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Multi-UUV/USV Adaptive Cooperative Search Using Online State information 1

16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Li, Wenjie Gao, Jian Chen, Yimin Cui, Pei Lv, Junjun Pan, Guang School of Marine Science and Technology Northwestern Polytechnical University Xi’an710072 China Science and Technology on Underwater Test and Control Laboratory Dalian116013 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Unmanned Surface Vessel (USV) and Unmanned underwater Vehicle (UUV) detect the same task plane while located in different planes, and have to avoid obstacles autonomously in cooperative search in unknown environments. This paper proposes an adaptive cooperative search method for a USV/UUV heterogeneous cross-domain swarm based on online state information. Considering the different planes of USV/UUV detection, we establish a USV/UUV detection model with a forward-looking sonar according to the cross-sectional view. In order to guarantee the safety of USV/UUV, an obstacle avoidance algorithm based on predictive guidance is designed. Finally, the task environment is rasterized to establish the state information structure of grids and USV/UUV. On this basis, USV/UUV adaptively plans the search path according to its own motion state. The state information of each grid is updated online until USV/UUV swarm completes the search task. Simulation results show that USV/UUV can accomplish cooperative search safely in an unknown environment. Compared with a UUV homogeneous swarm, the USV/UUV swarm shortens the search time and improves the cooperative search efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Unmanned surface vehicles

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Energy-Efficient Relay Selection and Power Allocation Optimization for Lifetime Maximization in underwater Acoustic Sensor Networks

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IEEE Sensors Journal 2025年第11期25卷 20854-20869页

作者： Xu, Hengyu Ye, Fang Su, Hang Su, Chunxia Harbin Engineering University Key Laboratory of Advanced Marine Communication and Information Technology College of Information and Communication Engineering Harbin150001 China Harbin Engineering University National Key Laboratory of Underwater Acoustic Technology College of Information and Communication Engineering Harbin150001 China Suzhou University of Science and Technology School of Electronic and Information Engineering Suzhou215009 China

underwater acoustic sensor networks (UASNs) play a crucial role in marine data collection. However, due to harsh underwater channel conditions and the finite energy supply of sensor nodes, underwater data transmission faces difficulties such as low reliability, limited spectrum, and constrained energy resources. How to ensure the performance of UASNs, such as network lifetime and energy efficiency (EE), under limited resources is a critical problem that needs to be addressed. To tackle these challenges, a matching game-based approach for relay selection and power allocation is proposed in this paper. Specifically, we model the network lifetime maximization (NLM) problem under resource constraints as a matching game problem, and develop an iterative matching algorithm based on NLM to ensure stable outcomes for relay selection and power allocation. Additionally, we devise a power allocation algorithm focused on energy efficiency to enhance system EE while guaranteeing NLM. The simulation results show that the proposed strategy greatly surpasses other benchmark algorithms in extending network lifetime and optimizing EE, validating its effectiveness and practicality. © 2001-2012 IEEE.

关键词： Relays Resource management Sensors Optimization Energy efficiency underwater acoustics Wireless sensor networks Energy consumption Games Game theory

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Terahertz time-of-flight tomography algorithm for different curvature samples

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Optics Express 2025年第7期33卷 15095-15109页

作者： Zhou, Yu Li, Quanyong Cui, Zongyu Zhang, Jiyang Ren, Jiaojiao Zhang, Dandan Gu, Jian Li, Haoxiang Lin, Zihao Key Laboratory of Optoelectronic Measurement and Control and Optical Information Transmission Technology Ministry of Education Changchun University of Science and Technology Changchun130022 China School of Optoelectronic Engineering Changchun University of Science and Technology Changchun130022 China Zhongshan Research Institute Changchun University of Science and Technology Zhongshan528403 China

Traditional guide rail-based terahertz reflection tomography works well with planar samples and complements transmission tomography. Most imaging methods perform effectively with plane-like or simple curvature samples. However, these methods are ineffective for complex shapes due to the challenges of dealing with internal corrections and stitching errors. To address the above issues, terahertz time-of-flight tomography is applied to the prepared samples with abnormal curvature using a rotating scanning array and "point cloud splicing" method. This approach enables comprehensive sample information collection and resolves the inner layer point cloud position correction challenge. A radial distance point cloud down-sampling method is proposed to reduce the impact of overlapping point clouds on reconstruction accuracy. After down-sampling, the outer layer reconstruction error reduces to 0.22%. Poisson surface reconstruction further enhances the intuitiveness of imaging results, and the reconstruction accuracy is 0.01 mm. This study broadens the application of terahertz time-of-flight tomography and offers a different approach for reflection tomography. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Surface reconstruction

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Performance analysis of UAV-based mixed underwater PLC-RF systems

