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Distributed dynamic task allocation for unmanned aerial vehicle swarm systems:A networked evolutionary game-theoretic approach

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Chinese Journal of Aeronautics 2024年第6期37卷 182-204页

作者： Zhe ZHANG ju jiang Haiyan XU Wen-An ZHANG College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China College of Economics and Management Nanjing University of Aeronautics and AstronauticsNanjing 211106China College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China

Task allocation is a key aspect of Unmanned Aerial Vehicle(UAV)swarm collaborative *** an continuous increase of UAVs’scale and the complexity and uncertainty of tasks,existing methods have poor performance in computing efficiency,robustness,and realtime allocation,and there is a lack of theoretical analysis on the convergence and optimality of the *** paper presents a novel intelligent framework for distributed decision-making based on the evolutionary game theory to address task allocation for a UAV swarm system in uncertain scenarios.A task allocation model is designed with the local utility of an individual and the global utility of the ***,the paper analytically derives a potential function in the networked evolutionary potential game and proves that the optimal solution of the task allocation problem is a pure strategy Nash equilibrium of a finite strategy ***,a PayOff-based Time-Variant Log-linear Learning Algorithm(POTVLLA)is proposed,which includes a novel learning strategy based on payoffs for an individual and a time-dependent Boltzmann *** former aims to reduce the system’s computational burden and enhance the individual’s effectiveness,while the latter can ensure that the POTVLLA converges to the optimal Nash equilibrium with a probability of *** simulation results show that the approach is optimal,robust,scalable,and fast adaptable to environmental changes,even in some realistic situations where some UAVs or tasks are likely to be lost and increased,further validating the effectiveness and superiority of the proposed framework and algorithm.

关键词： Task allocation Unmanned Aerial Vehicles(UAV) Game theory Log-linear learning Distributed optimization algorithm

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Microstructure and properties of 35 kg large aluminum alloy flywheel housing components formed by squeeze casting with local pressure compensation

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China Foundry 2024年第5期21卷 563-576页

作者： ju-fu jiang Jing Yan Ying-ze Liu Ning Ge Ying Wang Chang-jie Ding De-chao Zou School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Dalian Innovation Die-casting Co. Ltd.Dalian 116600LiaoningChina

The squeeze casting method with local pressure compensation was proposed to form a flywheel housing component with a weight of 35 *** numerical simulation,microstructure observation and phase characterization were performed,and the influence of local pressure compensation on feeding of thick-wall position,microstructure and mechanical properties of the formed components were *** show that the molten metal keeps a good fluidity and the filling is complete during the filling *** the solidification at thick-wall positions of the mounting ports is slow,the local pressure compensation effectively realizes the local forced feeding,significantly eliminating the shrinkage cavity *** the microstructure of AlSi9Mg alloy,α-Al primarily consists of fragmented dendrites and rosette grains,while eutectic Si predominantly comprises needles and short *** impact of local pressure compensation on strength is relatively minimal,yet its influence on elongation is *** local pressure compensation,the average elongation at the compensated areas is 9.18%,which represents a 44.90%higher than that before *** average tensile strength is 209.1 MPa,and the average yield strength is 100.6 *** local pressure compensation can significantly reduce or even eliminate the internal defects in the 35 kg large-weight components formed by squeeze casting.

关键词： squeeze casting local pressure compensation aluminum alloy microstructure mechanical properties large flywheel housing components

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APPLICATION OF UNIT STREAM POWER THEORY ON HEADWARD EROSION

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Journal of Hydrodynamics 1991年第3期3卷 50-56页

作者： jiang, ju Northwest Hydrotechnical Research Inst Shanxi China

Based on unit stream power theory, a sediment transport equation in alluvial channels and a one-dimensional diffusion equation for discribing riverbed evolution are presented. A series of formulae, which could predict headward erosion and its equilibrium gradient for sand bed, are derived on some given boundary conditions. It is indicated from verification that dimensionless unit stream power reflects the basic properties of alluvial channels. Agreement between computed results and measured data is satisfactory.

