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Computing Challenges of UAV Networks: A Comprehensive Survey

Computers, Materials & Continua 2024年第11期81卷 1999-2051页

作者： Altaf Hussain Shuaiyong Li Tariq Hussain Xianxuan Lin Farman Ali Ahmad Ali AlZubi School of Computer Science&Technology Chongqing University of Posts and TelecommunicationsChongqing400065China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqing400065China School of Computer Science and Technology Zhejiang Gongshang UniversityHangzhou310018China School of Artificial Intelligence Nanjing University of Information Science&TechnologyNanjing210044China Department of Computer Science and Engineering School of ConvergenceCollege of Computing and InformaticsSungkyunkwan UniversitySeoul03063Republic of Korea Department of Computer Science Community CollegeKing Saud UniversityRiyadh11495Saudi Arabia

Devices and networks constantly upgrade,leading to rapid technological ***-dimensional(3D)point cloud transmission plays a crucial role in aerial computing terminology,facilitating information *** network types,including sensor networks and 5G mobile networks,support this ***,Flying Ad hoc Networks(FANETs)utilize Unmanned Aerial Vehicles(UAVs)as nodes,operating in a 3D environment with Six Degrees of Freedom(6DoF).This study comprehensively surveys UAV networks,focusing on models for Light Detection and Ranging(LiDAR)3D point cloud compression/*** topics covered include autonomous navigation,challenges in video streaming infrastructure,motivations for Quality of Experience(QoE)enhancement,and avenues for future ***,the paper conducts an extensive review of UAVs,encompassing current wireless technologies,applications across various sectors,routing protocols,design considerations,security measures,blockchain applications in UAVs,contributions to healthcare systems,and integration with the Internet of Things(IoT),Artificial intelligence(AI),Machine Learning(ML),and Deep Learning(DL).Furthermore,the paper thoroughly discusses the core contributions of LiDAR 3D point clouds in UAV systems and their future prediction along with mobility *** also explores the prospects of UAV systems and presents state-of-the-art solutions.

关键词： Autonomous vehicles UAV systems UAV transmission UAV in healthcare future of UAV system security measures

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An Adaptive Sliding Mode Terminal Guidance Method

An Adaptive Sliding Mode Terminal Guidance Method

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2023 China Automation Congress, CAC 2023

作者： Zhu, Yichuan Yao, Na Fan, Hu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute System Simulation Laboratory Beijing China The Third Representative Office of Air Force Equipment in Beijing Area Beijing China

ISBN: (纸本)9798350303759

This article designs a sliding mode terminal guidance law for high-speed targets by modifying the approach law. Firstly, the relative motion equation of the chaser and escaper is established;Then adjust the aircraft based on the changes in the distance of the chaser and escaper and approach speed, design a self adaptive approach law, and derive the guidance law. At the same time, prove the stability of the guidance system by constructing a Lyapunov function;Finally, simulation verification was conducted. The simulation results showed that the designed guidance law can achieve the encounter between the chaser and the escaper. By comparing it with proportional guidance under different operating conditions, it was verified that the method has higher adaptability to different operating conditions, thus verifying the effectiveness of the guidance law designed in this paper and providing certain reference value for further research. © 2023 IEEE.

关键词： Equations of motion

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Improved tentacle-based method based on approximate analysis for entry flight

Improved tentacle-based method based on approximate analysis...

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第35届中国控制与决策会议

作者： Zhu Yichuan Li Ling Mu Rui National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Committee of Science and Technology National Key Laboratory of Science and Technology on Aerospace Intelligence Control Software Laboratory Beijing Aerocim Technology Co.

Aiming at the no-fly zone constraint in the process of aircraft gliding reentry,this paper presents an improved strategy for tentacle-based *** turning radius and reference pitch angle of the aircraft can be obtained by approximate analytical solution and then the waypoint can be obtained according to geometric *** tentaclebased method is used to correct the trajectory to meet the flight *** approximate analytical solution programming,the number of tentacles required can be reduced,and the influence of integration process on the calculation efficiency can be reduced,thus the calculation time can be shortened *** the no-fly zone is bypassed,height planning is performed to meet the terminal height *** simulation results show that this method can effectively avoid the no-fly zone and satisfy various constraints of gliding reentry process,and The calculation time is shortened to 22.24%.

关键词： Gliding aircraft Maneuver guidance Tentacle-based method Approximate analytical solution

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Distributed Robust Adaptive control for Cooperative Formation of Uncertain Multiple Fixed-Wing UAVs with Disturbances 5th

Distributed Robust Adaptive Control for Cooperative Formati...

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5th Chinese Conference on Swarm intelligence and Cooperative control, CCSICC 2021

作者： Zhi, Yongran Zheng, Zongzhun Guan, Bin Liu, Lei Fan, Huijin National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Beijing Aerospace Automatic Control Institute Beijing100854 China Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789811939976

This paper investigates the formation problem of multiple fixed-wing unmanned aircraft vehicles (UAVs) based on virtual leader structure, subjecting to unknown uncertainties and bounded disturbances. A distributed model reference robust adaptive controller (DMRRAC) is proposed to swiftly construct the formation under the existence of flight dynamical uncertainties and external bounded disturbances. An adaptive projection formation operator and a novel high-frequency robust term can guarantee the system to be uniformly asymptotically stable in a complex situation, which can also enhance the performance of the system such as robustness. Simulation confirms the feasibility and effectiveness of the proposed distributed control algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fixed wings

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Guidance Navigation and control for Chang’E-5 Powered Descent

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space(science & technology) 2021年第1期2021卷 173-187页

作者： Honghua Zhang Ji Li Zeguo Wang Yifeng Guan Beijing Institute of Control Engineering Beijing 100190China Science and Technology on Space Intelligent Control Laboratory Beijing 100190China

