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Partition and planning:A human-like motion decision for UAV in trap environment

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Science China(Technological Sciences) 2024年第4期67卷 1226-1237页

作者： CHEN JinTao ZHOU Qi ren hongru LI HongYi School of Automation Guangdong University of TechnologyGuangzhou 510006China Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou 510006Chi

This paper presents a human-like motion decision-making method for unmanned aerial vehicles(UAVs)navigating in trap *** proposed a space partitioning method based on sampling and consistency control to conduct a preliminary analysis of the indoor environment based on architectural *** method reduces the dimensionality of the path planning problem,thereby enhancing the ***,we designed a target-switching logic for the dynamic window *** improvement endows the UAV with the capability of both real-time obstacle avoidance and global navigation,enhancing the efficiency of the UAV in flying to task spots ***,by applying human-like methods of batch distance perception and obstacle perception to this scheme,we have further enhanced the robustness and efficiency of path ***,considering the scenario of high-rise fire rescue,we conducted simulation *** demonstrates that our scheme enhances the efficiency and robustness of path planning.

关键词： path planning indoor environment spacial partition high-rise fire rescue

Adaptive Fixed-Time Control of Nonlinear MASs With Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1252-1262页

作者： hongru ren Hui Ma Hongyi Li Zhenyou Wang the School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China the School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510006China

The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this *** approximate the unknown nonlinear functions in MASs,radial basis function neural networks are *** addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed *** the help of the Nussbaum function,the actuator failure compensation mechanism is *** designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of ***,the effectiveness of the proposed control method is verified by simulation examples.

关键词： Actuator faults adaptive fixed-time control multiagent systems(MASs) Nussbaum function

A disturbance observer based intelligent control for nonstrict-feedback nonlinear systems

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Science China(Technological Sciences) 2023年第2期66卷 456-467页

作者： ren hongru MA Hui LI HongYi LU renQuan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China Department of New Networks Peng Cheng LaboratoryShenzhen 518055China School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510006China

Focusing on one class of nonlinear systems with input saturation,the adaptive fuzzy dynamic event-triggered control problem is successfully solved.A dynamic event-triggered mechanism is adopted to save the communication burden of the system,and is integrated into the controller design process based on the backstepping *** handling the asymmetric input saturation,an auxiliary system with the same order as the considered system is *** problems caused by unknown continuous functions are efficiently tackled by applying the approximation theory of fuzzy logic *** is proven that all the signals of the resulting closed-loop system are bounded via Lyapunov stability *** numerical and practical simulations are presented to demonstrate the effectiveness of the theoretical results.

关键词： intelligent control dynamic event-triggered mechanism disturbance observer

Distributed event triggering control for six-rotor UAV systems with asymmetric time-varying output constraints

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Science China(Information Sciences) 2021年第7期64卷 193-208页

作者： Liang CAO hongru ren Wei MENG Hongyi LI renquan LU Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology

Inspired by the practical operability and safety of unmanned aerial vehicles(UAVs) in confined areas, this paper investigates adaptive trajectory tracking control problems in multiple six-rotor UAV systems with asymmetric time-varying output constraints and input saturation. Under model and disturbance uncertainties, six-rotor UAV systems are modeled as two non-strict-feedback systems, including attitude(inner-loop) and position(outer-loop) regulation systems. For the inner-loop design, the neural-based distributed adaptive attitude consensus control protocol is employed to realize the leader-follower *** first-order sliding mode differentiators and an auxiliary dynamic system are introduced to address the "explosion of complexity" and saturation nonlinearity issues, respectively. Then, an event-triggered condition is predefined to alleviate the communication loads and reduce the number of messages to be transmitted from the controller to actuator. In addition, a class of asymmetric time-varying barrier Lyapunov functions are constructed for preventing the violation of time-varying output constraints. Accordingly, the proposed double-loop control strategies guarantee that all signals of UAV systems are semi-globally and uniformly bounded. Simulation results demonstrate that the proposed control method is effective.

关键词： adaptive neural control asymmetric time-varying output constraints event triggering mechanism input saturation six-rotor UAV systems

Event-based performance guaranteed tracking control for constrained nonlinear system via adaptive dynamic programming method

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Journal of Automation and Intelligence 2023年第4期2卷 239-247页

作者： Xingyi Zhang Zijie Guo hongru ren Hongyi Li School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006China

An optimal tracking control problem for a class of nonlinear systems with guaranteed performance and asymmetric input constraints is discussed in this *** control policy is implemented by adaptive dynamic programming(ADP)algorithm under two event-based triggering *** is often challenging to design an optimal control law due to the system deviation caused by asymmetric input ***,a prescribed performance control technique is employed to guarantee the tracking errors within predetermined ***,considering the asymmetric input constraints,a discounted non-quadratic cost function is ***,in order to reduce controller updates,an event-triggered control law is developed for ADP *** that,to further simplify the complexity of controller design,this work is extended to a self-triggered case for relaxing the need for continuous signal monitoring by hardware *** employing the Lyapunov method,the uniform ultimate boundedness of all signals is proved to be ***,a simulation example on a mass–spring–damper system subject to asymmetric input constraints is provided to validate the effectiveness of the proposed control scheme.

