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IEEE International Conference on Unmanned systems (ICUS)

作者： Yijun Feng Wanchun Chen Liang Yang Donghui Wei School of Astronautics Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

A numerical method for two-dimensional terrain following optimal trajectory regeneration is proposed in this paper, which corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. The neighboring extremal problem is established near the optimal terrain following trajectory, which can be regarded as a two-point boundary-value problem (TPBVP) and solved using Linear Gauss Pseudo-Spectral (LGP) method. Compared with the classical backward sweep method for solving TPBVPs, LGP method is much faster in obtaining approximate results. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Terrain following Optimal control Neighboring extremal Linear gauss pseudo-Spectral terrain following Optimal control Numerical methods trajectory Gauss

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Design of low-weight, small-size and high-efficiency equalization circuits based on switched-capacitors 4

Design of low-weight, small-size and high-efficiency equaliz...

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2022 4th International Conference on Electronic Engineering and Informatics, EEI 2022

作者： Ding, Yanhong Zhao, Xin Li, Kun Liu, Qing Shi, Gengxin School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China China Electronics Technology Group Corporation Tianjin China

ISBN: (纸本)9783800759231

An any cell to any cell equalization circuit, which is based on switched capacitors and energy bus, is proposed in this paper. In this equalization topology, any high voltage cell can directly transfer the power to any low voltage cell through energy bus. With the increasing miniaturisation and integration of circuit boards, the topology proposed in this paper reduces the size of the circuit by varying the capacitance and frequency in order to further reduce the area and weight of the circuit. At the same time compared with the equalization circuit using transformers or inductance devices, this circuit has the characteristics of low cost, low-weight, small-size, easy integration and simple control scheme and it is suitable for applictions such as aerospace and unmanned aerial vehicles. The feasibility of the circuit topology is verified by formula demonstration and simulation results. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Cells

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An Optimal Terrain Following Trajectory Online Regeneration Method

An Optimal Terrain Following Trajectory Online Regeneration ...

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control technology and Applications (CCTA),

In this paper, we present a numerical method for two-dimensional terrain following (TF) optimal trajectory regeneration. This method corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. Firstly, an optimal TF trajectory is acquired using Hp-adaptive Gaussian quadrature collocation method. Then, a neighboring optimum feedback law is presented for trajectory regeneration using a backward sweep method. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Trajectory History Vehicle dynamics Mathematical model Optimal control Aircraft Aerodynamics

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Regional Geomagnetic Map Construction based on Support Vector Machine Residual Kriging

Regional Geomagnetic Map Construction based on Support Vecto...

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第三十九届中国控制会议

作者： Tong Liu Xingyu Li Mengyin Fu Zhaoxiang Liang Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Nanjing University of Science and Technology

Regional geomagnetic maps are widely used in geomagnetic navigation and magnetic anomaly detection. However,the complexity of geomagnetic spatial trend changes and the spatial sparseness of the geomagnetic data affect the accuracy of regional geomagnetic map construction. In order to improve the accuracy of regional geomagnetic maps, this paper proposes the Support Vector Machine Residual Kriging method（SVMRKriging）. First, Support Vector Machine（SVM） is used to fit the geomagnetic trend changes, then the residual component is interpolated by ordinary Kriging, and finally these two parts are added to construct a regional geomagnetic map. Experiments were performed using geomagnetic grid data and aeromagnetic data. The experiment results show that SVMRKriging method can improve the accuracy of regional geomagnetic maps with geomagnetic trend changes.

关键词： Regional Geomagnetic Map Kriging Support Vector Machine

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Aeromagnetic Compensation Based on Tikhonov Regularization with Limited L-curve Parameter-choice Algorithm

Aeromagnetic Compensation Based on Tikhonov Regularization w...

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第37届中国控制会议

作者： FU Mengyin LI Jie WU Tailin LIU Tong WANG Meiling WANG Kai KANG Jiapeng Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Nanjing University of Science and Technology

Magnetic anomaly detection has great application value to national economic development and national defense construction, while the presence of various interference magnetic fields on the aircraft will affect the detection of magnetic anomaly. Therefore, it is very important to compensate the aircraft interference magnetic field. In order to solve the problem that the accuracy of the parameters is poor by using ridge estimation in the process of solving the parameters of aircraft interference magnetic field model, we propose a method based on Tikhonov Regularization（TR）. Firstly, the optimal regularization parameter is obtained by the limited L-curve method in our work. Secondly, the aircraft interference magnetic field model parameters are obtained by using the TR method. Finally, we use the model parameters to calculate the aircraft interference magnetic field in the real flight, and complete the compensation. The effectiveness of this method is validated by simulation experiments. The results show that the method proposed in this paper has the advantages of high precision and convenient application, so it can be used to compensate the aircraft interference magnetic field effectively.

