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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Li, Yang Zhao, Haibin Lv, Chunhong Sun, Lu Beijing Aerospace Automatic Control Institute Beijing100052 China China Academy Of Launch Vehicle Technology Beijing100076 China

ISBN: (纸本)9789811966125

This paper mainly completes a research on real-time optimal path planning and guidance method for ground targets to be evaded, proposes an artificial repulsive field modeling method for different area sizes and different importance levels of ground targets, and generates the current optimal evasive flight path and corresponding guidance instructions based on real-time landing point estimation information. In this paper, the repulsion field model for a single area and the repulsion field modeling method for multiple areas are given, as well as the derivation process of the optimal avoidance path guidance instruction. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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SIMULATION OF LOW-COST MEMS-LIDAR AND ANALYSIS OF ITS EFFECT ON THE PERFORMANCES OF STATE-OF-THE-ART SLAMS 12

SIMULATION OF LOW-COST MEMS-LIDAR AND ANALYSIS OF ITS EFFECT...

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12th International Symposium on Mobile Mapping technology, MMT 2023

作者： Vultaggio, F. d’Apolito, F. Sulzbachner, C. Fanta-Jende, P. AIT - Austrian Institute of Technology Center for Vision Automation and Control Assistive Autonomous Systems Austria

Indoor Unmanned Aerial Vehicles have often been tasked with performing SLAM, and the sensors most used in literature and industry have been cameras. Spanning from stereo to event cameras, visual algorithms have often been the de facto choice for localization. While visual SLAM has reached a high level of accuracy in localization, accurate map reconstruction still proves to be challenging. Meanwhile, LiDAR sensors have been used for years to obtain accurate maps. First in surveying applications and in the past ten years in the automotive sector. The weight, power, and size constraints of most traditional LiDARs have prevented their installation on UAVs for indoor use. MEMS-based LiDARs have already been used in UAVs but had to rely on algorithms designed to deal with their small FOV. Recently, a MEMS-based LiDAR with a wide field of view (360°*59°) and weighing 265 g has sparked interest in its potential for indoor UAV SLAM. We performed an extensive battery of tests in simulation environments to provide a first look into its effect on state-of-the-art SLAM algorithms, highlight which ones can provide the best results, and what improvements may be most beneficial. This paper aims to provide assistance in further research in the field by releasing the tool used for this work. © Author(s) 2023. CC BY 4.0 License.

关键词： Unmanned aerial vehicles (UAV)

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Target Localization of Short Vertical Line Array Based on Least Squares Method 6

Target Localization of Short Vertical Line Array Based on Le...

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6th International Conference on Computer Network, Electronic and Automation, ICCNEA 2023

作者： Qu, Shaochun Cai, Zhipeng Ma, Jing Xi'an Technological University School of Computer Science and Engineering Xi'an China North Automatic Control Technology Institute Taiyuan China

ISBN: (纸本)9798350305388

In the shallow sea environment, array of small array elements may not be able to accurately locate targets due to undersampling. To address this issue, the paper proposed a method called sound field extension based on the reception of array of small array elements, which generates a virtual measurement field of a vertical array with lager number. The method utilizes the extended acoustic field for VTRM. This approach significantly improves the focusing and positioning performance of the TRM. The key implementation lies in estimating the normal wave mode coefficients from the acoustic field acquired by the short vertical line array. The paper uses the least squares method to estimate the mode coefficients. Experimental results demonstrate that compared to conventional time processing methods for an array of small array elements, the VTRM method using the a vertical array with a large number of elements can effectively enhance targeting and focusing performance of the short array. For array of small array elements with 21 elements, the SNR (Signal Interference to Noise Ratio) effectively improves by 4.32 dB. © 2023 IEEE.

关键词： Acoustic fields

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Exponentially Smooth Rocket Mode Switching Algorithm Simulation

Exponentially Smooth Rocket Mode Switching Algorithm Simulat...

