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Progress in Electromagnetics Research Symposium - Fall (PIERS - FALL)

作者： Yanyan Wang Qingxi Chi Xin Wang Yunong Bu Xujun Guan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (数字)9781728153049

ISBN: (纸本)9781728153056

In this paper, a zero attracted Lorentzian (ZAL) algorithm is created for system identification applications. The proposed ZAL algorithm is realized by using l 1 -norm penalty on the Lorentzian-based cost function to exploit the sparseness of the existing nature signals. Moreover, a reweighting method is adopt to enhance the ability of the proposed ZAL algorithm, and the new algorithm is called as reweighting zero attracted Lorentzian (RZAL) algorithm. The proposed algorithms are presented briefly and investigated via computer simulations. The gotten results from the simulation demonstrate that the proposed algorithms are superior to the popular adaptive filtering algorithms under alpha-stable noise interference.

关键词： Signal processing algorithms Cost function Adaptive systems Mathematical model Photonics Electromagnetics Computational modeling

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Time consistency technique of multi-aircrafts simulation system for cooperative mission

Time consistency technique of multi-aircrafts simulation sys...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jian Han Hang Shi JiaHui Tong Qing Zhang Jing Li Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Aiming at the problem of time inconsistency problem exposed in multi-aircrafts simulation system during executing cooperative mission, a control solution of time consistency has been proposed to realize the unity of time information. On the basis of thoroughly analyzing the components and features of system, the factors that affect time synchronization are summarized and classified. After embedding a hardware of time synchronization system, a control solution is devised to maintain time consistency. Time synchronization and delay compensation are achieved from two aspects of hardware and software, which provides technical support for the following development and verification of cooperative control technology based on multiaircrafts simulation system.

关键词： Cascading style sheets Synchronization Delays Clocks Benchmark testing Delay effects

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Policy iteration based Q-learning for linear nonzero-sum quadratic differential games

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science China(Information sciences) 2019年第5期62卷 195-213页

作者： Xinxing LI Zhihong PENG Li LIANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

In this paper, a policy iteration-based Q-learning algorithm is proposed to solve infinite horizon linear nonzero-sum quadratic differential games with completely unknown dynamics. The Q-learning algorithm, which employs off-policy reinforcement learning(RL), can learn the Nash equilibrium and the corresponding value functions online, using the data sets generated by behavior policies. First, we prove equivalence between the proposed off-policy Q-learning algorithm and an offline PI algorithm by selecting specific initially admissible polices that can be learned online. Then, the convergence of the off-policy Qlearning algorithm is proved under a mild rank condition that can be easily met by injecting appropriate probing noises into behavior policies. The generated data sets can be repeatedly used during the learning process, which is computationally effective. The simulation results demonstrate the effectiveness of the proposed Q-learning algorithm.

关键词： adaptive dynamic programming ADP Q-learning reinforcement learning RL linear nonzerosum quadratic differential games policy iteration PI off-policy

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An Improved Robust Adaptive Kalman Filtering Algorithm

An Improved Robust Adaptive Kalman Filtering Algorithm

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第三十八届中国控制会议

作者： Liuyang Jiang Wenxing Fu Hai Zhang Zheng Li Longyun Chi School of Automation Science and Electrical Engineering Beihang University Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory National Airspace Management Center

Robust adaptive Kalman filter(RAKF) is a method that can not only compensate for the model errors but also resist the measurement outliers. The method reduces the influence of the measurement outliers on the filtering system by reducing the weight of the abnormal observation. After the processing of robust estimation, all the errors are attributed to the inaccuracy of the model. Since the robust estimation is not theoretically quantitative that it can only reduce the observation error to a certain extent, the remaining observation errors are compensated as the model errors, resulting in new estimation errors. To address this problem, a method for detecting the model error is proposed as a trigger condition for RAKF to compensate for the model error,and this constitutes an improved robust adaptive Kalman filter(IRAKF) algorithm. The new algorithm performs the model errors compensation stricter than the original method. The efficacy of the improved algorithm is demonstrated via a traffic running testing with GPS/INS tight integration navigation system. Simulation results indicate that the improved algorithm can effectively reduce the inaccurate adaptive procedure and obtain relatively accurate and stable filtering results.

关键词： Adaptive Kalman Filter Robust Estimation Improved Model Errors Tight Integrated Navigation

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Line-point feature based structure-preserving image stitching

Line-point feature based structure-preserving image stitchin...

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Chinese Automation Congress (CAC)

作者： Longyun Chi Xujun Guan Xiaorong Shen Hai Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

The naturalness of the panoramic image is an important criterion for evaluating the result of image stitching. When the overlapping region of the image has a low-texture area, the alignment is hard to accomplish due to incorrect and inadequate feature point matching pairs, and the salient structures are easily destroyed due to the unreasonable position of the optimal seam. To solve the problem, we use line segment matching information to assist the alignment of low-texture regions and use superpixel segmentation regions to filter the unreliable point correspondences. An improved seam-finding algorithm is finally used to blend images together. The experimental results demonstrate that the proposed method can get more natural stitching results.

