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8th International Conference on Computing, control and Industrial Engineering, CCIE 2024

作者： Zhang, Yifan Li, Qing Zhang, Hao Fu, Guodong Beijing Key Laboratory of High Dynamic Navigation Technology Beijing100192 China Ministry of Education Key Laboratory of Modern Measurement & Control Technology Beijing100101 China School of Automation Beijing Information Science & Technology University Beijing100192 China

ISBN: (纸本)9789819769339

To improve the stability control capability of distributed electric drive vehicles on rough road surfaces, a hierarchical stability control strategy that considers road interference is proposed. In the upper-level controller, a new rollover energy stability index based on the energy method is designed. An enhanced sliding mode controller is employed to simultaneously control the yaw rate and the center-of-mass side slip angle as the control objectives. The sliding mode theory determines the additional yaw moment required for maintaining vehicle stability under road disturbances. The lower-level controller designs an optimal torque distribution strategy to allocate the yaw torque output, generated by the upper-level controller, to each wheel for achieving vehicle stability control. Joint simulations are conducted using CARSIM and MATLAB/Simulink to perform simulation experiments. The results demonstrate that this control method effectively enhances the stable steering control of distributed electric drive vehicles on rough roads, reduces the risk of vehicle sideslip and rollover during steering, and improves driving safety. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Level control

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Research on weak signal detection based on wavelet-correlation detection algorithm 4

Research on weak signal detection based on wavelet-correlati...

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4th International Conference on Digital Signal and Computer Communications, DSCC 2024

作者： Cheng, Biyao Li, Ming Wang, Xiaozhuo Science and Technology on Electromechanical Dynamic Control Laboratory Xi’an710065 China Xi’an Institute of Electromechanical Information Technology Xi’an710065 China School of Astronautics Northwestern Polytechnical University Xi'an710072 China

ISBN: (纸本)9781510681538

The detection of weak signals has a wide range of applications in engineering. In this paper, a combined algorithm of wavelet transform and correlation detection is proposed to address the problems in current detection methods, namely the wavelet-correlation detection algorithm, to detect weak signals. By building a Simulink model on Matlab and implementing simulation through programming, the reliability of the algorithm is verified. The detection performance of the algorithm for weak signals in fixed noise and color noise environments is analyzed, and compared with the cross-correlation detection method. The results show that the wavelet-correlation detection algorithm can distinguish weak signal features from strong noise backgrounds. Taking the 5.2943dB input signal as an example, the wavelet- correlation detection algorithm improves the relative error of amplitude from 1.89% to 0.35%. Signal-to-noise ratio increased by 8.7638dB. © 2024 SPIE.

关键词： Wavelet transforms

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Target Information Acquisition Method of Penetration Fuze Based on Composite Detection 10

Target Information Acquisition Method of Penetration Fuze Ba...

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2023 10th International Conference on Advanced Manufacturing technology and Materials Engineering, AMTME 2023

作者： Zhang, Zhenze Sui, Li Yu, Haoyuan Shi, Gengchen Science and Technology on Electromechanical Dynamic Control Laboratory Beijing100081 China School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Control and Electronic Technology Beijing100038 China

When the traditional high-g acceleration sensor penetrates the hard multi-layered target, it is easy to cause the overlap of the penetration overload. The rigid body signal is submerged in the vibration signal, resulting in the error of the layer-counting recognition algorithm, and it is difficult to judge the time of the penetration ammunition. Based on the principle of the capacitance sensor and the piezoelectric sensor, a composite sensor for penetration fuze is designed in this paper. On this basis, a layer-recognition algorithm based on capacitance and piezoelectric signal fusion is designed, and its feasibility is verified by software simulation. © Published under licence by IOP Publishing Ltd.

关键词： Capacitance

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Fault-tolerant control against actuator faults based on extended state observer for quadrotor UAV 3

Fault-tolerant control against actuator faults based on exte...

