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Modeling of UAV path planning based on IMM under POMDP framework

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Journal of Systems Engineering and Electronics 2019年第3期30卷 545-554页

作者： YANG Qiming ZHANG Jiandong shi guoqing School of Electronics and Information Northwestern Polytechnical University

In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.

关键词： partially observable Markov decision process (POMDP) interactive multiple model (IMM) filtering path planning target tracking state transfer law

UAV cooperative air combat maneuver decision based on multi-agent reinforcement learning

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Journal of Systems Engineering and Electronics 2021年第6期32卷 1421-1438页

作者： ZHANG Jiandong YANG Qiming shi guoqing LU Yi WU Yong School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710072China Shenyang Aircraft Design Institute Shenyang 110035China

In order to improve the autonomous ability of unmanned aerial vehicles(UAV)to implement air combat mission,many artificial intelligence-based autonomous air combat maneuver decision-making studies have been carried out,but these studies are often aimed at individual decision-making in 1 v1 scenarios which rarely happen in actual air *** on the research of the 1 v1 autonomous air combat maneuver decision,this paper builds a multi-UAV cooperative air combat maneuver decision model based on multi-agent reinforcement ***,a bidirectional recurrent neural network(BRNN)is used to achieve communication between UAV individuals,and the multi-UAV cooperative air combat maneuver decision model under the actor-critic architecture is ***,through combining with target allocation and air combat situation assessment,the tactical goal of the formation is merged with the reinforcement learning goal of every UAV,and a cooperative tactical maneuver policy is *** simulation results prove that the multi-UAV cooperative air combat maneuver decision model established in this paper can obtain the cooperative maneuver policy through reinforcement learning,the cooperative maneuver policy can guide UAVs to obtain the overall situational advantage and defeat the opponents under tactical cooperation.

关键词： decision-making air combat maneuver cooperative air combat reinforcement learning recurrent neural network

Flow characteristics of three-phase foam in mine gob and its application

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International Journal of Mining Science and Technology 2015年第5期25卷 773-778页

作者： shi guoqing Liu Maoxi Kong Jia Wang Deming School of Safety Engineering China University of Mining & Technology

To study the flow characteristics of three-phase foam in gob area,different perfusion experiments in coal mine gob were designed and put forward in the *** the observation of flow range,flow characteristics of three phase foam were analyzed with different flow ***,unsteady seepage process of three-phase foam was simulated with CFD *** on experiment and numerical simulation results,flow characteristics of three-phase foam and its major influence factors are discussed,and the optimal arrangement distribution of mine fire control drills is also *** results show that the flow range and stacking height of three-phase foam in gob are significantly influenced by *** vertical stacking height and horizontal diffusion distance of three-phase foam are also directly related to the flow volume of foam perfusion,the larger flow single hole perfusion volume,the higher stacking height and the longer diffusion distance could be obtained.

关键词： Three-phase foam Gob area Seepage Diffusion range Numerical simulation

Loyal wingman task execution for future aerial combat:A hierarchical prior-based reinforcement learning approach

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Chinese Journal of Aeronautics 2024年第5期37卷 462-481页

作者： Jiandong ZHANG Dinghan WANG Qiming YANG Zhuoyong shi Longmeng JI guoqing shi Yong WU School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710129China

In modern Beyond-Visual-Range(BVR)aerial combat,unmanned loyal wingmen are pivotal,yet their autonomous capabilities are *** study introduces an advanced control algorithm based on hierarchical reinforcement learning to enhance these capabilities for critical missions like target search,positioning,and relay *** on a dual-layer model,the algorithm’s lower layer manages basic aircraft maneuvers for optimal flight,while the upper layer processes battlefield dynamics,issuing precise navigational *** approach enables accurate navigation and effective reconnaissance for lead ***,our Hierarchical Prior-augmented Proximal Policy Optimization(HPE-PPO)algorithm employs a prior-based training,prior-free execution method,accelerating target positioning training and ensuring robust target *** paper also improves missile relay guidance and promotes the effective *** integrating this system with a human-piloted lead aircraft,this paper proposes a potent solution for cooperative aerial *** experiments demonstrate enhanced survivability and efficiency of loyal wingmen,marking a significant contribution to Unmanned Aerial Vehicles(UAV)formation control *** advancement is poised to drive substantial interest and progress in the related technological fields.