关键词： Image segmentation Strain Feature extraction Information filters Matched filters Optimization

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Failure Mode and Effects Analysis of UAV Power system Based on Generalized Dempster-Shafer Structures

Failure Mode and Effects Analysis of UAV Power System Based ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Zhuo Zhang Mingrui Hao School of Electronics and Information Northwestern Polytechnical University Xian China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

The unmanned aerial vehicle(UAV) power system consists of components that provide flight power for the UAV, which mainly includes three parts: motor, electronic speed controller(ESC), and battery. Since the UAV always operates in the open air, which requires high stability of the power system, the failure mode and effects analysis(FMEA) is particularly significant and it has been widely used to examine potential failures in systems or components. However, the traditional FMEA method has many unreasonable points. In order to better deal with the uncertainty and improve the stability of the UAV power system, we propose a FMEA method which is based on the generalized Dempster-Shafer structures, the failure modes are comprehensively analyzed and the risks are ranked by combining the characteristic information of risk factors with the generalized evidence theory. The new method can not only deal with the uncertainty of risk assessment, but also further improve the reliability of effects analysis. In addition, the FMEA experiment of the UAV power system is carried out in this paper. The experimental results show that the method is effective for practical applications.

关键词： Failure mode and effects analysis Generalized dempster-Shafer stucture Fuzzy set theory Unmanned aerial vehicle power system Failure Mode and Effect Analysis Unmanned Aerial Vehicle drone honey bees Fuzzy Set Theory FAILURE MODES power systems Power system stability

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Application of Neutrosophic Multiple Criteria Decision Making in Unmanned system

Application of Neutrosophic Multiple Criteria Decision Makin...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yu Zhong Jiajia Zhao School of Electronics and Information Northwestern Polytechnical University Xi’an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing China

ISBN: (纸本)9781728137933

The multiple criteria decision making (MCDM) is universal and applicable for plenty of unmanned systems which are widely concerned in civil and military fields due to their adaptability and safety. The contributing factors of decision making in unmanned systems are complicated due to the inhomogeneity and nondeterminacy of environment and the relative importance of criteria. Consequently, these critical factors fail to be considered felicitously in many traditional methods. In this paper, a neutrosophic MCDM approach is proposed to mitigate this matter. The neutrosophic set generated from collected information of multiple sources would be fused by the aggregation operator to obtain the decision matrix, then the weights of criteria would be obtained via the proposed method based on the decision matrix, and the decision results could be determined by the aggregation operator and defuzzification method of aggregated neutrosophic set. The application of neutrosophic set can handle numerous uncertain matters in unmanned systems. Finally, an example was provided to illustrate the reasonableness and stability of the proposed approach.

关键词： Decision making Correlation Uncertainty Nonhomogeneous media Stability criteria Space vehicles

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Path Planning for Anti-Ship Missile Using Tangent Based Dubins Path

Path Planning for Anti-Ship Missile Using Tangent Based Dubi...

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International Conference on intelligent Autonomous systems (ICoIAS)

作者： Long Cheng Hao Lu Teng Lei Jun Chen School of Electronics and Information Northwestern Polytechnical University Xi’an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Path planning is a significant component to achieve successful operation of anti-ship missile in dynamic battlefield environment. A threat-free path planning algorithm based on geometric tangent Dubins path is proposed in this paper. First, the constraints need to be satisfied for threat-free path planning are presented, and the problem model of missile path planning is constructed. Then, the geometric tangent between two threat circles is taken advantage of guiding the missile to avoid the threat, and the basic turn and straight line path is generated based on Dubins path. At last, the adaptability of the proposed algorithm in complex battlefield environment is verified by simulations. The results show that the Dubins path avoidance method based on geometric tangent can meet the requirements of flight path, obstacle avoidance and real-time planning, which make it have a strong application prospect.

关键词： Missiles Path planning Collision avoidance Planning Radar detection Turning Real-time systems

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Vehicle detection based on point cloud intensity and distance clustering

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Journal of Physics: Conference Series 2021年第4期1748卷

作者： Zhao Wang Xing Wang Bin Fang Kun Yu Jie Ma School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China National key laboratory of multispectral information processing technology Huazhong University of Science and Technology Wuhan 430074 China Science and technology on complex system control and intelligent agent cooperation laboratory Beijing 100074 China

In the intelligent transportation system, vehicle detection is one of the essential technologies in obstacle avoidance and navigation, however the existing vehicle detection methods cannot meet the actual needs. This paper presents a vehicle detection method combines the intensity and distance information of point cloud, which improves the segmentation performance of nearby objects. Specifically, the data of point cloud collected by lidar is preprocessed first. Then the processed point cloud is clustered by combining its coordinate and intensity information. Finally, the clustered suspected targets are fed to the random forest classifier. Our method can efficiently detect and classify targets in large-scale disordered 3D point cloud with high accuracy. In the real-scanned Livox Mid-40 Lidar dataset, our proposed method improves the detection accuracy by 31% compared with the traditional Euclidean clustering.

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Research on the Radio Frequency Simulation Method for Wide-band Radar complex Target based on Physical Optics and Physical Diffraction Theory

Research on the Radio Frequency Simulation Method for Wide-b...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Guijier, DIao Hong, Ni Tianming, Zhan Yajing, Zhang Liang, Yang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd. Beijing China Datang Mobile Communication Equipment Co. Ltd. Datang Telecom Group Beijing China

ISBN: (纸本)9781728123455

A radio frequency (RF) simulation technique based on high frequency hybrid method is proposed for complex target. Firstly, the radar cross section (RCS) of the target is obtained by vector addition of facets scattering field and wedges scattering field that are calculated respectively by physical optics (PO) method and physical theory of diffraction (PTD). Then, scattering centers of the target are extracted based on multi scattering center theory, and the radar echo signal is simulated through radio frequency simulation system (RFSS). This technique could improve the fidelity of radar signal simulation and the confidence of RF simulation test. At last, simulation results validate the technique. © 2019 IEEE.

关键词： Physical optics

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