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A self-organization formation configuration based assignment probability and collision detection

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Journal of Systems Engineering and Electronics 2024年第1期35卷 222-232页

作者： SONG Wei WANG Tong YANG Guangxin ZhANG peng School of harbin Engineering University Harbin 150001China Chinese Aeronautical Establishment Beijing 100010China

The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment probability is proposed to achieve the shortest overall formation path of multi-UAVs with low complexity and reduce the energy consumption.In order to avoid the collision between UAVs in the formation process,the concept of safety ball is introduced,and the collision detection based on continuous motion of two time slots and the lane occupation detection after motion is proposed to avoid collision between UAVs.Based on the idea of game theory,a method of UAV motion form setting based on the maximization of interests is proposed,including the maximization of self-interest and the maximization of formation interest is proposed,so that multi-UAVs can complete the formation task quickly and reasonably with the linear trajectory assigned in advance.Finally,through simulation verification,the multi-UAVs target assignment algorithm based on the assignment probability proposed in this paper can effectively reduce the total path length,and the UAV motion selection method based on the maximization interests can effectively complete the task formation.

关键词： straight line trajectory assignment probability collision detection lane occupation detection maximization of interests

Terminal attitude selection method of missile attack aircraft

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Chinese Journal of Aeronautics 2024年第2期37卷 385-400页

作者： peng hOU Yang PEI Yuxue GE Mengjie ZhU School of Aeronautics Northwestern Polytechnical UniversityXi’an 710072China research Department Shanghai Electro-Mechanical Engineering InstituteShanghai 201108China

The appropriate terminal attitude of missile is important to improve the damage effectiveness of fragmentation warhead against aircraft targets.In this paper,three missile terminal attitude selection methods are proposed to solve the problem of terminal attitude selection in different situations according to their respective evaluation indexes.The MVE-based method uses the damage probability of each detonation point around the aircraft at a given attitude of missile to calculate the Mean Volume of Effectiveness(MVE)at the corresponding attitude,and then uses the MVE for different attitudes to select the terminal strike attitude.The detonation position-based method addresses the case where the missile detonation position can be assessed in advance.Given the effects of missile guidance errors and fuze activation position errors,Monte Carlo simulations are used to calculate the damage probability of aircraft with different strike attitudes,from which the terminal strike attitude is selected.The BP-ANN model-based method uses the constructed Back Propagation Artificial Neural Network(BP-ANN)model instead of simulation to calculate the evaluation indexes in the corresponding cases of MVE-based method and Detonation position-based method,which can improve the efficiency of attitude selection.Simulations are conducted for different scenarios to verify the feasibility and effectiveness of the proposed method.

关键词： Aircraft vulnerability Attitude selection BP-ANN Damage probability Damage effectiveness

The Sequential Pricing of ride-hailing System with rental Service in the Context of Fleet Electrification

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Journal of Systems Science and Systems Engineering 2024年第1期33卷 77-105页

作者： Yaoyao Ku peng Wu Qiang ren Yiqing Wang Business School Sichuan UniversityChengdu610065China

Surging demand and reduced capacity in the ride-hailing industry have prompted numerous ride-hailing platforms to build their own car-rental services catering to drivers who do not possess private vehicles. however, the trade-off between the ride-hailing service and the car-rental service is an important issue that is still unclear in theory. Moreover, ride-hailing platforms are transitioning towards all-electric fleets in the context of Carbon Neutrality goals and government regulations. This paper considers a ride-hailing system comprising a monopolist ride-hailing platform, an electric vehicle (EV) rental firm, and a gasoline vehicle (GV) rental firm. Furthermore, we build a stylized model to study the sequential pricing of the system. The equilibrium outcomes show the significant impact of the ride-hailing platform’s decision to continue or withdraw offering EV rental services on EV and GV drivers’ net earnings, rental prices, and wages. The ride-hailing platform providing EV rental services increases EV drivers’ net earnings but decreases the GV driver wages and rental prices. however, the EV rental service offered by the ride-hailing platform does not necessarily lead to an increased total profit for the system. The improved profitability of the system by the ride-hailing platform providing EV rental services is contingent upon lower rider prices and higher fuel costs. The ride-hailing platform’s EV rental services provision also effectively fosters the ride-hailing fleet’s electrification. Furthermore, as the number of riders increases, the ride-hailing platform should reduce the commission rate for EV drivers to maintain competitiveness and profitability.

