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Toward quantum unmanned systems

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Science China(Technological Sciences) 2024年第7期67卷 2277-2280页

作者： CHENG ShuMing QI HongSheng SUN Yue LIU LiJun xie shaorong REN XiaoQiang Department of Control Science and Engineering Tongji UniversityShanghai 200092China Academy of Mathematics and Systems Science Chinese Academy of SciencesBeijing 100190China Cipher Cloud Core Ltd. Beijing 100085China College of Mathematics and Computer Science Shanxi Normal UniversityLinfen 041081China School of Computer Engineering and Science Shanghai UniversityShanghai 200444China School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China

1 Quantum information technology Quantum information technology utilizes physical systems at the microscopic level, such as photon, atom, ion, and superconducting, to accomplish information-processing tasks that are impossible for the classical macroscopic world. During the past decade, significant process has been achieved in the pursuit of quantum technology into practical applications,generating great research interest from various domains, with the potential to radically change our information infrastructure [1–3].

关键词： quantum utilize generating

基于D-H参数与拉格朗日联立方程的仿生水蛇机器人运动学分析及动力学建模

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机械工程学报 2024年第15期60卷 134-148页

作者：王敏孙景健丁基恒孙翊彭艳蒲华燕罗均谢少荣上海大学机电工程与自动化学院上海200444 海洋智能无人系统装备教育部工程技术研究中心上海200444 上海大学人工智能研究院上海200444 重庆大学机械与运载工程学院重庆400044 上海大学计算机工程与科学学院上海200444

随着水下环境作业需求不断增大,对机器人在极端环境作业、多任务需求等方面提出了更高的要求。为了解决对水下机器人的环境适应性、机动性等高性能需求,亟需设计一种高灵活性的水下蛇形机器人,并对其结构优化及数学建模进行深入研究。因... 详细信息

随着水下环境作业需求不断增大,对机器人在极端环境作业、多任务需求等方面提出了更高的要求。为了解决对水下机器人的环境适应性、机动性等高性能需求,亟需设计一种高灵活性的水下蛇形机器人,并对其结构优化及数学建模进行深入研究。因此,基于对生物蛇的仿生机理分析,设计出了一种模块化、可重构多节仿生水蛇机器人结构模型;基于D-H参数法对空间运动波形上各关节运动轨迹、前进速度进行分析,建立运动映射关系;考虑水下运动产生的水阻力和反作用力,建立水动力学模型,结合拉格朗日方程,联合建立了水蛇机器人的等效运动学及动力学模型。基于建立的联合模型,对影响水蛇机器人关节角运动、前进速度等性能的关键参数进行了详细分析。采用蜿蜒步态作为输入参考信号,利用Matlab与ADAMS进行联合仿真验证,结果表明当步态幅值α取0.8 rad、角频率ω取2 rad/s、相邻关节相位差δ取π/3 rad时,机器人呈现一种理想蜿蜒运动步态;同时,利用ADAMS分析了机器人各关节的驱动力矩和功率,结果表明机器人两端关节到中间关节驱动力矩和功率分别从约0.6 N/m增加到14.3 N/m及1.1 N·m/s增加到14.8 N·m/s;最后,搭建了机器人样机实验,对水蛇机器人蜿蜒运动驱动函数及驱动力矩等进行实验验证,实验结果表明水蛇机器人中间关节所需驱动力矩和功率相较两端关节更大,中间关节驱动力矩为两端关节驱动力矩的3.2倍,与仿真结论一致,为水蛇机器人的水下运动提供了理论依据。

关键词：水蛇机器人仿生机理蜿蜒运动运动学模型动力学建模

激光诱导击穿光谱结合随机森林的铌钽矿中铀钍元素定量分析

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冶金分析 2024年第5期44卷 92-100页

作者：彭玲玲谢绍荣孟祥厅焦宝宝刘林刘小亮东华理工大学核技术应用创新联合实验室江西省地质局实验测试大队先进核能技术设计与安全教育部重点实验室

铌钽矿石中富含的铀(U)和钍(Th)等放射性元素含量的分析测定是铌钽矿开发过程中的重要环节，对于辐射安全评估和环境保护具有重要的意义。本文基于激光诱导击穿光谱(LIBS)技术结合随机森林(RF)算法，在实验室条件下开展了铌钽矿石中放... 详细信息