关键词： Erosion Fluid Mechanics Hydrodynamics Mathematical Models Sediment Transport Sedimentation

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复杂环境下异构无人机集群协同目标搜索方法

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电光与控制 2024年第6期31卷 1-7页

作者：马婷钰江驹张哲向星宇南京航空航天大学自动化学院南京211000

为实现无人机集群高效且精准的多目标搜索,考虑集群成员中探测范围广的高空无人机和机动能力较强的低空无人机,提出了一种新颖的异构无人机集群协同目标搜索方法,根据不同无人机的特性快速实现区域搜索以及多目标的精准搜索。高空无人... 详细信息

为实现无人机集群高效且精准的多目标搜索,考虑集群成员中探测范围广的高空无人机和机动能力较强的低空无人机,提出了一种新颖的异构无人机集群协同目标搜索方法,根据不同无人机的特性快速实现区域搜索以及多目标的精准搜索。高空无人机采用基于数字信息素的区域搜索算法确定目标存在区域,在较短时间内实现区域覆盖。低空无人机在其指引下前往目标区域,并根据目标信号强度采用改进狼群算法实现对目标的精准搜索。对于传统狼群算法信息共享不足、步长固定和易陷入局部最优的问题,采用粒子群算法、自适应参数调整和差分进化方法进行改进,提高了算法的全局寻优能力和收敛速度。仿真实验证明了所提出的模型与方法在复杂环境下目标搜索任务中的有效性和优越性。

关键词：异构无人机集群高低空协同多目标搜索数字信息素改进狼群算法

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On Conway's Potential Function for Colored Links

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Acta Mathematica Sinica,English Series 2016年第1期32卷 25-39页

作者： Bo ju jiang Department of Mathematics Peking University

The Conway potential function （CPF） for colored links is a convenient version of the multi- variable Alexander-Conway polynomial. We give a skein characterization of CPF, much simpler than the one by Murakami. In particular, Conway＇s ＂smoothing of crossings＂ is not in the axioms. The proof uses a reduction scheme in a twisted group-algebra PnBn, where Bn is a braid group and Pn is a domain of multi-variable rational fractions. The proof does not use computer algebra tools. An interesting by-product is a characterization of the Alexander-Conway polynomial of knots.

关键词： Colored links Conway potential function Alexander polynomial skein relations

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6082铝合金汽车法兰挤压铸造数值模拟及试验验证

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铸造 2024年第3期73卷 313-320页

作者：姜巨福孔令波黄敏杰鄢璟哈尔滨工业大学材料科学与工程学院黑龙江哈尔滨150001

对挤压铸造6082铝合金汽车法兰件进行了不同挤压铸造工艺参数的数值模拟,并预测了缩松缩孔缺陷产生的位置。结果表明:各参数下的汽车法兰件充型完整,保压过程中由于三个凸台对应的部位壁厚大,该处最后凝固;保压结束后,模具承压部位温度... 详细信息

对挤压铸造6082铝合金汽车法兰件进行了不同挤压铸造工艺参数的数值模拟,并预测了缩松缩孔缺陷产生的位置。结果表明:各参数下的汽车法兰件充型完整,保压过程中由于三个凸台对应的部位壁厚大,该处最后凝固;保压结束后,模具承压部位温度明显高于其他部位,温度分布表现出不均匀性,在实际压铸过程中应当注意防护以免模具损伤。缩孔缩松位置主要出现在三个凸台对应的厚壁位置,与温度场结果一致。成形试验获得了优良的铸件,表明数值模拟结果准确、可靠。

关键词： 6082铝合金挤压铸造数值模拟缺陷预测

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Shuffled frog leaping algorithm with non-dominated sorting for dynamic weapon-target assignment

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Journal of Systems Engineering and Electronics 2023年第4期34卷 1007-1019页

作者： ZHAO Yang LIU Jicheng jiang ju ZHEN Ziyang College of Automation Engineering Nanjing University of Aeronautics and AstronautsNanjing 211106China