To achieve the goal of collecting lunar samples and return to the Earth for the Chang’E-5 spacecraft,the lander and ascender module(LAM)of the Chang’E-5 spacecraft successfully landed on the lunar surface on 1 Dec.,*** guidance,navigation,and control(GNC)system is one of the critical systems to perform this *** GNC system of previous missions,Chang’E-3 and Chang’E-4,provides the baseline design for the Chang’E-5 LAM,and the new characteristics of the LAM,like larger mass and liquid sloshing,also bring new challenges for the GNC *** GNC design for the descent and landing is presented in this *** guidance methods implemented in the powered descent are presented in detail for each *** consumption and hazard avoidance should be particularly considered in the design.A reconfigurable attitude control is adopted which consists of the quaternion partition control,phase and gain stabilization filter,and dual *** controller could provide fast attitude maneuver and better system *** the navigation,an intelligent heterogeneous sensor data fusion method is presented,and it is applied for the inertial measurement unit and velocimeter ***,the flight results of the LAM are *** sensors were able to provide valid measurement data during descent,and the thrusters and the main engine operated well as ***,a successful soft lunar landing was achieved by the LAM.

关键词： return stabilization partition

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Facial Expression Recognition In-the-Wild with Deep Pre-trained Models 17th

Facial Expression Recognition In-the-Wild with Deep Pre-tra...

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17th European Conference on Computer Vision, ECCV 2022

作者： Li, Siyang Xu, Yifan Wu, Huanyu Wu, Dongrui Yin, Yingjie Cao, Jiajiong Ding, Jingting Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ant Group Hangzhou China

ISBN: (纸本)9783031250743

Facial expression recognition (FER) is challenging, when transiting from the laboratory to in-the-wild situations. In this paper, we present a general framework for the Learning from Synthetic Data Challenge in the 4th Affective Behavior Analysis In-The-Wild (ABAW4) competition, to learn as much knowledge as possible from synthetic faces with expressions. To cope with four problems in training robust deep FER models, including uncertain labels, class imbalance, mismatch between pretraining and downstream tasks, and incapability of a single model structure, our framework consists of four respective modules, which can be utilized for FER in-the-wild. Experimental results on the official validation set from the competition demonstrated that our proposed approach outperformed the baseline by a large margin. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Face recognition

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Prescribed Performance control of Mobile Wheeled Inverted Pendulum Systems under Arbitrary Initial Conditions 8

Prescribed Performance Control of Mobile Wheeled Inverted Pe...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Mengshi Cao, Yu Yang, Bo Huang, Jian School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute ShenZhen518060 China

ISBN: (纸本)9798350300178

Mobile wheeled inverted pendulum (MWIP) is a typical naturally unstable underactuated system and it is very necessary to constrain its transient response to improve the overall safety. Prescribed performance control (PPC) is an effective method, however the system initial conditions are usually required to be known and constraint, otherwise it can lead to singularity problems. In practical systems, it is often difficult to obtain the exact initial state leading to limitations in the application of PPC. To overcome this issue, this paper presented a composite error transformation function to address the problem of initial condition dependence. A continuous bounded function was designed to compress the arbitrary initial error into the predefined bound to avoid singularities. After a set time, it was degraded to an original system error. Based on this composite transformation, a state feedback controller was proposed for the underactuated MWIP system to achieve the constraint outputs. Then, by employing the Lyapunov theorem, it was guaranteed that the closed-loop system would remain stable. Various numerical simulations under different initial conditions were carried out to prove the validity of the proposed controller. © 2023 IEEE.

关键词： Closed loop systems

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NBA-guided heuristic sampling algorithm for multi-robot task planning under temporal logic 43

NBA-guided heuristic sampling algorithm for multi-robot task...

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43rd Chinese control Conference, CCC 2024

作者： Luo, Jiong Hua, Yongzhao Ding, Shunfu Dong, Xiwang Ren, Zhang Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China

ISBN: (纸本)9789887581581

Aiming at the task planning problem of multi-robot under linear temporal logic (LTL), this paper proposes an improved sampling planning algorithm based on Nondeterministic Büchi automaton (NBA) guidance. Firstly, this paper defines a kind of LTL task planning problem, which mainly focuses on the meaningful key nodes in the task execution of each robot, and there are many sequential dependencies of task constraints. Then, an improved sampling algorithm framework is proposed, which uses a more efficient way to build a search tree and reduces the number of nodes in the tree. Furthermore, the sampling points are guided by NBA to ensure that sampling is conducive to the advancement of time-series tasks. And considering the task feasible region of each robot, the auction algorithm is introduced to optimize the local matching relationship, which greatly improves the quality of sampling points. Finally, numerical simulation is carried out to solve the LTL task planning problem. The optimality and stability of the algorithm are obviously improved, and the time consumption of this algorithm is obviously better than that of the existing advanced algorithms. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Trees (mathematics)

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Securing the Future after Pager Bombs:Lifecycle Protection of Smart Devices via Blockchain intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2355-2358页

作者： Fei Lin Qinghua Ni Jing Yang Juanjuan Li Nan Zheng Levente Kovács Radu Prodan Mariagrazia Dotoli Qing-Long Han Fei-Yue Wang the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBei-jing 100049China IEEE Obuda University John von Neumann Faculty of InformaticsBecsi Str.96/bH-1034 BudapestHungary the Institute of Information Technology University of Klagenfurt9020 Klagenfurt am WortherseeAustria the Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190

THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabilities in global supply chains from raw material manufacturing and distribution to the usage of devices and equipment,signaling the onset of a new wave of"supply chain warfare"[2].

关键词： Smart cycle chains

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Personalized gait trajectory generation based on anthropometric features using Random Forest

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Journal of Ambient intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

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