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10th International Symposium on Test Automation and Instrumentation, ISTAI 2024

作者： Dai, Juan Jing, Yanzhang Su, Zhong Zhu, Cui Beijing Key Laboratory of High Dynamic Navigation Technology Beijing Information Science & Technology University Beijing China Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing China School of Automation Beijing Information Science & Technology University Beijing China School of Information and Communication Engineering Beijing Information Science & Technology University Beijing China

ISBN: (纸本)9781837242672

With the rapid development of artificial intelligence technologies, multi-robot cooperative processing tasks are becoming more and more common in various applications. However, traditional single-robot planning algorithms show obvious limitations in dealing with complex social interactions and dynamic environments in the real world. To address this challenge, this paper applies Monte Carlo Tree Search (MCTS) to multi-robot path planning and proposes a collaborative obstacle avoidance motion planning algorithm based on MCTS. Specifically, the algorithm prunes the Monte Carlo tree by excluding cases that do not meet the robot speed constraints and potential collisions, which significantly improves the computational speed and success rate of the algorithm, making it applicable to the multi-robot path conflict problem. In addition, we design a policy space that conforms to the robot's operation and a cost function that meets the requirements of robot path planning to plan an efficient cooperative path for each robot. Through a series of simulation experiments, we demonstrate the algorithm's path planning and obstacle avoidance performance in a variety of conflict scenarios. The results show that the method is highly cooperative and effective in complex environments. © The Institution of Engineering & technology 2024.

关键词： Cost functions

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Calibration of Space Robot Parameters Based on Base Coordinate System Errors 3

Calibration of Space Robot Parameters Based on Base Coordina...

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3rd IEEE International Conference on Electrical Engineering, Big Data and Algorithms, EEBDA 2024

作者： Yao, Zhen Liu, Chuankai Chen, Li Chen, Gang Han, Fang Hu, Xiaodong Fuzhou University Fuzhou China Beijing Aerospace Control Center Key Laboratory of Science and Technology on Aerospace Flight Dynamic Beijing China Beijing University of Posts and Telecommunications Beijing China Beijing Aerospace Control Center Beijing China

ISBN: (纸本)9798350380989

A motion error parameter identification method is proposed to address the issue of insufficient absolute positioning accuracy of a seven-degree-of-freedom space robot based on the geometric parameter errors of the robotic arm and the position errors of the base coordinate system. Firstly, the kinematic model of the space robot is established based on a modified complete and parametrically continuous model, and the mapping relationship between the geometric parameter error of the robotic arm link and the end-effector pose error is obtained using the pose differential transformation method. Then, taking into account the base coordinate system's positional error, a novel model for the space robot is developed, based on the errors associated with the base coordinate system. Finally, the identification of kinematic parameters is accomplished using the Levenberg-Marquardt optimization algorithm. Simulation results validate the effectiveness of the proposed method. © 2024 IEEE.

关键词： error model kinematic parameters space robot the position errors of the base coordinate system

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Research on ground target detection method under foliage shade

Research on ground target detection method under foliage sha...

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2022 International Conference on Image, Signal Processing, and Pattern Recognition, ISPP 2022

作者： Wan, Yi Chen, Qile Zhang, Jiaxu Chen, Yanjun Guan, Enming Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510654846

As the main product of fuze equipment, radio fuze has the advantages of strong anti-interference ability and high precision. In the face of increasingly complex battlefield environment, radio fuze is more and more susceptible to environmental interference, which makes the explosion point walk larger and lose the best damage effect. The fuze needs to be able to actively identify the environment and make decisions. Like the dense jungle at the end of the trajectory would interfere with fuze control of the blast site. To further address the issues raised by this situation,this paper analyzes the Michigan microwave vegetation scattering model and summarizes the advantages and disadvantages of the fuze platform. The echo model of leaf cluster based on pendulum model is proposed, and the echo micro-Doppler characteristics of different blade sizes are simulated. The characteristics of the two methods are summarized, which lays a foundation for further analysis of fuze echo signal. © 2022 SPIE.

关键词： Tracking radar

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Repeater jamming suppression method for pulse Doppler fuze based on identity recognition and chaotic encryption

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Defence technology（防务技术） 2021年第3期17卷 1002-1012页

作者： Jian Dai Xin-hong Hao Qiang Liu Xiao-peng Yan Ping Li Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Ordnance Science Institute of China Beijing 100089China

Pulse Doppler(PD) fuze is widely used in current battlefield. However, with the threat of repeater jamming, especially digital radio frequency memory technology, the deficiency in the anti-repeater jamming of a traditional PD fuze increasingly emerges. Therefore, a repeater jamming suppression method for a PD fuze based on identity(ID) recognition and chaotic encryption is proposed. Every fuze has its own ID which is encrypted with different chaotic binary sequences in every pulse period of the transmitted signal. The thumbtack-shaped ambiguity function shows a good resolution and distance cutoff characteristic. The ability of anti-repeater jamming is emphatically analyzed, and the results at different signal-to-noise ratio(SNR) show a strong anti-repeater jamming ability and range resolution that the proposed method possesses. Furthermore, the anti-repeater jamming ability is influenced by processing gain, bit error rate(BER) and correlation function. The simulation result validates the theoretical analysis, it shows the proposed method can significantly improve the anti-repeater jamming ability of a PD fuze.

