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检索条件"机构=Science and Technology on omplex-System Control and Intelligent-Agent Cooperation Laboratory"

共 365 条记录，以下是281-290 订阅

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Aircraft Autonomous Positioning Based on a Coarse to Fine Multi-modal Image Registration Scheme

Aircraft Autonomous Positioning Based on a Coarse to Fine Mu...

引用

Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

作者： Fangde Sun Wenxing Fu Xiaohui Lu Jing Dong Songlai Han School of Aeronautics and Astronautics Central South University Changsha China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China People’s Liberation Army 91039th Unit Beijing China Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728190044

ISBN: (纸本)9781728190051

In this paper, an autonomous positioning method based on coarse-to-fine multi-modal image matching is proposed for UAV navigation in GPS denied environment. Coarse image matching refers to roughly determining the approximate position of the real-time image in the reference image. Fine image matching refers to iterative matching around the position obtained by coarse image matching to achieve more accurate matching results. Besides, RANSAC is adopted to eliminate the outliers of image matching. After getting the result of image matching, we use PNP to estimate the position of the aircraft. The proposed position method has the advantages of high accuracy and reliability. The experimental results show that the average error of the position of the proposed method is 59%.

关键词： Image registration Image matching Aerospace electronics Real-time systems Power electronics Reliability Aircraft

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Monocular Visual-Inertial Odometry Based on Point and Line Features

Monocular Visual-Inertial Odometry Based on Point and Line F...

引用

International Conference on Computer and Communications (ICCC)

作者： Gongyan Chen Hai Zhang Wenxing Fu Yiqun Qiao School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728186351

ISBN: (纸本)9781728186368

In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.

关键词： Visualization Conferences Feature extraction Cameras Real-time systems Optimization Optical flow

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An error analysis method for attitude estimation system based on epipolar geometry

An error analysis method for attitude estimation system base...

引用

Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

作者： Shilin Luo Cheng Xu Lundong Zhang Jing Dong Wenxing Fu Songlai Han School of Aeronautics and Astronautics Central South University Changsha China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratary Beijing China Information Engineering University Zhengzhou China School of Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728190044

ISBN: (纸本)9781728190051

This paper proposes an error analysis method based on epipolar geometry which is analyzed for improving the accuracy of attitude estimation. The influence of equivalent focal length and principal point coordinates on modeling error was analyzed by simulation and experiment based on a rotary table. The result shows that the influence of the equivalent focal length will increase as the rotation angle increases, the different motion states will lead to different degrees of impact of the principal point coordinates. Besides, we derived that pose measuring accuracy is unrelated to the magnitude of rotation angle and there is no accumulative error under simulation conditions. This proposed method can enhance the measuring accuracy and provide some meaningful advice for engineering applications.

关键词： Geometry Analytical models Error analysis Computational modeling Measurement uncertainty Estimation Rotation measurement

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Application of Neutrosophic Multiple Criteria Decision Making in Unmanned system

Application of Neutrosophic Multiple Criteria Decision Makin...

引用

2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhong, Yu Zhao, Jiajia Northwestern Polytechnical University School of Electronics and Information Xi'an China Control and Intelligent Agent Cooperation Laboratory Science and Technology on Complex System Bejing China

ISBN: (纸本)9781728137926

The multiple criteria decision making (MCDM) is universal and applicable for plenty of unmanned systems which are widely concerned in civil and military fields due to their adaptability and safety. The contributing factors of decision making in unmanned systems are complicated due to the inhomogeneity and nondeterminacy of environment and the relative importance of criteria. Consequently, these critical factors fail to be considered felicitously in many traditional methods. In this paper, a neutrosophic MCDM approach is proposed to mitigate this matter. The neutrosophic set generated from collected information of multiple sources would be fused by the aggregation operator to obtain the decision matrix, then the weights of criteria would be obtained via the proposed method based on the decision matrix, and the decision results could be determined by the aggregation operator and defuzzification method of aggregated neutrosophic set. The application of neutrosophic set can handle numerous uncertain matters in unmanned systems. Finally, an example was provided to illustrate the reasonableness and stability of the proposed approach. © 2019 IEEE.

关键词： Decision making

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Failure Mode and Effects Analysis of UAV Power system Based on Generalized Dempster-Shafer Structures

Failure Mode and Effects Analysis of UAV Power System Based ...

引用

2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhang, Zhuo Hao, Mingrui Northwestern Polytechnical University School of Electronics and Information Xian China Intelligent Agent Cooperation Laboratory Science and Technology on Complex System Control Beijing China

ISBN: (纸本)9781728137926

The unmanned aerial vehicle(UAV) power system consists of components that provide flight power for the UAV, which mainly includes three parts: motor, electronic speed controller(ESC), and battery. Since the UAV always operates in the open air, which requires high stability of the power system, the failure mode and effects analysis(FMEA) is particularly significant and it has been widely used to examine potential failures in systems or components. However, the traditional FMEA method has many unreasonable points. In order to better deal with the uncertainty and improve the stability of the UAV power system, we propose a FMEA method which is based on the generalized Dempster-Shafer structures, the failure modes are comprehensively analyzed and the risks are ranked by combining the characteristic information of risk factors with the generalized evidence theory. The new method can not only deal with the uncertainty of risk assessment, but also further improve the reliability of effects analysis. In addition, the FMEA experiment of the UAV power system is carried out in this paper. The experimental results show that the method is effective for practical applications. © 2019 IEEE.

