang, Xuewei Lu, Hanchen Shen, Hongming School of Electrical and Information Engineering Tianjin University Tianjin300072 China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789887581543

This paper proposes Safe Tracker, an autonomous aerial tracking framework based on vision sensor that can deal with challenging tracking missions and guarantee safety and visibility. Firstly, a RGB-D sensor based segmentation method is employed to locate the target in real-time. Then target motion is predicted for a short time horizon, based on which a heuristic path searching method is applied to generate an occlusion-free path. Finally, particular formulations to balance visibility and safety are designed, and an effective non-linear trajectory optimization method enables to generate an optimal tracking trajectory. Autonomous aerial tracking experiments using a vision sensor are conducted to demonstrate the effectiveness of the proposed Safe Tracker in a challenging cluttered forest and a room full of sharp turns using Gazebo. Benchmark comparisons validate that our method tracks more safely and robustly than the state-of-art method. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Trajectories

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Hard-magnetic liquid metal droplets with excellent magnetic field dependent mobility and elasticity

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Journal of Materials science & technology 2021年第33期92卷 60-68页

作者： Xiaokang He Mingyang Ni Jianpeng Wu Shouhu Xuan Xinglong Gong CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern MechanicsCAS Center for Excellence in Complex System MechanicsUniversity of Science and Technology of ChinaHefei 230027China

Magnetic liquid metal droplets(MLMDs)have been proven to be very important in many fields such as flexible electronics and soft ***,soft magnetic particles such as nickel(Ni)and iron(Fe)are mixed or suspended into the liquid metal to obtain soft MLMDs(S-LMDs),which can be easily manipulated under the magnetic field due to the favorable deformability and *** addition,hard magnetic particles such as neodymium iron boron(Nd Fe B)with a high residual magnetization can also be dispersed into the liquid metal and the hard MLMDs(H-LMDs)become more compact due to the interaction between internal particles induced by *** work reports a kind of H-LMDs with high surface tension,high flexibility and mechanical robustness,whose electrical conductivity and strength are better than the *** the magnetic field,the H-LMDs have a faster response time(0.58 s)and a larger actuating velocity(4.45 cm/s)than the ***,the H-LMDs show excellent magnetic controllability,good elasticity and favorable mobility,as demonstrated by magnetically actuated locomotion,bounce tests and rolling angle ***,the droplets can be further applied in wheeldriven motors and micro-valve switches,which demonstrates their high application potential in robotic manipulation and microfluidic devices.

关键词： Magnetic liquid metal droplets NdFeB particles Magnetic controllability Micro-valve

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Research on the Scattering Characteristics of the Van Atta Cube Scatterer

Research on the Scattering Characteristics of the Van Atta C...

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2022 International Applied Computational Electromagnetics Society Symposium, ACES-China 2022

作者： Gan, Lin Wu, Zehao Li, Jianbing National University of Defense Technology The State Key Lab. of Complex Electromagnetic Environ. Effects on Electronics and Information System College of Electronic Science and Technology Changsha China

ISBN: (纸本)9781665452366

In order to realize good omnidirectional backtracking of electromagnetic waves, a Van Atta cube scatterer consists of six identical Van Atta plane arrays is proposed. In this paper, the scattering characteristics in different incident directions are emphatically studied. Simulation results show that the Van Atta cube scatterer has the advantage of omnidirectional scattering, with the effective backtracking angle range exceeding 77% of the whole angle domain. © 2022 IEEE.

关键词： Geometry

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A new class of generalized quasi-variational inequalities with applications to Oseen problems under nonsmooth boundary conditions

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science China Mathematics 2024年第2期67卷 315-338页

作者： Shengda Zeng Akhtar A.Khan Stanislaw Migórski Guangxi Colleges and Universities Key Laboratory of Complex System Optimization and Big Data Processing Yulin Normal UniversityYulin 537000China Faculty of Mathematics and Computer Science Jagiellonian University in Krak´owKrak´ow 30348Poland Center for Applied and Computational Mathematics School of Mathematical SciencesRochester Institute of TechnologyRochesterNY 14623USA College of Sciences Beibu Gulf UniversityQinzhou 535000China

In this paper, we study a generalized quasi-variational inequality (GQVI for short) with twomultivalued operators and two bifunctions in a Banach space setting. A coupling of the Tychonov fixedpoint principle and the Katutani-Ky Fan theorem for multivalued maps is employed to prove a new existencetheorem for the GQVI. We also study a nonlinear optimal control problem driven by the GQVI and givesufficient conditions ensuring the existence of an optimal control. Finally, we illustrate the applicability of thetheoretical results in the study of a complicated Oseen problem for non-Newtonian fluids with a nonmonotone andmultivalued slip boundary condition (i.e., a generalized friction constitutive law), a generalized leak boundarycondition, a unilateral contact condition of Signorini’s type and an implicit obstacle effect, in which themultivalued slip boundary condition is described by the generalized Clarke subgradient, and the leak boundarycondition is formulated by the convex subdifferential operator for a convex superpotential.

关键词： generalized quasi-variational inequality existence theorem optimal control Kakutani-Ky Fan theorem Oseen problem non-Newtonian fluid nonmonotone slip boundary condition

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Periodically-coded ITR Modulation Characteristics of PCM Signal in Radar Radiation Simulation

Periodically-coded ITR Modulation Characteristics of PCM Sig...