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2024 3rd International Conference on Energy Utilization and Automation, ICEUA 2024

作者： Liu, Jiali Li, Qing School of Automation Beijing Information Science and Technology University Beijing100192 China Beijing Key Laboratory of High Dynamic Navigation Technology Beijing100192 China Ministry of Education Key Laboratory of Modern Measurement and Control Technology Beijing100192 China

A model predictive control (MPC) strategy is devised to handle the issue of multi-actuators partial failure faults of quadrotor vehicles. Firstly, considering a quadrotor system with actuator partial failure faults and unknown disturbances, the quadrotor dynamics model is analyzed and established. Then, the MPC attitude fault-tolerant controller is devised to transform the issue of controlling the attitude angle of a quadrotor into a quadratic programming solution problem, and the extended state observer (ESO) is devised to evaluate the faults and perturbations, which highly and greatly improves the system's suppression capability against disturbances. Finally, numerical simulation experiments demonstrate the scheme's fault-tolerance to actuator faults and its ability to suppress unknown perturbations, while the results of semi-physical simulation experiments also prove that the method is effective and feasible. © Published under licence by IOP Publishing Ltd.

关键词： Model predictive control

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LK-ORB-SLAM3: An RGB-D Visual SLAM Algorithm Fusing Optical Flow Tracking and Feature Matching 7

LK-ORB-SLAM3: An RGB-D Visual SLAM Algorithm Fusing Optical ...

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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Dai, Juan Sun, Shengqiang Liu, Jingwei Su, Zhong Beijing Key Laboratory of High Dynamic Navigation Technology Beijing100192 China Ministry of Education Key Laboratory of Modern Measurement & Control Technology Beijing100101 China Beijing Information Science & Technology University School of Automation Beijing100192 China

ISBN: (纸本)9798350355642

In response to the issue of poor real-time performance caused by the large computational load of feature-based methods, this paper proposed an RGB-D visual SLAM algorithm which integrates optical flow and feature-based methods. This algorithm combined optical flow with the feature-based method, effectively improving the real-time performance of the algorithm while maintaining high precision. Firstly, keyframes are matched using feature-based methods, and camera motion is computed by minimizing the reprojection error. For non-keyframes, keypoints are extracted without computing descriptors and tracked using the optical flow pyramid, and pose estimation is achieved by minimizing the photometric error. Secondly, a dual mechanism based on time and space is employed to execute keyframes insertion which ensures tracking stability. Additionally, an adaptive threshold algorithm is proposed to enhance tracking robustness in low-light environments. Experimental results on the TUM dataset indicated that, with comparable average localization accuracy, the proposed algorithm reduces average tracking cost by 37.19%, achieving real-time frame rates of up to 45 fps on mid-to-low-performance CPUs. © 2024 IEEE.

关键词： Real time systems

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A sparse moving array imaging approach for FMCW radar with dual-aperture adaptive azimuth ambiguity suppression and adaptive QR decomposition

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Defence technology 2025年

作者： Han, Yanwen Yan, Xiaopeng Wang, Jiawei Zheng, Sheng Yu, Hongrui Dai, Jian Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

Range-azimuth imaging of ground targets via frequency-modulated continuous wave (FMCW) radar is crucial for effective target detection. However, when the pitch of the moving array constructed during motion exceeds the physical array aperture, azimuth ambiguity occurs, making range-azimuth imaging on a moving platform challenging. To address this issue, we theoretically analyze azimuth ambiguity generation in sparse motion arrays and propose a dual-aperture adaptive processing (DAAP) method for suppressing azimuth ambiguity. This method combines spatial multiple-input multiple-output (MIMO) arrays with sparse motion arrays to achieve high-resolution range-azimuth imaging. In addition, an adaptive QR decomposition denoising method for sparse array signals based on iterative low-rank matrix approximation (LRMA) and regularized QR is proposed to preprocess sparse motion array signals. Simulations and experiments show that on a two-transmitter-four-receiver array, the signal-to-noise ratio (SNR) of the sparse motion array signal after noise suppression via adaptive QR decomposition can exceed 0 dB, and the azimuth ambiguity signal ratio (AASR) can be reduced to below −20 dB. © 2025 China Ordnance Society

关键词： Signal to noise ratio

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Effect of a typical smoke screen on pulsed laser fuze echoes 9

Effect of a typical smoke screen on pulsed laser fuze echoes

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9th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Shuai, Chen Mingkai, Yue Huimin, Chen School of Equipment Engineering Shenyang Ligong University Liaoning Shenyang110159 China Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510664432