铌钽矿石中富含的铀(U)和钍(Th)等放射性元素含量的分析测定是铌钽矿开发过程中的重要环节，对于辐射安全评估和环境保护具有重要的意义。本文基于激光诱导击穿光谱(LIBS)技术结合随机森林(RF)算法，在实验室条件下开展了铌钽矿石中放射性元素U、Th含量的定量分析工作。利用传统高纯锗(HPGe)γ能谱仪对11个铌钽矿石样品进行U、Th含量的测定，并设为LIBS的参考值。其中的9个样品设置为训练集，用于RF的建模；余下2个样品设为测试集用于模型验证。采用全谱面积归一化后的LIBS光谱及其相应含量作为RF算法的数据集，首先通过五折交叉验证对RF的决策树数量参数进行了优化，再结合重要性得分阈值设定探讨了LIBS光谱的波长特征的筛选对于预测结果的影响。结果显示，结合波长特征筛选，以优化的决策树参数建立RF模型，训练集中U和Th均方根误差(RMSEC)分别为48和313μg/g;对于2#、6#样品中U和Th含量的预测，测试集均方根误差(RMSEV)分别为141、209μg/g和750、914μg/g;两种元素多次测量预测值的相对标准偏差(RSD)均在7%以内，且多次测量平均值与γ谱仪测量值相比，两种元素的预测相对误差(RE)均在8%以内。上述结果表明LIBS技术结合RF算法可以有效地实现铌钽矿石中放射性元素U和Th的定量分析，为铌钽矿石的精准开采与评估提供参考。

关键词：激光诱导击穿光谱(LIBS) 铌钽矿铀钍定量分析随机森林(RF)

Distributed Fault-Tolerant Consensus Tracking of Multi-Agent Systems Under Cyber-Attacks

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1037-1048页

作者： Chun Liu Bin Jiang Xiaofan Wang Huiliao Yang shaorong xie School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444 School of Artificial Intelligence Shanghai UniversityShanghai 200444China IEEE College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Energy and Electrical Engineering Hohai UniversityNanjing 210016China School of Computer Engineering and Science Shanghai UniversityShanghai 200444China

This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under ***,a decentralized unknown input observer is established to estimate relative states and actuator ***,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking *** of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,*** example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.

关键词： Cyberattacks fault-tolerant consensus tracking incipient and abrupt actuator faults nonlinear multi-agent systems unknown input observer

Ocean image data augmentation in the USV virtual training scene

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Big Earth Data 2020年第4期4卷 451-463页

作者： Wei Wang Yang Li Xiangfeng Luo shaorong xie School of Computer Engineering and Science Shanghai UniversityShanghaiChina

The rapid development of intelligent navigation drives the rapid accumulation of ocean data,and the ocean science has entered the era of big ***,the complexity and variability of the ocean environments make some data *** makes ocean target detection and the unmanned surface vehicle(USV)intelligent control process in ocean scenarios face various challenges,such as the lack of training data and training *** ocean image data collection method used to capture images of complex ocean environments is costly,and it leads to a serious shortage of ocean scene image *** addition,the construction of an autonomous learning environment is crucial but *** order to solve the above problems,we propose a data collection method using virtual ocean scenes and the USV intelligent training *** on virtual ocean scenes,we obtain rare images of ocean scenes under complex weather conditions and implement the USV intelligent control training *** results show that the accuracy of ocean target detection and the success rate of obstacle avoidance of the USV are improved based on the virtual ocean scenes.

关键词： Virtual ocean scenes data augmentation intelligent control training USV obstacle avoidance

PATH FOLLOWING GPS-BASED CONTROL OF SMALL-SIZE ROBOTIC UNMANNED BLIMP

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Chinese Journal of Mechanical Engineering 2007年第2期20卷 60-63页

作者： LUO Jun xie shaorong GONG Zhenbang RAO Jinjun School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

Robotic unmanned blimps own an enormous potential for applications in low-speed and low-altitude exploration, surveillance, and monitoring, as well as telecommunication relay platforms. To make lighter-than-air platform a robotic blimp with significant levels of autonomy, the decoupled longitude and latitude dynamic model is developed, and the hardware and software of the flight control system are designed and detailed. Flight control and navigation strategy and algorithms for waypoint flight problem are discussed. A result of flight experiment is also presented, which validates that the flight control system is applicable and initial machine intelligence of robotic blimp is achieved.