关键词： Pulse Doppler fuze ID Chaotic binary code Encryption Repeater jamming

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Sensitivity analysis and probability modelling of the structural response of a single-layer reticulated dome subjected to an external blast loading

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Defence technology（防务技术） 2023年第5期23卷 152-163页

作者： Shao-bo Qi Guang-yan Huang Xu-dong Zhi Feng Fan State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081PR China Key Lab of Structure Dynamic Behaviour and Control of the Ministry of Education Harbin Institute of TechnologyHarbin150090China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters of Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbin150090China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120China

The structural response of a single-layer reticulated dome to external explosions is shaped by many variables,and the associated uncertainties imply non-deterministic *** deterministic methods for predicting the consequences of specific explosions do not account for these ***,the impact of the uncertainties associated with these input variables on the structures’response needs to be studied and *** this study,a parametric uncertainty analysis was conducted ***,local and global sensitivity analyses were carried out to identify the drivers of the structural dynamic response.A probabilistic structural response model was established based on sensitive variables and a reasonable sample ***,some deterministic empirical methods for explosion-resistance design,including the plane blast load model of CONWEP,the curved blast load model under the 50%assurance level,and the 20%mass-increased method,were used for evaluating their *** results of the analyses revealed that the structural response of a single-layer reticulated dome to an external blast loading is lognormally ***,the MB0.5 method based on the curved reflector load model yielded results with a relatively stable assurance rate and reliability,but CONWEP did not;thus,the 1.2MB0.5 method can be used for making high-confidence simple *** addition,the results indicated that the structural response is very sensitive to the explosion *** on these results,it is suggested that for explosion proofing,setting up a defensive barrier is more effective than structural strengthening.

关键词： Dome structure Blast load uncertainty Sensitivity analysis Probabilistic investigation Reliability evaluation

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External blast flow field evolution and response mechanism of single-layer reticulated dome structure

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Defence technology（防务技术） 2023年第6期24卷 241-253页

Single-layer reticulated dome structure are commonly high-profile building in the public and can be attractive targets for terrorist bombings,so the public can benefit from enhanced safety with a stronger understanding of the behavior of single-layer reticulated dome structure under *** paper investigates the fluid-structure interaction process and the dynamic response performance of the singlelayer reticulated dome under external blast *** experimental and numerical results shown that structural deformation is remarkably delayed compared with the velocity of blast wave,which advises the dynamic response of large-span reticulated dome structure has a negligible effect on the blast wave propagation under *** failure modes are identified by comparing the plastic development of each ring and the residual spatial geometric of the structure,i.e.,minor vibration,local depression,severe damage,and overall *** plastic deformation energy and the displacement potential energy of the structure are the main consumers of the blast *** addition,the stress performance of the vertex member and the deep plastic ratio of the whole structure can serve as qualitative indicators to distinguish different failure modes.

关键词： External blast loading Reticulated dome structure Fluid-structure interaction dynamic response mode Response mechanism

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Deep Learning Based Signal Detector for OFDM Systems

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China Communications 2023年第12期20卷 66-77页

作者： Guangliang Pan Wei Wang Minglei Li Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information TechnologyCollege of Electronic and Information EngineeringNanjing University of Aeronautics and AstronauticsNanjing 211106China College of Control Science and Engineering China University of Petroleum(East China)Qingdao 266580China

In this paper,we propose a novel deep learning(DL)-based receiver design for orthogonal frequency division multiplexing(OFDM)*** entire process of channel estimation,equalization,and signal detection is replaced by a neural network(NN),and hence,the detector is called a NN detector(N^(2)D).First,an OFDM signal model is *** analyze both temporal and spectral characteristics of OFDM signals,which are the motivation for ***,the generated data based on the simulation of channel statistics is used for offline training of bi-directional long short-term memory(Bi-LSTM)***,a discriminator(F)is added to the input of Bi-LSTM NN to look for subcarrier transmission data with optimal channel gain(OCG),which can greatly improve the performance of the ***,the trained N^(2)D is used for online recovery of OFDM *** performance of the proposed N^(2)D is analyzed theoretically in terms of bit error rate(BER)by Monte Carlo simulation under different parameter *** simulation results demonstrate that the BER of N^(2)D is obviously lower than other algorithms,especially at high signal-to-noise ratios(SNRs).Meanwhile,the proposed N^(2)D is robust to the fluctuation of parameter values.