关键词： ride-hailing system car rental fleet electrification sequential pricing differential wage scheme

Underwater Directional Acoustic Source Based on Pentamode Material

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Acta Mechanica Solida Sinica 2024年第1期37卷 1-9页

作者： Binghao Zhao peng Wang Dongwei Wang Gengkai hu School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Wuhan Second Ship Design and research Institute Wuhan 430205China

An underwater directional acoustic emitter is conceived with a highly anisotropic lattice material,whose acoustic characteristics manifest strong dependence on the orientation of the lattice material’s principal axis.Exploiting these features,a cylindrical structure made of such anisotropic lattice material is engineered to possess distinct impedance values in different directions,thereby facilitating wave emission along the principal axis while inducing reflection in other directions.Notably,through numerical simulations,it is demonstrated that the emission direction can be effectively manipulated by adjusting the principal axis orientation,concurrently enhancing the emitted power.In contrast to previous directional acoustic structures,the compact emitter presented in this study can get rid of the size-wavelength constraint,enabling effective control of low-frequency waves.

关键词： Underwater Directional emission Pentamode material Broadband frequency

Fast Cross-Platform Binary Code Similarity Detection Framework Based on CFGs Taking Advantage of NLP and Inductive GNN

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Chinese Journal of Electronics 2024年第1期33卷 128-138页

作者： Jinxue peng Yong WANG Jingfeng XUE Zhenyan LIU School of Computer Science and Technology Beijing Institute of Technology

Cross-platform binary code similarity detection aims at detecting whether two or more pieces of binary code are similar or not. Existing approaches that combine control flow graphs(CFGs)-based function representation and graph convolutional network(GCN)-based similarity analysis are the best-performing ones. Due to a large amount of convolutional computation and the loss of structural information, the use of convolution networks will inevitably bring problems such as high overhead and sometimes inaccuracy. To address these issues, we propose a fast cross-platform binary code similarity detection framework that takes advantage of natural language processing(NLP)and inductive graph neural network(GNN) for basic blocks embedding and function representation respectively by simulating extracting structural features and temporal features. GNN’s node-centric and small batch is a suitable training way for large CFGs, it can greatly reduce computational overhead. Various NLP basic block embedding models and GNNs are evaluated. Experimental results show that the scheme with long short term memory(LSTM)for basic blocks embedding and inductive learning-based Graph SAGE(GAE) for function representation outperforms the state-of-the-art works. In our framework, we can take only 45% overhead. Improve efficiency significantly with a small performance trade-off.

关键词： Control flow graph Natural language processing Inductive graph neural network Binary code similarity detection

In-situ powder mixing for laser-based directed energy deposition of functionally graded materials

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Advances in Manufacturing 2024年第1期12卷 150-166页

作者： Ji-peng Chen Shou-Chun Xie he huang School of Mechanical and Electronic Engineering Nanjing Forestry UniversityNanjing210037People’s Republic of China Nanjing huirui Photoelectric Technology Co. LtdNanjing211121People’s Republic of China

The mixing of powders is a highly relevant field under additive manufacturing,however,it has attracted limited interest to date.The in-situ mixing of various powders remains a significant challenge.This paper proposes a new method utilizing a static mixer for the in-situ mixing of multiple powders through the laser-based directed energy deposition(DED)of functionally graded materials.Firstly,a powder-mixing experimental platform was established;WC and 316L powders were selected for the mixing experiments.Secondly,scanning electron microscopy,energy dispersive spectroscopy,and image processing were used to visually evaluate the homogeneity and proportion of the in-situ mixed powder.Furthermore,powder-mixing simulations were conducted to determine the powder-mixing mechanism.In the simulations,a powder carrier gas flow field and particle mixing were employed.Finally,a WC/316L metal matrix composite sample was produced using laser-based DED to verify the application potential of the static mixer.It was found that the static mixer could adjust the powder ratio online,and a response time of 1–2 s should be considered when adjusting the ratio of the mixed powder.A feasible approach for in-situ powder mixing for laser-based DED was demonstrated and investigated,creating the basis for functionally graded materials.