In order to analyze the backscattering characteristics of pulsed laser fuze in typical smoke, copper powder and iron powder with a particle size range of 3~15 µm were selected, the detection model of pulsed laser fuzes in typical smoke was established based on Mie scattering theory and Monte Carlo method. The pulsed laser fuze is simulated to scatter echoes behind smoke curtains with different detection distances, different smoke screen thicknesses and different emitting laser pulse widths, and the echo intensities of copper powder smoke screens and iron powder smoke screens under the same smoke screen conditions are compared. The results show that the normalized echo intensity of copper powder smoke screen and iron powder smoke screen is negatively correlated with the detection distance. It is positively correlated with smoke screen thickness and emitted laser pulse width. In addition, under the same smoke screen environmental conditions, the echo intensity of the iron powder smoke screen is significantly stronger than that of the copper powder smoke screen, which can be explained that compared with the iron powder, copper powder is more suitable for use as a smoke generator material, the result can provide support for the anti-smoke interference of the laser fuze. © 2023 SPIE.

关键词： Particle size

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Object Detection Based on Digital Twin-Based Road Scenarios

Object Detection Based on Digital Twin-Based Road Scenarios

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control, Electronics and Computer technology (ICCECT), IEEE International Conference on

作者： Zhang Yu Chen Huimin Wang Weihan Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing China

ISBN: (数字)9798350380958

ISBN: (纸本)9798350380965

With the rapid development of artificial intelligence and digital technology, digital twins are becoming more and more widely used in various fields, and have high application value in industrial production, architectural design and other fields. There are few datasets of extreme scenarios used in traditional object detection and vehicle autonomous driving training, resulting in unsatisfactory results of object detection and autonomous driving technology in complex environments. In this paper, a digital twin model of the road scene is built based on the rules of City Engine and the Unreal Engine 4 platform, which can be used to build a model of complex road scenes and shorten the model construction cycle. Based on the constructed digital twin model, the target detection task is carried out, and it is verified that the target detection and autonomous driving tests can be carried out in the digital twin model. It provides ideas for solving the problem of insufficient testing of autonomous driving and object detection tasks in complex and extreme scenarios.

关键词： Training Roads Urban areas Object detection Digital twins Task analysis Artificial intelligence

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Analysis of the Response Characteristics of Ultra-Wideband Radio Fuze to Interference Signals 4

Analysis of the Response Characteristics of Ultra-Wideband R...

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4th International Conference on Defence technology, ICDT 2024

作者： Hao, Shijun Xie, Jialiang Liang, Yanbin Wu, Kaiwei Yang, Bing Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing China Air Force Armament Department Shenyang Regional Military Representative Bureau Jilin Regional Military Representative Office Jilin China

The response characteristics of the fuze to the interference signal with reasonable characteristic parameters are similar to the real echo signal, which may lead to the confusion of signal processing and recognition system. To solve this problem, this paper analyzes the influence of characteristic parameters of interference signal on the response characteristics of fuze in detail from two perspectives of time domain and frequency domain, Based on the analysis of receiver principle, the amplitude-frequency response model of sampling integral differential circuit is established, and the response characteristics of interference signal are analyzed from the perspective of frequency domain. Based on the analysis of the time-frequency characteristics of the echo signal of the UWB fuze, a time-frequency function cutting method is proposed to evaluate the anti-jamming performance of the UWB fuze. This methodology was applied to the evaluation of the anti-jamming performance of the UWB fuze to sinusoidal amplitude-modulation interference signal and the results show that the theoretical analysis and simulation results are consistent, and the research provides theoretical guidance for the anti-interference of fuze. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Jamming

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dynamic Accuracy Method of laser imaging system Based on MEMS mirror 3

Dynamic Accuracy Method of laser imaging system Based on MEM...

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3rd International Conference on Machine Learning and Computer Application, ICMLCA 2022

作者： Zhang, Jun Yang, Li Chen, Huimin School of Equipment Engineering Shenyang Ligong University Liaoning Shenyang110159 China Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510664814

As one of the important ways of laser imaging, Microelectromechanical system (MEMS)-based mirror imaging has the advantages of small volume and high frequency. In this paper, the relationship between key parameters of MEMS mirrors is studied. Also, the realization method of scanning imaging based on a one-dimensional MEMS mirror is studied. A method of controlling the number of scanning harnesses based on a MEMS mirror is proposed. The single-lens method is used to design and collimate the transmitting optical system with Zemax simulation software, and the effects of the different numbers of scanning wire harnesses are simulated. The result shows that the number of scanning wire harnesses can be controlled, indicating that the system's dynamic accuracy can be achieved. © 2023 SPIE.

关键词： MEMS

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