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Journal of Systems Science & Complexity 2024年第1期37卷 136-151页

作者： PAN Zini chen ben m Department of mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

In this paper,the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general *** using the velocity of the vehicles,a position feedback control law is proposed to fence the general target into the convex hull formed by the ***,the dynamics of each vehicle is described by a double-integrator *** potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the *** proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of *** effectiveness of the result is verified by a numerical example.

关键词： multi-agent systems networked systems target fencing

An overview on development of miniature unmanned rotorcraft systems

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Frontiers of Electrical and Electronic Engineering in China 2010年第1期5卷 1-14页

作者： Guowei CAI ben m.chen Tong H.LEE Department of Electrical and Computer Engineering National University of SingaporeSingapore 117576Singapore

In this article,we attempt to document a technical overview on modern miniature unmanned rotorcraft *** first give a brief review on the historical development of the rotorcraft unmanned aerial vehicles(UAVs),and then move on to present a fairly detailed and general overview on the hardware configuration,software integration,aerodynamic modeling and automatic flight control system involved in constructing the unmanned *** applications of the emerging technology in the military and civilian domains are also highlighted.

关键词： unmanned aerial vehicle(UAV) rotorcraft aerodynamic modeling avionic systems flight control systems

Decentralized mPC-Based Trajectory Generation for multiple Quadrotors in Cluttered Environments

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Guidance, Navigation and Control 2021年第2期1卷 40-59页

作者： Xinyi Wang Lele Xi Yizhou chen Shupeng Lai Feng Lin ben m.chen Department of mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong School of Automation Beijing Institute of TechnologyBeijingP.R.China Peng cheng Laboratory NanshanShenzhenGuangdongP.R.China

Challenges in motion planning for multiple quadrotors in complex environments lie in overall°ight e±ciency and the avoidance of obstacles,deadlock,and collisions among *** this paper,we present a gradient-free trajectory generation method for multiple quadrotors in dynamic obstacle-dense environments with the consideration of time consumption.A model predictive control(mPC)-based approach for each quadrotor is proposed to achieve distributed and asynchronous cooperative motion ***,the motion primitives of each quadrotor are formulated as the boundary state constrained primitives(BSCPs)which are constructed with jerk limited trajectory(JLT)generation method,a boundary value problem(BVP)solver,to obtain time-optimal *** are then approximated with a neural network(NN),pre-trained using this solver to reduce the computational *** NN is used for fast evaluation with the guidance of a navigation function during optimization to guarantee°ight safety without ***,the reference trajectories are generated using the same BVP *** simulation and experimental results demonstrate the superior performance of the proposed method.

关键词： multi-quadrotor systems motion planning motion primitive model predictive control

An Approach to Synthesize Diverse Underwater Image Dataset

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Instrumentation 2019年第3期6卷 67-75页

作者： Xiaodong LIU ben m.chen National University of Singapore Singapore119077 Chinese University of Hong Kong Hong Kong999077

Images that are taken underwater mostly present color shift with hazy effects due to the special property of *** image enhancement methods are proposed to handle this ***,their enhancement results are only evaluated on a small number of underwater *** lack of a sufficiently large and diverse dataset for efficient evaluation of underwater image enhancement methods provokes the present *** present paper proposes an organized method to synthesize diverse underwater images,which can function as a benchmark *** present synthesis is based on the underwater image formation model,which describes the physical degradation *** indoor RGB-D image dataset is used as the seed for underwater style image *** ambient light is simulated based on the statistical mean value of real-world underwater *** coefficients for diverse water types are carefully ***,in total 14490 underwater images of 10 water types are *** on the synthesized database,state-of-the-art image enhancement methods are appropriately ***,the large diverse underwater image database is beneficial in the development of learning-based methods.

关键词： Image Processing Underwater Image Enhancement Underwater Image Synthesis

Semi-global leader-following output consensus of discrete-time heterogeneous linear systems with position and rate-limited actuators via state feedback

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Semi-global leader-following output consensus of discrete-ti...

第40届中国控制会议

作者： Panpan Zhou ben m.chen Department of mechanical and Automation Engineering The Chinese University of Hong Kong

Inspired by the importance of actuator position and rate limitation, we investigate the state feedback-based semiglobal leader-following output consensus problem of discrete-time heterogeneous linear systems that are subject to position and rate-limited actuators. Based on a distributed leader state observer, an output consensus protocol is constructed for each *** is proved that the output consensus is achieved by the low gain feedback design technique and output regulation theory if each follower is reachable from the leader. We carry out simulations to show the effectiveness of the theoretical results.

关键词： multi-agent systems Actuator position and rate saturation Low gain feedback Output regulation

Semi-global leader-following output consensus of heterogeneous systems with position and rate-limited actuators via state feedback

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Semi-global leader-following output consensus of heterogeneo...

