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中国药物滥用防治杂志 2024年第1期30卷 5-9,14页

作者：方正詹燮峰陈银彬钟易晟李永明陆冠桥徐和钼李顺仁厦门大学航空航天学院福建厦门361102 艾偲睿科技(厦门)有限责任公司福建厦门361021

毒品是指鸦片、海洛因、甲基苯丙胺(冰毒)等以及国家规定管制的其他能够使人形成瘾癖的麻醉药品和精神药品。除了传统毒品犯罪,近年来新型毒品层出不穷,导致新型毒品犯罪比例逐渐上升,这对毒品检测技术的灵敏度、准确率、安全性、透视... 详细信息

毒品是指鸦片、海洛因、甲基苯丙胺(冰毒)等以及国家规定管制的其他能够使人形成瘾癖的麻醉药品和精神药品。除了传统毒品犯罪,近年来新型毒品层出不穷,导致新型毒品犯罪比例逐渐上升,这对毒品检测技术的灵敏度、准确率、安全性、透视性等指标都有了更高的要求。本文概述了毒品的分类和危害、常见毒品的化学式以及新型毒品,同时介绍了广泛应用的毒品检测技术的优缺点及基本原理,包括光谱法、免疫法、毛细管电泳分析法和离子迁移谱法等。此外,本文还展望了X射线吸收光谱无损检测技术在毒品检测方面的潜力,介绍了X射线吸收光谱在塑料分类中的应用,以期探索毒品快速无损检测的新方法。

关键词：毒品分类毒品检测技术新型毒品 X射线吸收光谱法

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Vision-based Global Localization of Unmanned Aerial Vehicles with Street View Images

Vision-based Global Localization of Unmanned Aerial Vehicles...

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第37届中国控制会议

作者： Xuejiao Yan Zongying Shi yisheng zhong Department of Automation Tsinghua University

In this paper, a vision-based method is proposed to globally localize an unmanned aerial vehicle（UAV） flying in the urban scenarios using Google Street View as prior information. Since the trajectory of the UAV with absolute scale cannot be recovered with the help of monocular visual odometry only, we leverage the known positional information of Google Street View to localize vehicles with respect to the surrounding buildings. First, a place recognition algorithm is presented to solve air-ground matching problem by searching aerial images taken from onboard camera within the geotagged image database. Then based on the matched images by place recognition and tracked features via visual odometry, a novel absolute scale estimation mechanism is proposed to estimate the pose of UAV in the real world coordinate system and to correct the scale drift of visual odometry. Furthermore, the pose graph with UAV’s poses as vertexes and relative transformations as edges is optimized with SE（3） constraints to get trajectory of UAV in the real world coordinate system. Experiments are conducted on a 2km dataset recorded onboard by a camera-equipped UAV flying in the urban streets of Zurich, Switzerland, and the results show that our method is able to metrically localize the UAV without previously visiting or building 3D models in advance.

关键词： Vision-based localization unmanned aerial vehicle Google Street View absolute scale estimation

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Automatic Landing Control of Unmanned Helicopter on Ship Deck with Heave Motion Using Robust Output Regulation

Automatic Landing Control of Unmanned Helicopter on Ship Dec...

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第37届中国控制会议

作者： Shuai Mi Geng Lu Zongying Shi yisheng zhong Dept.of Automation Tsinghua University

Landing an unmanned helicopter on a ship smoothly is a great challenge using an appropriate strategy under the heave motion of the *** this paper,an output regulator based on robust compensation method is designed to control the heave motion of an unmanned *** control objective is to achieve real-time tracking of a vertical trajectory to the ship deck under the external ***,the proposed method can also compensate the model ***,experiments are performed to demonstrate and highlight the efficiency of this method.

关键词： Unmanned Helicopters Automatic Landing Robust Compensation Output Regulation

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A Novel Robust Finite-time Stable Trajectory Tracking Scheme for Fixed Wing Unmanned Aerial Vehicles

A Novel Robust Finite-time Stable Trajectory Tracking Scheme...

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第40届中国控制会议

作者： Zonggang Zhang Wenlong Yang Zongying Shi yisheng zhong Department of Automation Tsinghua University

In this paper, we discuss the problem of trajectory tracking for fixed-wing unmanned aerial vehicles（UAVs） subject to external disturbances and model uncertainties. Based on simplified aerodynamics model, the translational motion equation of fixed-wing UAV is linearized to derive the 6-state model. Under the assumption that the altitude channel is regulated by a PID controller separately, a novel robust practical finite time controller is proposed for planar motion control. The designed control law consists of a nominal nonlinear controller and a first order robust compensator. The robust and finite time stabilizing properties are proved and evaluated through hardware in the loop simulations.

关键词： Fixed-wing unmanned aerial vehicles trajectory tracking finite time convergence robust compensator

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Hardware-in-the-loop Simulation Platform for Unmanned Aerial Vehicle Swarm System: Architecture and Application

Hardware-in-the-loop Simulation Platform for Unmanned Aerial...

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第三十九届中国控制会议

作者： Zonggang Zhang Wenlong Yang Zongying Shi yisheng zhong Department of Automation Tsinghua University

A hardware-in-the-loop（HITL） simulation platform is developed for fixed-wing unmanned aerial vehicle（UAV）swarm system. Flight dynamics simulation of multiple UAVs is enabled to run on a single machine simultaneously with full physics and 3 D visualized scenes. Flight control system is identical to that on actual UAV, and coordinate control algorithms are implanted on micro computers, separating from underlying attitude control loop on autopilots. Classical UAV swarm control application scenarios including formation and formation alternation are tested. Besides, formation flight experiments combining a physical UAV with simulated UAVs are conducted to evaluate communication network.