The dynamic weapon target assignment(DWTA)problem is of great significance in modern air ***,DWTA is a highly complex constrained multi-objective combinatorial optimization *** improved elitist non-dominated sorting genetic algorithm-II(NSGA-II)called the non-dominated shuffled frog leaping algorithm(NSFLA)is proposed to maximize damage to enemy targets and minimize the self-threat in air combat *** NSFLA,the shuffled frog leaping algorithm(SFLA)is introduced to NSGA-II to replace the inside evolutionary scheme of the genetic algorithm(GA),displaying low optimization speed and heterogeneous space search *** improvements have also been raised to promote the internal optimization performance of ***,the local evolution scheme,a novel crossover mechanism,ensures that each individual participates in updating instead of only the worst ones,which can expand the diversity of the ***,a discrete adaptive mutation algorithm based on the function change rate is applied to balance the global and local ***,the scheme is verified in various air combat *** results show that the proposed NSFLA has apparent advantages in solution quality and efficiency,especially in many aircraft and the dynamic air combat environment.

关键词： dynamic weapon-target assignment(DWTA)problem shuffled frog leaping algorithm(SFLA) air combat research

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Some Developments in Nielsen Fixed Point Theory

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Acta Mathematica Sinica,English Series 2018年第1期34卷 91-102页

作者： Bo ju jiang Xue Zhi ZHAO School of Mathematical Sciences Peking University Department of Mathematics Capital Normal University

We give a brief survey of some developments in Nielsen fixed point theory. After a look at early history and a digress to various generalizations, we confine ourselves to several topics on fixed points of self-maps on manifolds and polyhedra. Special attention is paid to connections with geometric group theory and dynamics, as well as some formal approaches.

关键词： Fixed points Nielsen theory

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Adaptive mode switching of hypersonic morphing aircraft based on type-2 TSK fuzzy sliding mode control

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Science China(Information Sciences) 2015年第7期58卷 59-73页

作者： JIAO Xin FIDAN Baris jiang ju KAMEL Mohamed Nanjing University of Aeronautics and Astronautics University of Waterloo

This paper presents a novel adaptive mode switching scheme for hypersonic morphing aircraft with retracted winglets based on type-2 Takagi-Sugeno-Kang(TSK) fuzzy sliding mode control. For each of retracting and stretching modes, a specific sliding mode controller has been adopted. Drawing upon input/output linearization to globally linearize the nonlinear model of the hypersonic aircraft at first, a type-2 TSK fuzzy logic system is devised for robust mode switching between these sliding mode controllers. For rapid stabilization of the system, the adaptive law for mode switching is designed using a direct constructive Lyapunov *** results demonstrate the stability and smooth transition using the proposed switched control scheme.

关键词： hypersonic morphing aircraft mode switching type-2 TSK fuzzy logic system adaptive control sliding mode control

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Quadcopter UAV Modeling and Automatic Flight Control Design

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第6期34卷 627-636页

作者： Bhatia Ajeet Kumar jiang ju Zhen Ziyang College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016.P.R.China jiangsu Key Laboratory of Internet of Things and Control Technologies Nanjing 210016.P.R.China

The mathematical model of quadcopter-unmanned aerial vehicle （UAV） is derived by using two approaches： One is the Newton-Euler approach which is formulated using classical meehanics; and other is the Euler-Lagrange approach which describes the model in terms of kinetic （translational and rotational） and potential energy. The proposed quadcopter＇s non-linear model is incorporated with aero-dynamical forces generated by air resistance, which helps aircraft to exhibits more realistic behavior while hovering. Based on the obtained model, the suitable control strategy is developed, under which two effective flight control systems are developed. Each control system is created by cascading the proportional-derivative （PD） and T-S fuzzy controllers that are equipped with six and twelve feedback signals individually respectively to ensure better tracking, stabilization, and response. Both pro- posed flight control designs are then implemented with the quadcopter model respectively and multitudinous simulations are conducted using MATLAB/Simulink to analyze the tracking performance of the quadcopter model at various reference inputs and trajectories.

关键词： quadcopter unmanned aerial vehicle (UAV) flight control desigm T-S fuzzy inference system propotional-derivative (PD) controller

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