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Robot trajectory planning for autonomous 3D reconstruction of cockpit in aircraft final assembly testing

Chinese Journal of Aeronautics 2024年第3期37卷 332-350页

作者： Yanzhe WANG Zemin PAN Qian YANG Changxi deng Yanding WEI The State Key laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China School of Information Science and Engineering NingboTech UniversityNingbo 315100China AVIC Xi’an Aircraft Industry(Group)Company ltd. Xi’an 710089China Key laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system *** address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization *** metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D *** ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision *** using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position *** orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and *** reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space *** and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.

关键词： Aircraft assembly testing Aircraft cockpit 3D modeling Camera viewpoint Robot trajectory planning

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Air target intention recognition and causal effect analysis combining uncertainty information reasoning and potential outcome framework

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Chinese Journal of Aeronautics 2024年第1期37卷 287-299页

作者： Yu ZHANG Fanghui HUANG Xinyang deng Mingda lI Wen JIANG School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710129China

Recognizing target intent is crucial for making decisions on the ***,the imperfect and ambiguous character of battlefield situations challenges the validity and causation analysis of classical intent recognition *** with the challenge,a target intention causal analysis paradigm is proposed by combining with an Intervention Retrieval(IR)model and a Hybrid Intention Recognition(HIR)*** target data acquired by the sensors are modelled as Basic Probability Assignments(BPAs)based on evidence theory to create uncertain ***,the HIR model is utilized to recognize intent for a tested sample from uncertain ***,the intervention operator under the evidence structure is utilized to perform attribute intervention on the tested *** retrieval is performed in the sample database based on the IR model to generate the intention distribution of the pseudo-intervention samples to analyze the causal effects of individual sample *** simulation results demonstrate that our framework successfully identifies the target intention under the evidence structure and goes further to analyze the causal impact of sample attributes on the target intention.

关键词： Causal effect analysis Hybrid intention recognition Intervention retrieval Target intention Uncertainty reasoning

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Numerical simulation and parameter optimization of Coriolis force scale measurement process based on DEM

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Particuology 2024年第7期90卷 128-139页

作者： Haiting liu Yong Yang Xiangliang Wang Jiewen deng Bingbing Wang School of Energy and Power Engineering Northeast Electric Power UniversityJilin132012China CNBM Hefei Mechanical&Electrical Engineering Technology Co.ltd Hefei230051China

The Coriolis force method is a recently developed and highly regarded direct measurement technique that enables high-precision measurement of bulk *** operational parameters and variations thereof directly influence the measurement accuracy of the *** this study,a measurement correction coefficient is introduced to improve the calculation method for mass flow rate of the *** DEM is employed to simulate the motion of particle groups within the Coriolis force scale under different parameters,and the effects of various structural and operational parameters on the measurement results are *** research findings indicate that a lower rotational speed leads to more stable instantaneous measurement results,although the measurement error is relatively *** the rotational speed exceeds 300 rpm,the measurement error remains within 15%.For materials with a radius of 1–2 mm,the variation range of precision error is approximately 0.4%.Among the structural parameters,the radius of the measurement wheel has the most significant impact on the measurement results,wherein a larger measurement wheel radius corresponds to a smaller measurement *** horizontal angle of the blades follows as the next influential parameter,with a clockwise rotation and a horizontal angle of 30°resulting in a measurement error below 2%.

关键词： Parameter optimization Discrete element method Coriolis force scale Measurement error Numerical simulation

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Design of a Bio-inspired,Two-winged,Flapping-wing Micro Air Vehicle with High-lift Performance

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Journal of Bionic Engineering 2024年第3期21卷 1191-1207页

作者： Kai Hu Huichao deng Shengjie Xiao Gongyu Yang Yuhong Sun Space Robot laboratory The School of Mechanical EngineeringBeihang UniversityBeijing100191China

In this paper,we present the development of our latest flapping-wing micro air vehicle(FW-MAV),named Explobird,which features two wings with a wingspan of 195 mm and weighs a mere 25.2 g,enabling it to accomplish vertical take-off and hover *** devised a novel gear-based mechanism for the flapping system to achieve high lift capability and reliability and conducted extensive testing and analysis on the wings to optimise power matching and lift *** Explobird can deliver a peak lift-to-weight ratio of 1.472 and an endurance time of 259 s during hover flight powered by a single-cell liPo *** the inherent instability of the prototype,we discuss the derivatives of its longitudinal system,underscoring the importance of feedback control,position of the centre of gravity,and increased *** demonstrate the effect of damping enhancement on stability,we also designed a passive stable ***,the vehicle is actively stabilised in roll by adjusting the wing root bars and in pitch through high-authority tail control,whereas yaw is passively *** a series of flight tests,we successfully demonstrate that our prototype can perform vertical take-off and hover flight under wireless *** promising results position the Explobird as a robust vehicle with high lift capability,paving the way towards the use of FW-MAVs for carrying load equipment in multiple tasks.