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2023 International Conference on Pattern Recognition, Machine Vision and Intelligent Algorithms, PRMVIA 2023

作者： Zhang, Ying Shi, Dongqiang Peng, Di Li, Tiantian Zhao, Qian Beijing Aerospace Automatic Control Institute Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing China China Academy of Launch Vehicle Beijing China

ISBN: (纸本)9798350346596

The rocket has a variety of working modes after delivery, and according to its unique aircraft characteristics, this paper proposes an exponentially smooth rocket mode switching algorithm. The fixed delay caused by mode switching may also affect the startup time of normal working mode, so only enter shallow sleep mode when the idle time is short. When idle for a long time, the system needs to switch to deep sleep mode, where the power consumption of the system is minimized. The delay and power consumption of mode switching are analyzed and verified. After mathematical modeling, the smallest weight parameter of MRE is taken to meet the requirements of reliable and fast switching between multiple working modes of the rocket. © 2023 IEEE.

关键词： Rockets

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Autonomous Guidance Reconfiguration for the Thrust Drop Fault of a Multi-satellite Launch Mission

Autonomous Guidance Reconfiguration for the Thrust Drop Faul...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wang, Cong Song, Zhengyu Beijing Aerospace Automatic Control Institute Beijing100854 China China Academy of Launch Vehicle Technology Beijing100076 China

ISBN: (纸本)9789811966125

This paper presents a study of the autonomous guidance reconfiguration of a launch vehicle, which improves the adaptability of the launch vehicle after the thrust drop fault with the online replanning of the transfer orbit and the shutdown and startup conditions of the guidance method. For a multi-satellite launch mission with a coast phase, we analyze the guidance constraints in the first powered phase, coast phase, and second powered phase, and we propose an online multi-grade optimization to separate some satellites during the coast phase so that the remaining satellites can still enter the original target orbit. We then use the adaptive collocation method to solve the replanning problem, study the sparsity of the discrete matrix, and develop an initial guess generation method for an engine out fault to improve the computational efficiency. The numerical simulation shows that the proposed method, which can partially complete the launch mission with severe faults by sacrificing some satellites, further enhances the reliability of the launch vehicle. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Launch vehicles

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Autonomous Vehicle Path Planning Algorithm Based on Improved Q-learning

Autonomous Vehicle Path Planning Algorithm Based on Improved...

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International Conference on Guidance, Navigation and control, ICGNC 2024

作者： Wang, Yuelong Wang, Songyan Chao, Tao Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Modeling and Simulation for Complex Systems Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819622115

In the context of the rapid evolution of autonomous driving technology, the deployment of autonomous vehicle systems has witnessed significant expansion, underscoring the paramount importance of their path planning capabilities. This study proposes an improved Q-learning, specifically designed for the path planning of autonomous vehicles. Initially, the algorithm is enhanced with an advanced artificial potential field method for initializing the Q-table, thereby integrating prior knowledge and increasing the efficiency of the initial iterations. Further, the integration of eligibility traces as a memory mechanism within the algorithm ensures the prolonged influence of state-action pairs throughout the iterative process, thus boosting learning efficiency. Additionally, this paper introduces a dynamic λ adjustment strategy, tailored to meet the exploratory demands of autonomous vehicles and based on the simulated annealing algorithm. This strategy dynamically modulates the decay factor λ in accordance with the frequency of successful arrivals at the destinations, promoting more effective adaptation to varying environmental conditions. The empirical findings confirm the efficacy of the proposed Q-learning, particularly highlighting its utility in the path planning for autonomous vehicles. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Adversarial machine learning

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Improved D-Type Iterative Learning control for Hyperbolic Time-Delay Distributed Parameter systems under Sensor/Actuator Networks 13

Improved D-Type Iterative Learning Control for Hyperbolic Ti...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Zhang, Jianxiang Gong, Weitai Institute of Intelligent Systems and Control Guangxi University of Science and Technology Liuzhou545000 China School of Automation Guangxi University of Science and Technology China

ISBN: (纸本)9798350361674

This paper investigates the problem of iterative learning control in sensor/actuator networks for hyperbolic distributed parameter systems with time delays. For systems with known delays, this study firstly proposes an improved D-type iterative learning algorithm and proves the convergence of the iterative learning control strategy for nonlinear systems with control delays based on the principle of contraction mapping. Furthermore, by examining a nonlinear hyperbolic distributed parameter system with state delays, this paper verifies the convergence of the proposed algorithm through detailed mathematical derivations. To empirically validate the effectiveness and feasibility of the proposed algorithm, the paper finally demonstrates the performance of the iterative learning control strategy based on the proposed convergence conditions through numerical simulations. The results of the numerical simulations strongly support the applicability of the designed iterative learning algorithm in controlling hyperbolic distributed parameter systems with time delays. © 2024 IEEE.