关键词： Adaptive dynamic programming(ADP) Asymmetric input constraints Prescribed performance control Event-triggered control Optimal tracking control

A method for detecting two-dimensional plane stress distribution in basin-type insulator based on critically refracted longitudinal wave

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High Voltage 2024年第1期9卷 105-116页

作者： Zhaoyang Kang Fuqiang ren hongru Zhang Jingjing Yang Kaining Hou Qingquan Li Dongxin He Hongshun Liu Yongzhi Zhao Huaxin Wen Shandong Provincial Key Laboratory of UHV Transmission Technology and Equipment School of Electrical EngineeringShandong UniversityJinanChina Shandong Electrical Engineering&Equipment Group Co.Ltd JinanChina SDEE Hitachi High-voltage Switchgear Co. LtdJinanChina

Basin-type insulator often has small cracks due to stress *** current method cannot accurately reflect the stress condition of the insulator to find the stress concentration *** solve these problems,a method for detecting two-dimensional plane stress(δ_(1) andδ_(2))within different depth ranges in a basin-type insulator is proposed based on critically refracted longitudinal(LCR)***,the acoustoelastic equation characterising the relationship between the variation of LCR wave propagation time and the plane stress was ***,the propagation characteristics of LCR wave in epoxy resin samples were ***,the stress distribution within different depth ranges of the insulator subjected to hydraulic load was measured using the proposed method,including direction(θ),δ_(1) andδ_(2).The results show that the magnitude of the stress alone cannot accurately characterise the stress *** with equal distances to the centre have similar stress magnitudes,but their directions are not the *** increasing depth,θremains essentially unchanged at the same location,whileδ1 andδ2 decrease,and the rate of decrease varies at different *** the measured and simulated data,the results showed that they were in good agreement,and the maximum errors of stress value andθwere 0.69 MPa and 2.97°,respectively,which confirmed the feasibility and accuracy of the stress detection in the proposed method.

关键词： stress insulator wave

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基于随机采样的高层消防无人机协同搜索规划

中国科学：信息科学 2022年第9期52卷 1610-1626页

作者：李鸿一陈锦涛任鸿儒鲁仁全广东工业大学自动化学院广州510006 广东省智能决策与协同控制重点实验室(广东工业大学) 广州510006

本文面向高层消防救援提出一种基于随机采样的多无人机协同搜索规划方法.首先,受随机树状采样搜索算法启发,提出一种搜索点最优分布方法,利用其在复杂环境下对有限空间重复搜索的特性,同时解决多无人机的路径点分布问题和任务分配问题.... 详细信息

本文面向高层消防救援提出一种基于随机采样的多无人机协同搜索规划方法.首先,受随机树状采样搜索算法启发,提出一种搜索点最优分布方法,利用其在复杂环境下对有限空间重复搜索的特性,同时解决多无人机的路径点分布问题和任务分配问题.其次,设计一种基于交易规则的搜索点优化方法,以进一步提升搜索覆盖范围.然后,利用改进的和声搜索算法得到每架无人机遍历节点的最优顺序,进而获得各无人机的规划路径.最后,采用多线程方法模拟实际任务中的分布式运算,验证所提出方法的可行性.

关键词：高层消防随机采样和声搜索算法多无人机协同路径规划

基于驾驶员心生理反应的旅游区道路景观评价模型研究

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重庆交通大学学报（自然科学版） 2017年第10期36卷 97-101页

作者：乔建刚任鸿儒周彤河北工业大学土木与交通学院天津300401

旅游区公路景观既具自然属性,又具社会属性,既具功能性,又具观赏性,为了提升旅游区道路沿线景观,使其达到驾驶员行车舒适性的要求,通过大量的实地采集驾驶员行车时心生理反应数据,应用离散的傅立叶变换方法,把时域上的心率随机信号转化... 详细信息

旅游区公路景观既具自然属性,又具社会属性,既具功能性,又具观赏性,为了提升旅游区道路沿线景观,使其达到驾驶员行车舒适性的要求,通过大量的实地采集驾驶员行车时心生理反应数据,应用离散的傅立叶变换方法,把时域上的心率随机信号转化为频域上功率谱密度的值,得到道路景观与驾驶员心生理反应的变化规律;通过分析景观破碎化指数与道路景观、人类干扰强度的关系,构建了旅游区道路景观评价模型,为提高道路的安全性提出了一种新的思路。

关键词：交通运输工程景观驾驶员心生理反应道路模型

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老年胃肠癌患者癌性疲乏的影响因素分析

沈阳医学院学报 2019年第5期21卷 450-452页

作者：任红茹西峡县人民医院胃镜室

目的:对老年胃肠癌患者癌性疲乏(CRF)的影响因素进行分析。方法:以我院2015年8月至2017年10月收治的178例老年胃肠癌患者作为研究对象,对CRF的发生情况及其影响因素进行比较分析。结果:本研究178例老年胃肠癌患者中发生CRF54例,CRF发生... 详细信息

目的:对老年胃肠癌患者癌性疲乏(CRF)的影响因素进行分析。方法:以我院2015年8月至2017年10月收治的178例老年胃肠癌患者作为研究对象,对CRF的发生情况及其影响因素进行比较分析。结果:本研究178例老年胃肠癌患者中发生CRF54例,CRF发生率为30.34%。根据评定结果将患者分为CRF组(n=54)和非CRF组(n=124)。经单因素分析显示,CRF组和非CRF组患者在性别、年龄、居住地、文化程度、婚姻状况、家庭人均月收入、是否合并基础疾病、体重、病理分期、血二氧化碳水平及辅助放化疗上差异有统计学意义(P<0.05);经Logistic回归分析显示,未婚或离异、体重偏低或正常及接受辅助放化疗是影响CRF的独立危险因素(P<0.05)。结论:CRF在老年胃肠癌患者中具有较高的发生率,未婚或离异、体重偏低或正常以及接受辅助放化疗是影响CRF发生的主要因素,临床可针对上述影响因素进行针对性干预措施。

关键词：老年患者胃肠癌癌性疲乏影响因素