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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Siting, Peng Lei, Li Yichao, Ma Jun, Ren Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811694912

Radar sensors are important detection and tracking equipment in national defense work. There are multiple targets in actual combat scenarios. It is necessary to quickly and accurately capture suspicious targets in the reconnaissance area and track them in real time. Complex electromagnetic interference conditions and multi-target tracking requirements pose a great challenge to track correlation. This paper establishes a multi-target maneuver scenario and uses a joint probabilistic data interconnection algorithm based on interactive multi-model (IMM) to perform multi-target tracking. Correlation tracking, simulation results show that the algorithm is used to correlate the target maneuver and measurement information with good accuracy. Interactive multi-model filtering can mix the estimation results of each filter to generate a fused state estimation result. The description of the model is more accurate, which improves the tracking accuracy and tracking stability of the algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kalman filters

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An Algorithm of INS Error Correction Base on the Intermittent Label Measurement and the Analysis of Its Influencing Factors

An Algorithm of INS Error Correction Base on the Intermitten...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Peng, Siting Qian, Zhao Ma, Yichao Song, Zhichao Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811581540

Integrated navigation technology is widely used in aviation, aerospace, sailing and other ground-based navigation equipment, the inertial navigation system (INS) is the most common tool. In practice, the key to navigation is precise position, and the position is cooperated with the image matching. According to the label results after image matching, the position of sensor can be calculated. However, the label results cannot be get in every period, what’ more, he output results of the inertial navigation system (INS) is with big error, thus the article studied an algorithm of INS error correction based on the intermittent label measurement, in which the cubature kalman filter is used. After that, it also studied the influencing factor of the labels, such as the label error by match, the count of label, the area of label, thus the INS positioning error can be reduced in line with the engineering guarantee. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Error correction

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Error Modeling Method of Aircraft HWIL Simulation System Based on BP Wavelet Neural Network 18th

Error Modeling Method of Aircraft HWIL Simulation System Ba...

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18th Chinese Intelligent Systems Conference, CISC 2022

作者： Tong, Jiahui Liu, Jin Li, Jing Zhang, Qing Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100190 China Beijing Electro-Mechanical Engineering Institute Beijing102299 China

ISBN: (纸本)9789811962028

In order to ensure the confidence of hardware-in-the-loop(HWIL) simulation results, the simulation equipment and system are required to simulate the realistic flight environment;However, the additional error introduced by the simulation system in the guidance and control loop should be minimized. By studying the error model of the aircraft HWIL simulation system and analyzing the impact of the HWIL simulation system on the guidance and control quality, we can recognize the real performance of the guidance and control system, find out the key factors affecting the performance of the HWIL simulation system, provide decision-making basis for the development of simulation equipment, and improve and enhance the reliability of the simulation system. Based on BP wavelet neural network, the mathematical modeling of the aircraft HWIL simulation system error is carried out, and the modeling method and process are introduced in detail. A new method of aircraft HWIL simulation system error modeling with input and output data is proposed, and the applicability of modeling method is analyzed, and satisfactory accuracy results are obtained. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Errors

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Design and simulation of a two-stage linear inverted pendulum control system based on fuzzy LQR control

Design and simulation of a two-stage linear inverted pendulu...

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International Symposium on Autonomous Systems (ISAS)

作者： Siting Peng Jun Ren Lei Li Yichao Ma Zhichao Song Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory The Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

This paper introduces in detail the origin of the development of automatic control methods, applications and current research hotspots. It also introduces some control methods commonly used in industrial and agricultural production, and expounds the current application hotspots and new advanced control methods that are developing rapidly. The background, current situation and classification of the inverted pendulum platform are introduced in detail. In the first chapter, the LQR method in modern control theory is introduced in detail. The influence of parameters is analyzed through simulink space modeling and simulation control experiment. At the same time, the real-time experiment is also done in combination with the hardware platform. In the second chapter, the fuzzy control theory in intelligent control is introduced in detail. By combining fuzzy control with LQR method, suitable LQR parameters are calculated by pole assignment. After proper adjustment, reasonable fuzzy rules are adopted and adaptive fuzzy control principle is applied to adjust the control situation in real time. Using simulink space modeling, a good simulation control effect is obtained. Finally, the summary is made.

关键词： Fuzzy control Analytical models Adaptation models Quantization (signal) Production Aerospace electronics Real-time systems

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Design and Implementation of Infrared Image Preprocessing System based on FPGA

Design and Implementation of Infrared Image Preprocessing Sy...

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2021 China Automation Congress, CAC 2021

作者： Li, Lankun Liu, Wancheng Lei, Ruiqi Liu, Longjun Xi'an Jiaotong University Xi'an China Key Laboratory of Electro-optical Information Control and Security Technology Tianjin China

ISBN: (纸本)9781665426473

Infrared image processing is a conventional topic, but the hardware design and implementation for infrared image processing algorithms are full of challanges, especially for special purpose infrared detectors which have customized interfaces and protocols. Moreover, some customized infrared detectors only generate the infrared image with very poor quality. Therefore, in this paper, we design and implement an infrared image preprocessing system based on FPGA for customized infrared detectors. We propose a hardware architecture that includes the whole process from the input of detector, image processing, to final infrared video stream output and display. Our hardware architecture is able to adapt to different customized infrared detectors, which has the characteristics of real-time, low-power, dynamic parameter configuration, high processing efficiency and stable imaging effect. We have implemented it on Xilinx FPGA. The infrared imaging effect is significantly improved with limited FPGA resources (about only 1.6M LUT, 420 BRAM for all algorithm models on Xilinx zc706 evaluation board), the image processing speed can reach to 225Hz with the resolution of 320*256. Our preprocessing system can generate real-time video for display with 1920*1080@60Hz. © 2021 IEEE