关键词： Dynamics modeling Flight control Navigation Robotic unmanned blimp

Attacking Strategy of Multiple Unmanned Surface Vehicles with Improved GWO Algorithm Under Control of Unmanned Aerial Vehicles

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Journal of Shanghai Jiaotong university(Science) 2020年第2期25卷 201-207页

作者： WU Xin PU Juan xie shaorong School of Computer Engineering and Science Shanghai UniversityShanghai 200444China Shanghai Institute for Advanced Communication and Data Science Shanghai 200444China

Unmanned combat system is one of the important means to capture information superiority,carry out precision strike and accomplish special combat tasks in information *** attack strategy plays a crucial role in unmanned combat system,which has to ensure the attack by unmanned surface vehicles(USVs)from *** meet the challenge,we propose a task allocation algorithm called distributed auction mechanism task allocation with grey wolf optimization(DAGWO).The traditional grey wolf optimization(GWO)algorithm is improved with a distributed auction mechanism(DAM)to constrain the initialization of wolves,which improves the optimization process according to the actual *** addition,one unmanned aerial vehicle(UAV)is employed as the central control system to establish task allocation model and construct fitness function for the multiple constraints of USV attack *** proposed DAGWO algorithm can not only ensure the diversity of wolves,but also avoid the local optimum *** results show that the proposed DAGWO algorithm can effectively solve the problem of attack task allocation among multiple USVs.

关键词： unmanned surface vehicle(USV) attack strategy grey wolf optimization(GWO) task allocation unmanned aerial vehicle(UAV)

Collaborative Defense with Multiple USVs and UAVs Based on Swarm Intelligence

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Journal of Shanghai Jiaotong university(Science) 2020年第1期25卷 51-56页

作者： WU Xing LIU Yuan xie shaorong GUO Yike School of Computer Engineering and Science Shanghai UniversityShanghai 200444China Shanghai Institute for Advanced Communication and Data Science Shanghai 200444China Department of Computing Imperial College LondonLondon SW72AZUnited Kingdom

Modern defense systems are developing towards *** and automation,which include the collaborative defense system on the sea between multiple unmanned surface vehicles(USVs)and unmanned aerial vehicles(UAVs).UAVs can fly in high altitude and collect marine environment information on ***,UAVs can plan defense paths for USVs to intercept intruders with full-assignment or reassignment strategies aiming at maximum overall ***,we propose dynamic overlay reconnaissance algor计hm based on genetic idea(GI-DORA)to solve the problem of multi-UAV multi-station ***,we develop continuous particle swarm optimization based on obstaele dimension(OD-CPSO)to optimize defense path of USVs to intercept *** addition,under the designed defense constraints,we propose dispersed particle swarm optimization based on mutation and crossover(MC-DPSO)and real-time batch assignment algorithm(RTBA)in emergency for formulating combat defense mission assignment strategy in different ***,we illus trate the feasibility and effectiveness of the proposed met hods.

关键词： collaborative defense mission assignment path planning unmanned surface vehicles(USVs) unmanned aerial vehicles(UAVs)

Electrochromic-Induced Rechargeable Aqueous Batteries: An Integrated Multifunctional System for Cross-Domain Applications

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Nano-Micro Letters 2023年第6期15卷 304-334页

作者： Qi Zhao Zhenghui Pan Binbin Liu Changyuan Bao Ximeng Liu Jianguo Sun shaorong xie Qing Wang John Wang Yanfeng Gao Department of Materials Science and Engineering Shanghai UniversityShanghai 200444People’s Republic of China Department of Materials Science and Engineering National University of SingaporeSingapore 117574Singapore Department of Materials Science and Engineering Tongji UniversityShanghai 200092People’s Republic of China Department of Computer Engineering and Science Shanghai UniversityShanghai 200444People’s Republic of China National University of Singapore(Chongqing)Research Institute Chongqing 401120People’s Republic of China Institute of Materials Research and Engineering A*StarSingapore 138634Singapore Key Laboratory of Comprehensive and Highly Efficient Utilization of Salt Lake Resources Qinghai Institute of Salt LakesChinese Academy of SciencesXining 810008People’s Republic of China

Multifunctional electrochromic-induced rechargeable aqueous batteries(MERABs) integrate electrochromism and aqueous ion batteries into one platform, which is able to deliver the conversion and storage of photo-thermal-electrochemical *** ion batteries compensate for the drawbacks of slow kinetic reactions and unsatisfied storage capacities of electrochromic devices. On the other hand, electrochromic technology can enable dynamically regulation of solar light and heat radiation. However,MERABs still face several technical issues, including a trade-off between electrochromic and electrochemical performance, low conversion efficiency and poor service life. In this connection, novel device configuration and electrode materials, and an optimized compatibility need to be considered for multidisciplinary applications. In this review,the unique advantages, key challenges and advanced applications are elucidated in a timely and comprehensive manner. Firstly, the prerequisites for effective integration of the working mechanism and device configuration, as well as the choice of electrode materials are examined. Secondly, the latest advances in the applications of MERABs are discussed, including wearable, self-powered, integrated systems and multisystem conversion. Finally, perspectives on the current challenges and future development are outlined, highlighting the giant leap required from laboratory prototypes to large-scale production and eventual commercialization.

关键词： Electrochromic Aqueous batteries Multifunctional Integration