关键词： Fuzzy set theory

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Design of a compact ultra-wideband MIMO antenna

Design of a compact ultra-wideband MIMO antenna

引用

IET International Radar Conference 2018, IRC 2018

作者： Youcheng, Wang Yanjiao, Yang Qingxi, Chi Hucheng, Pei Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

A compact ultra-wideband (UWB) multiple-input multiple-output (MIMO) antenna is presented. The MIMO antenna consists of four monopoles which are printed on FR4 substrate, whose impedance bandwidth is from 2 to 12 GHz, and the isolation of two adjacent antennas is less than−20 dB in mostly frequency band. The current distribution of the antenna is discussed by simulation, and the radiation characteristics of the antenna are improved by increasing the parasitic radiation patch and digging holes in the radiation patch. Four monopoles are placed with polarisation orthogonality, and the adjacent units are separated by slot to cut off the coupling current on the floor, thus effectively improving the isolation of the antenna. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Electric impedance

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A New Method of EMI Estimation among Low Altitude Aircrafts on Sea Surface

A New Method of EMI Estimation among Low Altitude Aircrafts ...

引用

IEEE International Conference on Computational Electromagnetics (ICCEM)

作者： Yanyan Wang Kangkang Gao Jiangnan Xing Tao Jiang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China College of Information and Communication Engineering Harbin Engineering University Harbin China

ISBN: (数字)9781728134482

ISBN: (纸本)9781728134499

There is a certain amount of RF facilities on the low-altitude aircrafts that could cause electromagnetic interference within the platform, the electromagnetic interference between platforms is the key to influence the electromagnetic compatibility of aircraft platform. Specific systems have been developed to provide collision avoidance and early warning schemes for potential physical collisions between aircraft. With the increase in the number of ground and air vehicles and the radiation power of radio frequency equipment, the marine electromagnetic environment is deteriorating day by day. There is no effective solution to the electromagnetic "collision" among aircrafts that caused by electromagnetic interference, which is needed to be solved. This paper draws lessons from the idea that physical collision between aircrafts can be predicted and analyzed by using space trajectory model and avoided collision, then proposed aircraft navigation trajectory equation, the forecast analysis of the location of the vehicle at any time, heading, speed and acceleration information, using airborne electromagnetic emission equipment antenna model, calculated the sea low-flying aircraft airborne radio system of electromagnetic radiation, the use of the electronic equipment receiving antenna gain and receiver sensitivity, combined with the value of standard, the interference matrix which can describe the degree of electromagnetic radiation hazard between single machine and multiple machine is established. In this paper, the theoretical model of aircraft trajectory dynamics is seamlessly transformed into the electromagnetic collision field of low-altitude aircraft. Based on the dynamic evaluation method of electromagnetic interference level, the risk analysis of electromagnetic collision probability of aircraft is carried out, which can provide powerful technical support for solving electromagnetic interference problem of aircraft, which has important reference value for design, tes

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Time consistency technique of multi-aircrafts simulation system for cooperative mission 14

Time consistency technique of multi-aircrafts simulation sys...

引用

14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

作者： Han, Jian Shi, Hang Tong, JiaHui Zhang, Qing Li, Jing Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9781538694909

Aiming at the problem of time inconsistency problem exposed in multi-aircrafts simulation system during executing cooperative mission, a control solution of time consistency has been proposed to realize the unity of time information. On the basis of thoroughly analyzing the components and features of system, the factors that affect time synchronization are summarized and classified. After embedding a hardware of time synchronization system, a control solution is devised to maintain time consistency. Time synchronization and delay compensation are achieved from two aspects of hardware and software, which provides technical support for the following development and verification of cooperative control technology based on multiaircrafts simulation system. © 2019 IEEE.

关键词： Verification

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Zero-shot Learning Based on Semantic Embedding for Ship Detection

Zero-shot Learning Based on Semantic Embedding for Ship Dete...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Zihan Zhang Jiajia Zhoa Xinkai Liang School of Electronics and Information Northwestern Polytechnical University Xi’an Shaanxi China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

Zero-shot detection (ZSD) is a hot topic, which can detect unseen object without training on it. This new approach rises several challenges, e.g., the imbalance between positive and negative data, ambiguity between background and unseen classes, and how to align visual feature and semantic concept. In this paper, we apply an end-to-end zero-shot network to fulfil ZSD, where polarity loss is utilized to train detection model. polarity loss puts more importance on difficult data to reduce class imbalance and can maximize the difference between positive and negative predictions. Then, we use a semantic embedding method that use word vectors in both classification and regression subnets to better align visual features and semantic features. Finally, we use MS-COCO dataset as seen classes to train detection model, then we transfer the model for our own to detect warship object. Our model performs good on unseen classes and test accuracy of using polarity loss is apparently higher than that of using focal loss.

关键词： Semantics Visualization Vocabulary Training Feature extraction Object detection Measurement

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Suppression of Actuator Nonlinearities Based on the Cascade Active Disturbance Rejection Approach

Suppression of Actuator Nonlinearities Based on the Cascade ...

引用

2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Mingjun, Wei Cheng, Xu Wanhai, Hu Hua, Ji Feng, Gao Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Aviation Institute of Technology of CASIC Beijing China

ISBN: (纸本)9781728137926

In this paper, influences of actuator nonlinearities and their suppression methods are studied. Firstly, the influences of the dead zone and backlash characteristics of the actuator on the control performance of statically unstable missiles are analyzed in detail. Then based on the cascade control method and the active disturbance rejection control (ADRC) theory, a nonlinear "double-layer compensation" suppression method for the actuator nonlinearities is proposed. Finally, the simulation verification is carried out. Simulation results show that the "double-layer compensation" suppression method based on the cascade ADRC approach can significantly suppress the adverse effects such as system self-sustaining oscillation caused by actuator nonlinearities, and effectively improve the control performance of the statically unstable missile. © 2019 IEEE.

关键词： Disturbance rejection

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