关键词： Field programmable gate arrays (FPGA)

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RGB to L∗a∗b∗ Color Prediction Model Based on Color Cards 8th

RGB to L∗a∗b∗ Color Prediction Model Based on Color Cards

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8th International Conference on Cognitive Systems and Information Processing, ICCSIP 2023

作者： Zhang, Yong Zou, Jie Ma, Chao Gu, Yunpeng Ma, Jianwei College of Information Engineering Henan University of Science and Technology Luoyang471000 China Science and Technology on Electro-Optic Control Laboratory AVIC Optronics Luoyang471000 China

ISBN: (纸本)9789819980208

Color is a critical characteristic indicating the traits of an object and is widely used in computer vision technology. In order to ensure uniformity and device independence of color in image processing, standardized and normative color management are needed. L∗a∗b∗ color space is a device-independent expression of color values because it is uniform and independent of hardware devices. Therefore, in this paper, we compare four prediction models from RGB to L∗a∗b∗. The experimental platform was built to acquire digital images with Pantone color cards as sample data and extract RGB value. The real L∗a∗b∗ value is measured by colorimeter. And preprocess the original RGB value and L∗a∗b∗ value data, and establish four prediction models: linear, quadratic polynomial, neural network and extreme learning machine, by comparing preprocessed data with real data. Using four evaluation metrics (MAE, MSE, RMSE and R2), and scatter fit plots were used to compare results. The results show that the model based on extreme learning machine has the highest prediction accuracy, with MAE reaching 0.021, 0.017 and 0.010, MSE 0.0006, 0.0005 and 0.0001, RMSE 0.026, 0.021 and 0.031, R2 0.96, 0.97 and 0.96, respectively. Indicates that the extreme learning machine has good potential for application. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Forecasting

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Radar Target Selection Strategy Based on Improved Subjective Bayesian Reasoning

Radar Target Selection Strategy Based on Improved Subjective...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Li, Wen Pei, Hucheng Qu, Guangzhou Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

ISBN: (纸本)9789811694912

In order to deal with the influence of dilution passive decoy jamming on target selection of UAV radar, and to enable UAV radar have more independent decision-making ability to acquire the naval ship correctly in an ocean battlefield scene containing single real ship and multiple passive decoys, a method which established the mathematical simulation model of jamming scene, and used the model as the fitness function to calculate the adequacy measurement parameters of subjective Bayesian reasoning through genetic optimization algorithm is proposed. This method is applied to UAV radar target selection, compared with traditional target selection methods using single target feature, this method can improve the accuracy of ship acquisition by comprehensive using multi-dimensional target features. Moreover, this method can further improve the joint acquisition accuracy by setting multiple adequacy measurement parameters for different radars, which prove that the method can achieve the purpose of improving the success rate of UAV radar against dilution passive decoy jamming. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Radar

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic Systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Research on Cooperative Multi-constraint Guidance Law for Leader-Follower Multi-aircraft 21st

Research on Cooperative Multi-constraint Guidance Law for Le...

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21st Asia Simulation Conference, AsiaSim 2022

作者： Xin, Du Guijie, Diao Zhe, Liu Ningbo, Gong Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811991974

In this paper, the design and optimization of multi-aircraft cooperative guidance law with multi-constraint is studied for high-speed and large maneuvering targets. Firstly, the motion of the aircraft and the target are analyzed in the inertial coordinate system. The relative motion model and the corresponding state equation are established in a plane. Then, based on the sliding mode control method, the multi-constrained ballistic forming guidance law of the lead aircraft is designed to make it hit the target in multiple dimensions. Finally, the aircraft-to-target range and line-of-sight angle of the aircraft are selected as the state variables to be controlled, and the multi-constrained cooperative guidance law is designed for the follow aircraft. So that the motion of follow aircraft can track the lead aircraft accurately, the controlled state variables converges quickly, and hit the target at the same time until the end. The simulation results show that the leader-follower cooperative guidance law designed in this paper is effective for intercepting high-speed and large maneuvering targets. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Sliding mode control

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Transient Analysis of Plasma Limiter Using the SETD method with a Multi-Physics Model

Transient Analysis of Plasma Limiter Using the SETD method w...

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2023 IEEE MTT-S International Wireless Symposium, IWS 2023

作者： Liu, Tong Dai, Zhou Qin, Haoran Zhang, Tiancheng Bao, Huaguang Zhou, Yinghui Sun, Zheng Ding, Dazhi School of Microelectronics Nanjing University of Science and Technology Nanjing210094 China Nanjing Electronic Devices Institute Nanjing210016 China Army Engineering University National Key Laboratory on Electromagnetic Environmental Effects and Electro-optical Engineering Nanjing210007 China

ISBN: (纸本)9798350336535

The plasma limiter can reflect and absorb the high-power microwave to protect the electronic systems. In this paper, a coupled multi-physics model based on the wave equation and electron hydrodynamic equation is proposed and the response properties of the plasma limiter under high power microwave radiation are analyzed using the spectral element time domain (SETD) method. The superiority of the transient fully coupled analysis under high power microwaves is demonstrated by comparison with COMSOL. © 2023 IEEE.

关键词： Transient analysis

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