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Digital Communications and Networks 2024年第5期10卷 1332-1340页

作者： Shenghai Chen Liang Yang Xianfu Lei College of Computer Science and Electronic Engineering Hunan UniversityChangsha410082China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua UniversityHuaihua418000China School of Information Science and Technology Southwest Jiaotong UniversityChengdu610031China

In this study,we analyzed the performance of an Unmanned Aerial Vehicle(UAV)-based mixed underwater Power Line Communication-Radio Frequency(UPLC-RF)*** this network,a buoy located at the sea is used as a relay to transmit signals from the underwater signal source to the UAV through the PLC *** assume that the UPLC channel obeys a log-normal distribution and that the RF link follows the Rician *** this model,we obtained the closed-form expressions for the Outage Probability(OP),Average Bit-error-rate(ABER),and Average Channel Capacity(ACC).In addition,the asymptotic analysis of the OP and ABER was performed,and an upper bound for the average capacity was ***,the analytical results were verified by Monte Carlo simulation thereby demonstrating the effect of impulse noise and the altitude of the UAV on network performance.

关键词： ABER Average bit-error-rate ACC Average channel capacity OP Outage probability UAV Unmanned aerial vehicle UPLC underwater power line communication

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A Tolerance Precision control Method Based on the Internal and External Double-layer Pressure Screw Limits 4

A Tolerance Precision Control Method Based on the Internal a...

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4th International Conference on Defence technology, ICDT 2024

作者： Sun, Chengcheng Ma, Hongping Tian, Zhongwang Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China Xi'an Institute on Electromechanical Information Technology Xi'an China

In order to solve the problem that the assembly axial clearance of large-diameter mechanical trigger fuze delay device is large in the fuze body, a tolerance precision control method based on the internal and external double-layer pressure screw limits is proposed. The internal and external double-layer screw threads constitute two sets of independent redundant dimensional chains in distribution direction and value. The final assembly accuracy of the delay device is adjusted by the internal and external double-layer pressure screw mutually. The minimum coaxiality deviation of assembly can achieve 0 deviation, and the average accuracy of assembly coaxiality is increased by about 30.69%, which has obvious effect in reducing axis eccentricity. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Screw threads

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Dioxin Emission Detection Based on Dynamic Pruning Online Ensemble Binary Tree Algorithm

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IEEE Transactions on Automation science and Engineering 2025年 22卷 15549-15564页

作者： Xu, Chaofan Tang, Jian Xia, Heng Yu, Wen Qiao, Junfei Beijing University of Technology School of Information Science and Technology Beijing100124 China Beijing Laboratory of Smart Environmental Protection Beijing100124 China Departamento de Control Automatico Mexico City07360 Mexico

As one of the by-products of the municipal solid waste incineration (MSWI) process, dioxin (DXN) is not only difficult to detect but also potential harm to humans and the environment. The article proposes a method for detecting DXN emissions. It addresses the challenge of poor generalization performance in detection models due to the dynamic nature of the MSWI process. Firstly, the method constructs a historical soft sensor model and a drift detection model based on historical samples. Secondly, it assesses online samples for drift detection. When drift is detected, it calculates a distance threshold to prune the ensemble model. Subsequently, it reconstructs new ensemble sub-models and integrates them with the historical model to form a preliminary online ensemble model. Finally, it conducts local pruning and reconstruction on each sub-model, refining the final online ensemble model based on weighted posterior information. The efficacy of this approach is validated using synthetic, benchmark, and real DXN datasets from an MSWI plant in Beijing. © 2025 IEEE.

关键词： Digital arithmetic

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OPTIMIZATION OF EYE-IN-HAND CALIBRATION METHODS 10

OPTIMIZATION OF EYE-IN-HAND CALIBRATION METHODS

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

作者： Ge, Xiaoliang Zuo, Yunbo Gu, Yuhai Miao, Zhuoran Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China

ISBN: (纸本)9781837242672

Hand-eye calibration is a vital part in the field of robot vision and motion control, which ensures that the robot system can accurately perceive and operate the surrounding environment. To enhance the accuracy of the hand-eye calibration matrix obtained in the current experimental environment, this paper provides an optimal scheme for the selection of calibration points and hand-eye calibration algorithms on the checkerboard calibration board. The geometric errors, rotation-translation errors and other parameters of Tsai algorithm and Navy algorithm were calculated based on multiple sets of experimental data, and the performance differences between the two algorithms were evaluated. The experimental results show that in the calibration environment of this experiment, the optimal selection number of marker points is about 12, and the optimal calibration algorithm is Tsai algorithm. This study provides a reference for the optimization of robotic hand-eye calibration technology. © The Institution of Engineering & technology 2024.