关键词： Laser Deposition Static mixer Powder mixing Functionally graded materials

Improved spatio-temporal alignment measurement method for hull deformation

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Journal of Systems Engineering and Electronics 2024年第2期35卷 485-494页

作者： XU Dongsheng YU Yuanjin ZhANG Xiaoli peng Xiafu School of Automation Beijing Institute of TechnologyBeijing 100081China School of Aerospace Engineering Xiamen UniversityXiamen 361005China

In this paper,an improved spatio-temporal alignment measurement method is presented to address the inertial matching measurement of hull deformation under the coexistence of time delay and large misalignment angle.Large misalignment angle and time delay often occur simultaneously and bring great challenges to the accurate measurement of hull deformation in space and time.The proposed method utilizes coarse alignment with large misalignment angle and time delay estimation of inertial measurement unit modeling to establish a brand-new spatiotemporal aligned hull deformation measurement model.In addition,two-step loop control is designed to ensure the accurate description of dynamic deformation angle and static deformation angle by the time-space alignment method of hull deformation.The experiments illustrate that the proposed method can effectively measure the hull deformation angle when time delay and large misalignment angle coexist.

关键词： inertial measurement spatio-temporal alignment hull deformation

recorded recurrent deep reinforcement learning guidance laws for intercepting endoatmospheric maneuvering missiles

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Defence Technology（防务技术） 2024年第1期31卷 457-470页

作者： Xiaoqi Qiu peng Lai Changsheng Gao Wuxing Jing Department of Aerospace Engineering Harbin Institute of TechnologyHarbin150001China Shanghai Electro-Mechanical Engineering Institute Shanghai Academy of Spaceflight TechnologyShanghai201100China

This work proposes a recorded recurrent twin delayed deep deterministic(rrTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with uncertainties and observation noise.The attack-defense engagement scenario is modeled as a partially observable Markov decision process(POMDP).Given the benefits of recurrent neural networks(rNNs)in processing sequence information,an rNN layer is incorporated into the agent’s policy network to alleviate the bottleneck of traditional deep reinforcement learning methods while dealing with POMDPs.The measurements from the interceptor’s seeker during each guidance cycle are combined into one sequence as the input to the policy network since the detection frequency of an interceptor is usually higher than its guidance frequency.During training,the hidden states of the rNN layer in the policy network are recorded to overcome the partially observable problem that this rNN layer causes inside the agent.The training curves show that the proposed rrTD3 successfully enhances data efficiency,training speed,and training stability.The test results confirm the advantages of the rrTD3-based guidance laws over some conventional guidance laws.

关键词： Endoatmospheric interception Missile guidance reinforcement learning Markov decision process recurrent neural networks

Periodic event-triggered secure consensus for networked mechanical systems under Denial-of-Service attacks

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Control Theory and Technology 2024年第1期22卷 1-13页

作者： Shiqi Zheng Zhipeng Li Chao Zhai peng Shi School of Automation China University of GeosciencesWuhan430074HubeiChina School of Electrical and Electronic Engineering The University of AdelaideAdelaideSA5005Australia School of Electronic Electrical Engineering and PhysicsFujian University of TechnologyFuzhou350100FujianChina

This paper concentrates on the secure consensus problem of networked mechanical/Euler–Lagrange systems.First,a new periodic event-triggered(PET)secure distributed observer is proposed to estimate the leader information.The proposed distributed observer only relies on the PET data from its neighbors,which can significantly reduce the communication and computational burden.More importantly,it is secure in the sense that it can work normally regardless of the Denial-of-Service(DoS)attacks.Second,based on the proposed distributed observer,an adaptive fuzzy control law is proposed for each Euler–Lagrange system.A PET mechanism is integrated into the controller,which can reduce the control update.This is helpful for both energy saving and fault tolerance of actuators.Moreover,the PET mechanism naturally makes the controller easy to be implemented in digital platform.The property of fuzzy logic systems and Gronwall inequality are skillfully utilized to show the stability of the closed-loop system.Finally,the proposed control scheme is verified on real Euler–Lagrange systems,which contain a robot manipulator and several servo motors.

关键词： Output regulation Mechanical/Euler-Lagrange systems Periodic event-triggered mechanism Denial-of-Service attacks