关键词： Flapping wing Biologically inspired robots Mechanical design Flight dynamics Damping enhancement

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Interfacial/bulk synergetic effects accelerating charge transferring for advanced lithium-ion capacitors

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Chinese Chemical letters 2024年第6期35卷 168-175页

作者： Chang liu Zirui Song Xinglan deng Shihong Xu Renji Zheng Wentao deng Hongshuai Hou Guoqiang Zou Xiaobo Ji School of Chemistry and Chemical Engineering Hunan Institute of EngineeringXiangtan 411104China College of Chemistry and Chemical Engineering Central South UniversityChangsha 410083China Key laboratory of Hunan Province for Clean and Efficient Utilization of Strategic Calcium-Containing Mineral Resources School of Minerals Processing and BioengineeringCentral South UniversityChangsha 410083China

The exploration of advanced materials through rational structure/phase design is the key to develop highperformance lithium-ion capacitors(lICs).However,high complexity of material preparation and difficulty in quantity production largely hinder the further ***,Cu_(5)FeS_(4-x)/C(CFS@C)heterojunction with rich sulfur vacancies has successfully achieved from natural bornite,presenting low costeffective and bulk-production *** functional theory(DFT)calculations indicate that rich vacancies in bulk phase can decrease band gap of bornite and thus improve its intrinsic electron conductivity,as well as the heterojunction spontaneously evokes a built-in electric field between its interfacial region,largely reducing the migration barrier from 1.27 e V to 0.75 e *** from these merits,the CFS@C electrodes deliver outperformed lithium storage performance,e.g.,high reversible capacity(822.4m Ah/g at 0.1 A/g),excellent cycling stability(up to 820 cycles at 2 A/g and 540 cycles at 5 A/g with respective capacity retention of over or nearly 100%).With CFS@C as anode and porous carbon nanosheets(PCS)as cathode,the assembled CFS@C//PCS lIC full cells exhibit high energy/power density characteristics of 139.2 Wh/kg at 2500 W/*** work is expected to offer significant insights into structure modifications/devising toward natural minerals for advanced energy-storage systems.

关键词： Bulk/interfacial modification Heterostructure Sulfur vacancies lithium ion capacitors Capacitors

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Visible light Indoor Positioning System Based on Pisarenko Harmonic Decomposition and Neural Network

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Chinese Journal of Electronics 2024年第1期33卷 195-203页

作者： li ZHAO Yi REN Qi WANG lange deng Feng ZHANG School of Electronic Information Engineering Xi’an Technological University

Visible-light indoor positioning is a new generation of positioning technology that can be integrated into smart lighting and optical communications. The current received signal strength(RSS)-based visible-light positioning systems struggle to overcome the interferences of background and indoor-reflected noise. Meanwhile, when ensuring the lighting, it is impossible to use the superposition of each light source to accurately distinguish light source information; furthermore, it is difficult to achieve accurate positioning in complex indoor environments. This study proposes an indoor positioning method based on a combination of power spectral density detection and a neural network. The system integrates the mechanism for visible-light radiation detection with RSS theory, to build a back propagation neural network model fitting for multiple reflection channels. Different frequency signals are loaded to different light sources at the beacon end, and the characteristic frequency and power vectors are obtained at the location end using the Pisarenko harmonic decomposition method. Then, a complete fingerprint database is established to train the neural network model and conduct location tests. Finally, the location effectiveness of the proposed algorithm is verified via actual positioning experiments. The simulation results show that, when four groups of sinusoidal waves with different frequencies are superimposed with white noise, the maximum frequency error is 0.104 Hz and the maximum power error is 0.0362 W. For the measured positioning stage, a 0.8 m × 0.8 m × 0.8 m solid wood stereoscopic positioning model is constructed, and the average error is 4.28 cm. This study provides an effective method for separating multi-source signal energies, overcoming background noise, and improving indoor visible-light positioning accuracies.

关键词： Neural networks Measurement uncertainty Position measurement Harmonic analysis light emitting diodes Frequency estimation Indoor positioning systems

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Proton‑Prompted ligand Exchange to Achieve High‑Efficiency CsPbI_(3) Quantum Dot light‑Emitting Diodes

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Nano-Micro letters 2024年第6期16卷 53-62页

作者： Yanming li Ming deng Xuanyu Zhang lei Qian Chaoyu Xiang laboratory of Advanced Nano‑Optoelectronic Materials and Devices Qianwan Institute of CNITECHNingbo 315300People’s Republic of China Division of Functional Materials and Nanodevices Ningbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingbo 315201People’s Republic of China Zhejiang Provincial Engineering Research Center of Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology&EngineeringChinese Academy of SciencesNingbo 315201People’s Republic of China Faculty of Electrical Engineering and Computer Science Ningbo UniversityNingbo 315211ZhejiangPeople’s Republic of China University of Nottingham Ningbo China Ningbo 315100People’s Republic of China