关键词： channel estimation deep learning OFDM optimal channel gain signal detection

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Simulation Method of Ground Millimeter Wave Scattering Based on Encoded Meta-Materials

Simulation Method of Ground Millimeter Wave Scattering Based...

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International Symposium on Antennas, Propagation and EM Theory (ISAPE)

作者： Bo Tian Haijun He Yongdiao Wen Wei Li Haichao Zhong Tie Li Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an Institute of Electromechanical Information Technology Xi'an China

ISBN: (数字)9798350353129

ISBN: (纸本)9798350353136

Aiming at the demand of the environmental adaptability and reliability of millimeter wave proximity fuze for the simulation test system of near-field backscattering characteristics of various backgrounds, such as land, green vegetation, and road surfaces. A simulation method for millimeter wave scattering characteristics of complex ground background is proposed. The method can realize both the background equivalent simulation in the energy dimension and the dynamic scene simulation in the time dimension, which solves the technical defects of the traditional simulation method for the dynamic test scene simulation. The test results show that the maximum error and the root mean square error of the two background simulations of grass and concrete pavement are less than 3dB, which meets the demand of simulating the dynamic detection response characteristics of various background millimeter wave near-field and provides a concise and efficient testing method for the practical performance assessment of ground proximity fuze.

关键词： Surface waves Roads Millimeter wave technology Electromagnetic scattering Vegetation Real-time systems Encoding Reliability Root mean square Testing

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Ground Target Recognition Method for Laser Proximity Fuze Echo Based on KNN Algorithm

Ground Target Recognition Method for Laser Proximity Fuze Ec...

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International Symposium on Antennas, Propagation and EM Theory (ISAPE)

作者： Gang Li Haijun He Bo Tian Pengfei Hu Tiantian Feng Yuanfei Hui Xi’ an Institute of Electromechanical Information Technology Science and Technology on Electromechanical Dynamic Control Laboratory Xi’ an China

ISBN: (数字)9798350353129

ISBN: (纸本)9798350353136

Aiming at the urgent demand for accurate recognition of ground target by the new-generation of laser proximity fuze, an exploration study on ground target recognition using KNN algorithm based on the echo of the mission-target encounter of laser fuze is conducted. Firstly, the echo equation of mission-target encounter is established by the radar equation. Secondly, the echo data is processed by normalization, and the data is divided into the training dataset and the test dataset. Then, the data are subjected to feature extraction, such as the number of strong scattering points, equivalent target size. Finally, the obtained feature subset is used for target recognition training and testing based on KNN algorithm, linear support vector machine algorithm and Gaussian naive bayes algorithm. The experimental results indicate that the recognition method based on the KNN neighbor algorithm has high accuracy and can effectively achieve classification and recognition of different targets. It has a good application value in the recognition of lase ground fuze, and lays a solid foundation for the subsequent fine recognition and efficient destruction of laser fuze.

关键词： Training Support vector machines Laser radar Accuracy Target recognition Scattering Nearest neighbor methods Mathematical models Classification algorithms Testing

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Dual Functional Diblock Amino Acid Copolymer Displaying Synergistic Effect with Curcumin against MRSA and Encapsulation of Curcumin

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Chinese Journal of Chemistry 2023年第23期41卷 3333-3338页

作者： Yueming Wu Yuan Chen Haowen Yu Alideertu Dong Runhui Liu State Key Laboratory of Bioreactor Engineering East China University of Science and TechnologyShanghai200237 China Key Laboratory for Ultrafine Materials of Ministry of Education Frontiers Science Center for Materiobiology and Dynamic Chemistry Shanghai Frontiers Science Center of Optogenetic Techniques for Cell MetabolismResearch Center for Biomedical Materials of Ministry of EducationSchool of Materials Science and EngineeringEast China University of Science and TechnologyShanghai200237 China Engineering Research Center of Dairy Quality and Safety Control Technology Ministry of EducationInner Mongolia UniversityHohhotInner Mongolia010021 China

The intensive use of antibiotics intensifies the development of bacterial resistance,which has become a serious problem ***-resistant Staphylococcus aureus(MRSA)has resulted in significant morbidity and ***,it is an urgent need to develop new antimicrobial drugs and administration ***,we report a dual functional diblock copolymer PLL20-b-PBLG20,which was prepared by superfast and water-insensitive polymerization on N-carboxyanhydrides(NCA)initiated by tetraalkylammonium *** addition to direct antimicrobial activity,PLL20-b-PBLG20 also exerts a synergistic bactericidal effect against MRSA with curcumin,a plant extract with antibacterial ***,PLL20-b-PBLG20 successfully encapsulates curcumin to form nanoparticles via *** combination of dual functional PLL20-b-PBLG20 and curcumin holds promise in combating MRSA infections.

关键词： Amino acid polymer Antimicrobial Synergy Encapsulation MRSA

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