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2022 International Applied Computational Electromagnetics Society Symposium, ACES-China 2022

作者： Zhao, Tiehua Wu, Qihua Liu, Xiaobin Ai, Xiaofeng Zhao, Feng Xiao, Shunping National University of Defense Technology The State Key Lab. of Complex Electromagnetic Environ. Effects on Electronics and Information System College of Electronic Science and Technology Changsha China

ISBN: (纸本)9781665452366

The overlapping and mutual coupling between transmitting and receiving signals is a knotty problem in radar radiation simulation. Interrupted transmitting and receiving (ITR) modulation can effectively solve this problem caused by limited space of the microwave chamber. In order to further expand the application of ITR modulation method, the characteristics of periodically-coded interrupted modulation signals are analyzed in this paper. Focusing on the modulated pulse coded modulation (PCM) signal, the time-frequency domain characteristics and matched filter output characteristics are studied in detail. Signal simulation experiments are carried out with MATLAB to verify the accuracy of the theoretical analysis. © 2022 IEEE.

关键词： MATLAB

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The Large Deformation Analysis of Thin Beam Using Absolute Nodal Coordinate Formulation and Newmark Integration Method 2nd

The Large Deformation Analysis of Thin Beam Using Absolute N...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Hao, Feiyu He, Bin Cui, Jiang Rui, Xue Li, Yu Zhou, Huaqing Rui, Xiaoting Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China Nanjing Research Institute of Inner Mongolian North Heavy Industries Group Corp. Ltd Nanjing China

ISBN: (纸本)9789819980475

Nowadays, large deformation analysis of thin beam has become a research hotpot of the computational mechanics when the high performance lightweight materials are used in lots of engineering structure. Absolute nodal coordinate formulation (ANCF) is a powerful method to calculate the dynamic response of the large deformation beams. In this study, the modeling of thin beams with large deformations and large motions is conducted based on ANCF, and the dynamics equations of system are solved using Newmark integration method. First, the ANCF low-order elements utilize Green strains and exact curvatures to describe the deformation of slender beams. The inertia forces, elastic forces, and generalized moment matrices are derived in detail. The dynamics equations for thin bodies with large motions and large deformations are established. Then, following Newmark's integration method, the dynamic equations of motion are discretized into algebraic equations for solution. Through this modeling and computational approach, it is possible to effectively perform dynamic analysis of flexible bodies with large motions and large deformations, thereby improving computational efficiency while avoiding shear locking. Numerical examples have been conducted to validate the accuracy of the dynamic response. The proposed approach is a powerful technique in the dynamic analysis of beams with large deformations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic response

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A FAST ERROR PHASE CORRECTION ALGORITHM FOR IMAGING RADAR BASED ON DOMINANT SCATTERERS

A FAST ERROR PHASE CORRECTION ALGORITHM FOR IMAGING RADAR BA...

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IET International Radar Conference 2023, IRC 2023

作者： Pang, Bo Dai, Dahai Xing, Shiqi Li, Yongzhen State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System National University of Defense Technology Deya Road No.109 Changsha China College of Electronic Science and Technology National University of Defense Technology Deya Road No.109 Changsha China

ISBN: (纸本)9781839539954

Due to the influence of platform movement trajectory deviation, electromagnetic wave propagation path error and other factors, imaging radar echo data will inevitably contain error phase, causing defocus of imaging results. To solve this problem, this paper proposes a fast phase error correction algorithm for imaging radar based on dominant scatterers. By fully considering the spatial variability of the error phase and solving the problem through operations such as dominant scatterers optimization and azimuth error phases combination. This algorithm ensures the accuracy of error phase estimation while greatly improves the efficiency of the algorithm. Experimental results based on simulation data and measured data demonstrate the effectiveness of the proposed algorithm. © The Institution of Engineering & technology 2023.

关键词： CORRECTION DOMINANT SCATTERERS ERROR PHASE IMAGING RADAR

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Novel Terminal Guidance Law for Blended Aero and Reaction-Jet Missile Based on Nonlinear Disturbance Observer 1

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Zhao, Hui Xu, Cheng Qin, Hehong Wang, Hao Hu, Ying Institute of Mechanical and Electrical Engineering Beijing100072 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100072 China

ISBN: (数字)9789811694929

ISBN: (纸本)9789811694912

In this paper, an effective terminal guidance law is proposed for intercepting large maneuvering targets for the reaction jet control (RCS) missile. The guidance law takes the real dynamic characteristics of the control system into account, not only including the second order bandwidth filtering response of the autopilot, but also containing the discrete reaction jet force characteristics. For the target maneuver in the guidance loop, a new nonlinear disturbance observer (NDO) with fast convergence is presented on the premise of not obtaining the prior information of the target. Target acceleration and other uncertainties are estimated and compensated in the guidance law as a feed-forward input. Then the global stability of the system is proved by the appropriate Lyapunov function. The simulation results show that the guidance law can effectively intercept the maneuvering target and obtain good guidance precision. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Lyapunov functions

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Visual Explanation of Object Detectors via Saliency Maps 18

Visual Explanation of Object Detectors via Saliency Maps

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Xiao, Jin Liu, Wenrui Hu, Xiaoguang Jiang, Hao Wang, Weipeng Yahang, Li Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China Beihang University Beijing China The Third Academy of Casic Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350312201

In recent years, rapid progress of deep learning has resulted in object detection algorithms based on deep neural networks nearly completely replacing traditional methods. This shift has led to significant improvements in both accuracy and speed of object detection. However, deep neural networks that support decision-making inobject detection are complex black boxes with hidden internal logic and operations. This lack of transparency results in deep learning models being unexplainable, which limits their practical deployment. In this paper, we analyze the current state and future trends of interpretable technology in object detection and propose an effective object detection interpretable algorithm. This algorithm aims to explain the underlying logic of AI decision-making and provide support for the high performance and credibility of object detection algorithms based on deep neural networks through quantitative evaluation indicators. © 2023 IEEE.

关键词： Object detection

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