CsPbI_(3)perovskite quantum dots(QDs)are ideal materials for the next generation of red light-emitting ***,the low phase stability of CsPbI_(3)QDs and long-chain insulating capping ligands hinder the improvement of device *** in-situ ligand replacement and ligand exchange after synthesis were often difficult to ***,we proposed a new ligand exchange strategy using a proton-prompted insitu exchange of short 5-aminopentanoic acid ligands with long-chain oleic acid and oleylamine ligands to obtain stable small-size CsPbI_(3)*** exchange strategy maintained the size and morphology of CsPbI_(3)QDs and improved the optical properties and the conductivity of CsPbI_(3)QDs *** a result,high-efficiency red QD-based light-emitting diodes with an emission wavelength of 645 nm demonstrated a record maximum external quantum efficiency of 24.45%and an operational half-life of 10.79 h.

关键词： CsPbI_(3) perovskite quantum dots light-emitting diodes ligand exchange Proton-prompted in-situ exchange

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A Data Intrusion Tolerance Model Based on an Improved Evolutionary Game Theory for the Energy Internet

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Computers, Materials & Continua 2024年第6期79卷 3679-3697页

作者： Song deng Yiming Yuan Institute of Advanced Technology Nanjing University of Posts and TelecommunicationsNanjing210003China College of Automation Nanjing University of Posts and TelecommunicationsNanjing210003China

Malicious attacks against data are unavoidable in the interconnected,open and shared Energy Internet(EI),Intrusion tolerant techniques are critical to the data security of *** intrusion tolerant techniques suffered from problems such as low adaptability,policy lag,and difficulty in determining the degree of *** address these issues,we propose a novel adaptive intrusion tolerance model based on game theory that enjoys two-fold ideas:(1)it constructs an improved replica of the intrusion tolerance model of the dynamic equation evolution game to induce incentive weights;and (2)it combines a tournament competition model with incentive weights to obtain optimal strategies for each stage of the game *** experiments are conducted in the IEEE 39-bus system,whose results demonstrate the feasibility of the incentive weights,confirm the proposed strategy strengthens the system’s ability to tolerate aggression,and improves the dynamic adaptability and response efficiency of the aggression-tolerant system in the case of limited resources.

关键词： Energy Internet Intrusion tolerance game theory racial competition adaptive intrusion response

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Absolute pose estimation of UAV based on large-scale satellite image

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Chinese Journal of Aeronautics 2024年第6期37卷 219-231页

作者： Hanyu WANG Qiang SHEN Zilong deng Xinyi CAO Xiaokang Wang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied *** of the previous works have tended to build Convolutional Neural Networks(CNNs)to extract features and then directly regress the pose,which will fail when solving the challenges caused by the huge viewpoint and size differences between“UAV-satellite”image pairs in real-world ***,this paper proposes a probability distribution/regression integrated deep model with the attention-guided triple fusion mechanism,which estimates discrete distributions in pose space and three-dimensional vectors in translation *** order to overcome the shortage of the relevant dataset,this paper simulates image datasets captured by UAVs with forward-facing cameras during target searching and autonomous *** effectiveness,superiority,and robustness of the proposed method are verified by simulated datasets and flight tests.

关键词： Satellite imagery Unmanned Aerial Vehicle(UAV) Deep neural networks Vision navigation von Mises-Fisher distribution

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Microstructure Regulation and Combustion Performance Optimization of PVDF/Al Composite Powder by Non-covalent Functionalized Graphenes

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Journal of Wuhan University of Technology(Materials Science) 2024年第4期39卷 904-911页

作者：易卓然 deng Haoyuan QIN Mei 孙一 lUO Guoqiang State Key laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

Graphene prepared by non-covalent modification of sulfonated poly(ether-ether-ketone)(SPG)was combined with polyvinylidene fluoride(PVDF)/Al to improve the PVDF/Al thermal conductivity while reducing the effect of the thermal resistance at the graphene-polymer *** regulation rule of SPG with different contents on the energy release of fluorine-containing system was *** the content of SPG is 4%,the peak pressure and rise rate of SPG/PVDF/Al composite powder during ignition reach the maximum of 4845.28 kPa and 8683.58 kPa/*** the content of SPG is 5%,the PVDF/Al composite powder is completely coated by SPG,and the calorific value of the material reachs the maximum of 29.094 kJ/*** the design and micro-control of the composite powder,the calorific value of the material can be effectively improved,but the improvement of the mass release rate still depends on the graphene content and surface modification state.

关键词： energetic materials PVDF/Al composites graphene modification energy release combustion

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