第40届中国控制会议

作者： Panpan Zhou ben m.chen Department of mechanical and Automation Engineering The Chinese University of Hong Kong

Inspired by the importance of actuator position and rate constraint, we study in this paper the semi-global leaderfollowing output consensus problem of multiple heterogeneous linear systems in the presence of actuators position and rate saturation via state feedback control. We design a distributed leader state observer, based on which a state feedback output consensus protocol is constructed for each follower. In addition, we propose a framework of formation control by combining consensus control and model predictive control to resolve the problem of obstacle and inter-agent collisions. The effectiveness of our approach is verified by simulation and actual flight experiments of UAVs.

关键词： multi-agent systems Actuator position and rate saturation Low gain feedback Collision avoidance

Full Envelope Dynamics modeling and Simulation for Tail-Sitter Hybrid UAVs

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Full Envelope Dynamics Modeling and Simulation for Tail-Sitt...

第36届中国控制会议

作者： Yijie Ke ben m.chen Unmanned System Research Group Department of Electrical and Computer EngineeringNational University of Singapore

ISBN: (纸本)9781538629185

This paper presents a comprehensive modeling approach for tail-sitter hybrid UAVs featured by vertical take-off and landing（VTOL） and cruise flight capabilities. The modeling approach includes all essential components, such as full angle of attack envelope wing and fuselage aerodynamics, sideslip wind effect and actuator dynamics. A unified formulation comprising all model components is derived to constitute the core of our simulation environment. Simulation results show that our approach is effective to predict flight dynamics and can serve as the testbed for real implementations.

关键词： Dynamics modeling Full envelope aerodynamics Hybrid UAV Tail-sitter

Deep learning based water leakage detection for shield tunnel lining

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Frontiers of Structural and Civil Engineering 2024年第6期18卷 887-898页

作者： Shichang LIU Xu XU Gwanggil JEON Junxin chen ben-Guo HE College of Computer Science Sichuan UniversityChengdu 610065China School of Computer Science and Engineering Northeastern UniversityShenyang 110004China Department of Embedded Systems Engineering Incheon National UniversityIncheon 22012Korea School of Software Dalian University of TechnologyDalian 116621China Key Laboratory of ministry of Education on Safe mining of Deep metal mines Northeastern UniversityShenyang 110819China

Shield tunnel lining is prone to water leakage,which may further bring about corrosion and structural damage to the walls,potentially leading to dangerous *** avoid tedious and inefficient manual inspection,many projects use artificial intelligence(Al)to detect cracks and water leakage.A novel method for water leakage inspection in shield tunnel lining that utilizes deep learning is introduced in this *** proposal includes a ConvNeXt-S backbone,deconvolutional-feature pyramid network(D-FPN),spatial attention module(SPAm).and a detection *** can extract representative features of leaking areas to aid inspection *** further improve the model's robustness,we innovatively use an inversed low-light enhancement method to convert normally illuminated images to low light ones and introduce them into the training *** experiments are performed,achieving the average precision(AP)score of 56.8%,which outperforms previous work by a margin of 5.7%.Visualization illustrations also support our method's practical effectiveness.

关键词： water leakage detection deep learning deconvolutional-feature pyramid spatial attention

Efficient safe corridor navigation with jerk limited trajectory for quadrotors

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Efficient safe corridor navigation with jerk limited traject...

第37届中国控制会议

作者： Shupeng Lai menglu Lan ben m.chen Department of Electrical Computer Engineering National University of Singapore (NUS) Graduate School for Integrative Science and Engineering NUS

Quadrotors commonly operate in low attitude and obstacle-strewn environment. To guarantee its safety, it has to be operated inside the certain safe area. This paper presents an efficient technique to generated jerk limited trajectory that leads a quadrotor to travel inside such safe area. By limiting the trajectory’s velocity, acceleration, and jerk, it is made feasible regarding the vehicle’s physical limits. The underlying trajectory generation algorithm is extremely efficient and takes only several microseconds to produce the results. Finally, the algorithm is tested with real flight experiments.

关键词： Quadrotor Trajectory generation

Development of Fully Functional miniature Unmanned Rotorcraft Systems

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Development of Fully Functional Miniature Unmanned Rotorcraf...

第二十九届中国控制会议

作者： ben m.chen Tong H.LEE Department of Electrical and Computer Engineering National University of Singapore

We document in this article a general introduction to modern miniature unmanned rotorcraft *** specifically,we present a fairly detailed overview on the hardware configuration,software integration,aerodynamic modeling... 详细信息

关键词： Unmanned Aerial Vehicles Aerodynamic modeling Avionic Systems Flight Control Systems Computer VisionSystems