关键词： Aircraft Interference Magnetic Field Model Tikhonov Regularization L-curve Method Ridge Estimation

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A summary of the development of cooperative and intelligent technology for multi-UAV systems

A summary of the development of cooperative and intelligent ...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Zhou, Huan Su, Qian Fu, Wenxing Xu, Cheng Zheng, Meiyun Yang, Jingguang Aeronautical Engineering College Air Force Engineering University Xi'an China School of Astronautics Northwest Polytechnical University Xi'an China Unmanned System Research Institute Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Aviation Maintenance Sergeant School of Air Force Engineering University Xinyang China

ISBN: (纸本)9781728158594

In the process of formation cooperative autonomous flight and mission execution, multi-UAV systems have the characteristics of large disturbance, strong coupling of multi variables, high degree of uncertainty and complex cooperative factors, so there are many difficulties in the design of cooperative and intelligent control system. How to effectively develop the cooperative and intelligent technology of multi-UAV systems has become an urgent problem in the field of unmanned system and artificial intelligence. This paper first introduces the key technologies involved in UAV system at present, and then analyzes the challenges faced by the development of UAV system. Finally, it focuses on the development trend of multi-UAV systems cooperation and intelligent technology in the future. The research results have strong theoretical guidance significance for the cooperation and intelligent development of multi-UAV systems in China. © 2019 IEEE.

关键词： Flight control systems

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Meta-ZSDETR: Zero-shot DETR with Meta-learning

arXiv

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arXiv 2023年

作者： Zhang, Lu Zhang, Chenbo Zhao, Jiajia Guan, Jihong Zhou, Shuigeng Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China Department of Computer Science & Technology Tongji University China

Zero-shot object detection aims to localize and recognize objects of unseen classes. Most of existing works face two problems: the low recall of RPN in unseen classes and the confusion of unseen classes with background. In this paper, we present the first method that combines DETR and meta-learning to perform zero-shot object detection, named Meta-ZSDETR, where model training is formalized as an individual episode based meta-learning task. Different from Faster R-CNN based methods that firstly generate class-agnostic proposals, and then classify them with visual-semantic alignment module, Meta-ZSDETR directly predict class-specific boxes with class-specific queries and further filter them with the predicted accuracy from classification head. The model is optimized with meta-contrastive learning, which contains a regression head to generate the coordinates of class-specific boxes, a classification head to predict the accuracy of generated boxes, and a contrastive head that utilizes the proposed contrastive-reconstruction loss to further separate different classes in visual space. We conduct extensive experiments on two benchmark datasets MS COCO and PASCAL VOC. Experimental results show that our method outperforms the existing ZSD methods by a large margin. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Monocular visual based obstacle distance estimation method for ultra-low altitude flight

Monocular visual based obstacle distance estimation method f...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jin Cheng Donghui Wei Wanchun Chen Wang Gao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China School of Astronautics Beihang University Beijing China

ISBN: (纸本)9781728137933

This paper focuses on the problem of ultra-low-altitude flight obstacle distance estimation for monocular vision-assisted aircraft. First, the basic error model of distance estimation using sequence images is derived and the phenomenon of "epipole dead zone" is revealed. Then the distance estimation algorithm based on pairs of coplanar points is proposed as well as its error model. This algorithm is proved to be a solution of the "epipole dead zone" problem theoretically. Finally, numerical simulations show that the proposed distance estimation algorithm can effectively improve the accuracy of distance estimation in the "epipole dead zone".

关键词： Ultra-low altitude flight Monocular vision Distance estimation Monocular Vision error model flight altitude flight Death Dead

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A Method for Marine Ship Formation Intention Recognition based on BiConvLSTM-Attention

A Method for Marine Ship Formation Intention Recognition bas...

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Electronic Information Engineering and Computer science (EIECS), 2021 International Conference on

作者： Yunqiao Xi Junping Zhang Jian Liu Linlin Wang Hongfeng Xu Linxiu Chen Jixiang Jiang School of Electronics and Information Engineering Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Institute of Electrical and Mechanical Engineering Beijing China

To solve the problem that current dynamic intention recognition methods fail to make full use of time domain variation information between multi-temporal group targets, which leads to low accuracy of intention recognition. This paper proposes a bidirectional convolutional long short term memory-attention network for marine formation target intention recognition. The network takes the multi-source trajectory data of the marine ship formation target as the input, extracts and uses the target change rule and time domain characteristics of the Marine formation data, and trains the model to have the ability to independently learn the weight of information in different time periods. The simulation results show that the method has good performance and can meet the needs of practical application.

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A Novel Relocating Recognition Algorithm in Overlapping Region for Multi-UAVs Cluster

A Novel Relocating Recognition Algorithm in Overlapping Regi...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Li, Chen Qi, Xuelei Zhao, Juntao Liao, Xuanhong Lin, Zitian Ma, Hongjun Liang, Xinkai College of Information Science and Engineering Northeastern University Shenyang China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong High School Attached to Northeast Normal University International Curriculum Center Changchun China School of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous localization algorithm based on visual-inertial fusion is proposed. Then, the algorithm for vocabulary updating and relocating is designed. Finally, practical testing is implemented to verify and improve the efficiency of exploration ability and the accuracy of the autonomous navigation and positioning in the complex overlapping regions. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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