关键词： Errors

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Turbulent drag reduction by sector-shaped counter-flow dielectric barrier discharge plasma actuator

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Chinese Physics B 2025年第2期34卷 362-370页

作者： Borui Zheng Shaojie Qi Minghao Yu Jianbo Zhang Linwu Wang Dongliang Bian School of Automation and Information Engineering Xi’an University of TechnologyXi’an 710048China School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an 710048China Science and Technology on Plasma Dynamics Laboratory Air Force Engineering UniversityXi’an 710038China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an 710048China Shaanxi University Key Laboratory of Photonic Power Devices and Discharge Regulation Xi’an 710048China

The primary objective in aircraft transportation is to minimize turbulent drag, thereby conserving energy and reducing emissions. We propose a sector-shaped counter-flow dielectric barrier discharge plasma actuator, which leverages jet synthesis for drag reduction. A drag control experiment was conducted in a low-speed wind tunnel with a controlled flow velocity of 9.6 m/s(Re = 1.445 × 10^(4)). This study investigated the effects of varying pulse frequencies and actuation voltages on the turbulent boundary layer. Using a hot-wire measurement system, we analyzed the pulsating and time-averaged velocity distributions within the boundary layer to evaluate the streamwise turbulent drag reduction. The results show that the local TDR decreases as the pulse frequency increases, reaching a maximum reduction of approximately 20.97% at a pulse frequency of 50 Hz. In addition, as the actuation voltage increases, the friction coefficient decreases, increasing the drag reduction rate. The maximum drag reduction of approximately 33.34% is achieved at an actuation voltage of 10 kV.

关键词： plasma flow control turbulent boundary layer turbulent drag reduction

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An Improved YOLOv5s-Based Smoke Detection System for Outdoor Parking Lots

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Computers, Materials & Continua 2024年第8期80卷 3333-3349页

作者： Ruobing Zuo Xiaohan Huang Xuguo Jiao Zhenyong Zhang State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China School of Information and Control Engineering Qingdao University of TechnologyQingdao266520China State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou310027China Key Laboratory of Computing Power Network and Information Security Ministry of EducationQilu University of Technology(Shandong Academy of Sciences)Jinan250353China Text Computing&Cognitive Intelligence Engineering Research Center of National Education Ministry Guizhou UniversityGuiyang550025China

In the rapidly evolving urban landscape,outdoor parking lots have become an indispensable part of the city’s transportation *** growth of parking lots has raised the likelihood of spontaneous vehicle combus-tion,a significant safety hazard,making smoke detection an essential preventative ***,the complex environment of outdoor parking lots presents additional challenges for smoke detection,which necessitates the development of more advanced and reliable smoke detection *** paper addresses this concern and presents a novel smoke detection technique designed for the demanding environment of outdoor parking ***,we develop a novel dataset to fill the gap,as there is a lack of publicly available *** dataset encompasses a wide range of smoke and fire scenarios,enhanced with data augmentation to ensure robustness against diverse outdoor ***,we utilize an optimized YOLOv5s model,integrated with the Squeeze-and-Excitation Network(SENet)attention mechanism,to significantly improve detection accuracy while maintaining real-time processing ***,this paper implements an outdoor smoke detection system that is capable of accurately localizing and alerting in real time,enhancing the effectiveness and reliability of emergency *** show that the system has a high accuracy in terms of detecting smoke incidents in outdoor scenarios.

关键词： YOLOv5s smoke detection deep learning SENet

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Wide Solid Angle Scanning Conical Conformal Phased Array Antenna Based on Bidirectional Beam 7

Wide Solid Angle Scanning Conical Conformal Phased Array Ant...

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7th IEEE International Conference on Electronic information and Communication technology, ICEICT 2024

作者： Liang, Qiuyan Xu, Rui Xing, Zikang Science and Technology on Electromechanical Dynamic Control Laboratory China Xi'an Institute of Electromechanical Information Technology Xi'an710065 China

ISBN: (纸本)9798350384437

This paper presents a conical conformal antenna array with wide solid angle scanning range. The proposed antenna array employs two columns of conformal patch subarrays symmetrically distributed on the surface of a conical structure. With the symmetric structure, the antenna array can generate bidirectional beam to cover two symmetric azimuth sectors simultaneously. Given different phase distributions to the subarrays, the generated bidirectional beam exhibits different elevation angles, thus realizing scanning of the bidirectional beam with respect to the conical structure. Excited with four sets of phase difference, the proposed antenna array covers elevation range of -90° to -42° and 42° to 90° with 3dB beamwidth in azimuth plane of 138° to 170°. The conical conformal antenna array realizes wide solid angle scanning range with a simple structure, it is suitable for military detection and civil surveillance applications. © 2024 IEEE.

关键词： Scanning antennas

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