关键词： Fixed-wing UAV HITL Simulation Swarm Formation

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Scale Recovery Using Vanishing Points for Indoor Mobile Vehicles With Monocular Vision

Scale Recovery Using Vanishing Points for Indoor Mobile Vehi...

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第40届中国控制会议

作者： Siyu Huang Sunghun Park Zongying Shi yisheng zhong Department of Automation Tsinghua University

This paper proposes a scale recovery method for indoor mobile vehicles with monocular vision. We aim to solve the scale ambiguity problem which is the main weakness of monocular SLAM. The method is based on the detection and modeling of the ground plane under the constant camera height assumption which is suitable for ground mobile vehicles. The ground plane detection relies on vanishing points estimation, and the ground plane modeling is accomplished by point clouds on the ground complemented with vanishing directions estimation. The method is evaluated both on the self-collected indoor dataset and the KITTI benchmark dataset. The experimental results verify the effectiveness of our scale recovery method.

关键词： Scale Recovery Scale Estimation Vanishing Points Indoor Mobile Vehicles

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Robust Tracking Control of a Class of Nonlinear Time-Varying Uncertain Systems With Multi-Operating Points

Robust Tracking Control of a Class of Nonlinear Time-Varying...

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第二十四届中国控制会议

作者： yisheng zhong Department of Automation, Tsinghua University, Beijing 100084

＜正＞ Robust tracking problem is dealt with for nonlinear time-varying uncertain systems with multi-operating points. The plant is assumed to have a fixed relative degree. A new method will be proposed to design a linear time-invariant robust tracking controller. An artificial nominal plant is introduced and the real plant is regarded as the nominal one with parameter perturbations and nonlinear time-varying uncertainties as well as unmodelled dynamics. A nominal controller is first designed for the nominal plant to achieve the desired tracking properties, then a robust compensator is designed to restrain the influence of the real plant perturbations from the nominal one. Under certain assumptions, it is shown that robust stability and robust tracking can be achieved.

关键词： robust control stabilization nonlinear time-varying multi-model.

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Robust Stabilization Of Nonlinear Time-Varying Uncertain Systems

Robust Stabilization Of Nonlinear Time-Varying Uncertain Sys...

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第二十二届中国控制会议

作者： zhong yisheng Department of Automation Tsinghua University Beijing 100084 China

＜正＞Robust stabilizing problem is dealt with for nonlinear time-varying uncertain systems. A new method will be proposed to design a linear time-invariant robust controller. An artificial nominal plant is introduced and the real plant is regarded as the nominal one plus nonlinear time-varying uncertainties and unmodelled dynamics. A nominal controller is first designed to stabilize the nominal plant, then a robust compensator is designed to restrain the influence of the real plant perturbations from the nominal one. Under certain assumptions, robust stability can be guaranteed by applying a robust compensator with sufficiently wide frequency bandwidth. A feature of the presented method is that it can tell us how to perform on-line tuning for the controller parameter.

关键词： Stabilization Uncertain Nonlinear Time-varying systems

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Receding Horizon Defense Strategy for Reach-Avoid Games with Uncertainties via Pairwise Outcomes

Receding Horizon Defense Strategy for Reach-Avoid Games with...

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第40届中国控制会议

作者： Ruiliang Deng Rui Yan Weixian Zhang Zongying Shi yisheng zhong Department of Automation Tsinghua University

This paper proposes a receding horizon defense strategy for a two-dimensional multiplayer reach-avoid game in which the defenders suffer from measurement uncertainties. In this game, the defenders aim at protecting a goal region from the attackers who strive to enter it. The whole game is decomposed to multiple subgames involving one defender and one *** each subgame, a noisy attack region is proposed for the defender to characterize the set of positions that the attacker may reach before the defender. Then, the noisy interception point in the noisy attack region is introduced and used to design a defense winning strategy which prevents the noisy attack region from approaching the goal region. A maximum-matching defense strategy is designed for the defenders to capture as many attackers as possible. Simulation results are presented to validate our results.

关键词： Reach-avoid games Multi-agent systems Uncertainties Differential games Pursuit-evasion games

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基于信号补偿的机械臂鲁棒控制器设计与实现

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清华大学学报（自然科学版） 2006年第4期46卷 473-476页

作者：廖武钟宜生石宗英清华大学自动化系北京100084

为了解决基于信号补偿的鲁棒控制方法在实际系统中的设计和实现问题,将该方法应用于实际机械臂系统的控制器设计。在分析了实际控制器设计与理论设计之间的差异的基础上,针对实际系统对控制器设计的约束,提出了可采取的措施,并提出了相... 详细信息

为了解决基于信号补偿的鲁棒控制方法在实际系统中的设计和实现问题,将该方法应用于实际机械臂系统的控制器设计。在分析了实际控制器设计与理论设计之间的差异的基础上,针对实际系统对控制器设计的约束,提出了可采取的措施,并提出了相应的控制器设计及调节方法,即首先设计单关节子系统标称控制器和鲁棒补偿器,然后再进行多关节鲁棒控制器的统调。将该方法用于实际的二自由度平面机械臂系统的鲁棒控制器设计,进行了物理实现和控制实验,获得了期望的控制结果。

关键词：机械臂鲁棒控制鲁棒补偿器非线性系统

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