关键词： Beyond-visual-range Loyal wingmen Hierarchical prior-augmented proximal policy optimization Unmanned aerial vehicles Warfare

Analysis of the relationship between environmental policies and air quality during major social events

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Chinese Journal of Population,Resources and Environment 2016年第3期16卷 167-173页

作者： Ruiliang Zhang guoqing shi School of Public Administration Hohai University

Based on an analysis of major recent social events in China,such as the 2008 Beijing Olympic Games,2010 Shanghai World Expo,2014 Nanjing Youth Olympic Games,and 2014 Beijing Asia Pacific Economic Cooperation Conference,mandatory,temporary,and indemnificatory quantitative policies aimed at protecting air quality,which were carried out by both central and local governments,made substantial contributions to changes and improvements in air *** some extent,the findings show that command and control measures play a significant role in protecting air quality,while the law and economic and voluntary environmental safeguard measures do not during major social ***,it reminds us the air quality could and will improve not only during major social events but also in the regular days if we implement appropriate environmental policies and safeguard measures.

关键词： Major social events environmental policy air quality command and control measures

Real-time UAV path planning based on LSTM network

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Journal of Systems Engineering and Electronics 2024年第2期35卷 374-385页

作者： ZHANG Jiandong GUO Yukun ZHENG Lihui YANG Qiming shi guoqing WU Yong School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710129China The Flight Automatic Control Research Institute of AVIC Xi’an 710065China Military Representative Office of Marine Wuhan Bureau in Luoyang Area Luoyang 471000China

To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning *** networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some *** to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current ***,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path *** verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.

关键词： deep Q network path planning neural network unmanned aerial vehicle(UAV) long short-term memory(LSTM)

Optimal control of a nonlinear state-dependent impulsive system in fed-batch process

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International Journal of Biomathematics 2023年第8期16卷 297-324页

作者： Chongyang Liu guoqing shi Gang Liu Dianzhong Hu School of Mathematics and Information Science Shandong Technology and Business University Yantai 264005 P.R.China School of Computer Science and Technology Shandong Technology and Business University Yantai 264005 P.R.China Yantai Haiyi Software Co. Ltd.Yantai 264000P.R.China

Optimal control technique is crucial to improve the yield of microbial fermentation *** this paper,we propose a nonlinear control system with state-dependent impulses,where the impulsive volume of feeding glycerol and the critical concentration of glycerol for occurring impulse are the control variables,to formulate 1,3-propanediol(1,3-PD)fed-batch production *** also discuss a quantity of important properties for this control ***,we analyze the sensitivity of system state with respect to the kinetic *** further propose a constrained optimal control model governed by the control system with state-dependent *** existence of the optimal impulsive controls is *** solving this problem,we utilize an exact penalty method to transform the problem into an optimization problem with only box ***,an improved differential evolution method is developed to seek the optimal impulsive ***,numerical simulation results demonstrate that,by using the optimal impulsive strategies,final 1,3-PD concentration is considerably increased under the nominal parameter values and disturbances of kinetic parameters have significant effects on the optimal final 1,3-PD yield.

关键词： State-dependent impulsive system sensitivity analysis optimal control differential evolution fed-batch culture

Preliminary survey of estrogenic activity in part of waters in Haihe River, Tianjin

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Chinese Science Bulletin 2005年第22期50卷 2565-2570页

作者： SHAO Jing shi guoqing JIN Xinglong SONG Maoyong shi Jianbo JIANG Guibin State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco-Environmental Sciences Chinese Academy of Sciences. Beijing 100085 China School of Applied Science University of Science and Technology Beijing Beijing 100083. China Environmental Science and Safety Engineering School Tianjin University of Technology Tianjin 300191 China

A preliminary survey of estrogenic activity of the contaminant in part of waters (Ziya River and the estu- ary of Haihe River) in Haihe River, Tianjin has been per- formed with the plasma vitellogenin (Vtg) in feral fish as a biomarker for estrogenic activity. The concentrations of bisphenol A (BPA), 4-tert-octylphenol (OP) and 4-nonyl- phenol (NP) in surface water were also determined. The presence of Vtg in male fish plasma as well as that in female can be detected at different sites and different seasons. The results indicate that the water in the sampling sites was con- taminated by some estrogenic compounds. Although BPA, OP and NP can be detected in all of the water samples, their concentrations were much lower than the effective concen- trations for those chemicals to induce Vtg production in male fish.

关键词：天津海河野生鱼类卵黄蛋白原雌激素活性

Manipulator tracking technology based on FSRUKF

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Journal of Systems Engineering and Electronics 2024年第2期35卷 473-484页

作者： shi guoqing ZHANG Boyan ZHANG Jiandong YANG Qiming HUANG Xiaofeng QUE Jianyao PU Junwei GENG Xiutang School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710072China Northwest Institute of Mechanical&Electrical Engineering Xianyang 712000China

Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is ***,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the *** the same time,a binocular camera is used to obtain the threedimensional position of the ***,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target ***,the manipulator tracking system is built by using the position-based visual *** simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.

关键词： square root unscented Kalman filter(SRUKF) fuzzy inference manipulator visual servo