关键词： Delay control systems

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Blind Image Despeckling Using a Multiscale Attention-Guided Neural Network

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第1期5卷 205-216页

作者： Guo, Yu Lu, Yuxu Liu, Ryan Wen Zhu, Fenghua Wuhan University of Technology School of Navigation Wuhan430063 China Wuhan University of Technology Chongqing Research Institute Chongqing401151 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China

Coherent imaging systems have been applied in the detection of target of interest, natural resource exploration, ailment diagnosis, etc. However, it is easy to generate speckle-degraded images due to the coherent interference of reflected echoes, restricting these practical applications. Speckle noise is a granular interference that affects the observed reflectivity. It is often modeled as multiplicative noise with a negative exponential distribution. This nonlinear property makes despeckling of imaging data an intractable problem. To enhance the despeckling performance, we propose to blindly remove speckle noise using an intelligent computing-enabled multiscale attention-guided neural network (termed MSANN). In particular, we first introduce the logarithmic transformation to convert the multiplicative speckle noise model to an additive version. Our MSANN, essentially a feature pyramid network, is then exploited to restore degraded images in the logarithmic domain. To enhance the generalization ability of the MSANN, a multiscale feature enhancement attention module is incorporated into the MSANN to extract multiscale features for improving the imaging quality. A multiscale mixed loss function is further presented to increase the network robustness during training. The final despeckled images are naturally equivalent to the exponential versions of the output of the MSANN. Experimental results have shown that the MSANN has the capacity of effectively removing the speckle noise while preserving essential structures. It can achieve superior despeckling results in terms of visual quality and quantitative measures. © 2020 IEEE.

关键词： Additives

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The Influence of the Medium and Structure for Cooling Suit on the Wireless Signal

The Influence of the Medium and Structure for Cooling Suit o...

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7th International Conference on Electronics technology, ICET 2024

作者： An, Zhenpeng Liu, Kai Du, Yang Fan, Yufeng Shenyang Fire Science and Technology Research Institute of Mem First Research Lab Shenyang China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9798350363951

In order to improve the practicality of fire cooling suits, the evaluation of wireless signal shielding performance for fire cooling suits is carried out;The influence of phase change materials (PCM) and pipeline structure on electromagnetic shielding of electromagnetic waves' different frequencies is studied;By frequency domain algorithm of finite element method(FEM), Maxwell integral equation is discretized and solved iteratively, and the numerical simulation analysis of the shielding properties of the phase change material and the pipeline structure is carried out;The comparison and verification are carried out through the real experiment;The simulation results show that the four materials and two structures in the experiment have a certain shielding effect on wireless transmission, but do not affect the communication effect of Bluetooth. © 2024 IEEE.

关键词： Frequency domain analysis

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FUELING GLOCAL: OPTIMIZATION-BASED PATH PLANNING FOR INDOOR UAVS IN AN AUTONOMOUS EXPLORATION FRAMEWORK 12

FUELING GLOCAL: OPTIMIZATION-BASED PATH PLANNING FOR INDOOR ...

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12th International Symposium on Mobile Mapping technology, MMT 2023

作者： Cella, Marco d’Apolito, Francesco Fanta-Jende, Phillipp Sulzbachner, Christoph AIT – Austrian Institute of Technology Center for Vision Automation and Control – Assistive and Autonomous Systems Austria

Exploration is a fundamental problem in robotics that requires robots to navigate through unknown environments to autonomously gather information about their surroundings while executing collision-free paths. In this paper, we propose a method for producing smooth paths during the exploration process in indoor environments using UAVs to improve battery efficiency and enhance the quality of pose estimation. The developed framework is built by merging two approaches that represent the state of the art in the field of autonomous exploration with UAVs. The overall exploration logic is given by GLocal, a paper that introduces an hybrid, i.e. both sampling-based and frontier-based, framework that is able to cope with the issue of odometry drift when exploring indoor environments due to the absence of absolute localization, e.g. through GNSS. The second paper is FUEL, which introduces a frontier-based exploration methodology which computes the drone’s path as an optimized non-uniform B-Spline. The framework described in this paper borrows the optimized B-Spline trajectory generation from FUEL and implements it in GLocal. The presented system is evaluated in two different simulated environments, which show the pros and the cons of such method. © Author(s) 2023.

关键词： Motion planning

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