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Multiple-stage spatial-temporal cooperative guidance without time-to-go estimation

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Chinese Journal of Aeronautics 2024年第9期37卷 399-416页

作者： Chunyan WANG Weilin WANG Wei DONG Jianan WANG Fang DENG School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China National Key lab of autonomous Intelligent Unmanned systems Beiing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go ***,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two *** the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle *** the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss *** further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of *** to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed ***,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.

关键词： Cooperative guidance Guided missiles Impact time consensus Impact angle constraint Spatial-temporal cooperative guidance

Adaptive PI Control Based Stability Margin Configuration of Aircraft Control systems with Unknown System Parameters and Time Delay

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Journal of systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key lab of autonomous Intelligent Unmanned systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： Adaptive control aircraft control parameter uncertainty stability margin configuration

Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key lab of autonomous Intelligent Unmanned systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

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Science China(Information Sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key lab of autonomous Intelligent Unmanned systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control(MRAC) of linear time-invariant(LTI) systems: limt→∞ e~((i))(t) = 0, i = 1,..., n~*-1, where n~* and e~((i))(t) denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control(including indirect MRAC and indirect adaptive pole placement control) of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.(1) It can track a reference signal with any order derivatives being unknown.(2) It has higher-order exponential or practical output tracking properties.(3) Finally, it is different from the usual MRAC system, whose reference signal’s derivatives up to the n~* order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

Deep Industrial Image Anomaly Detection: A Survey

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Machine Intelligence Research 2024年第1期21卷 104-135页

作者： Jiaqi Liu Guoyang Xie Jinbao Wang Shangnian Li Chengjie Wang Feng Zheng Yaochu Jin Research Institute of Trustworthy autonomous systems Southern University of Science and TechnologyShenzhen 518055China NICEGroup Universityof SurreyGuildford GU27YXUK Youtu lab TencentShanghai 200233China NICE Group Bielefeld UniversityBielefeld 33619Germany

The recent rapid development of deep learning has laid a milestone in industrial image anomaly detection(IAD).In this pa-per,we provide a comprehensive review of deep learning-based image anomaly detection techniques,from the perspectives of neural net-work architectures,levels of supervision,loss functions,metrics and *** addition,we extract the promising setting from indus-trial manufacturing and review the current IAD approaches under our proposed ***,we highlight several opening chal-lenges for image anomaly *** merits and downsides of representative network architectures under varying supervision are ***,we summarize the research findings and point out future research *** resources are available at https://***/M-3lab/awesome-industrial-anomaly-detection.

关键词： Image anomaly detection defect detection industrial manufacturing deep learning computer vision

Scaling laws governing the elastic properties of 3D graphenes

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Science China(Technological Sciences) 2024年第6期67卷 1748-1756页

作者： LI Ming LU Guo YU HaoDong LI MengLei ZHENG FaWei Centre for Quantum Physics Key Laboratory of Advanced Optoelectronic Quantum Architecture and Measurement(MOE)School of PhysicsBeijing Institute of TechnologyBeijing100081China Beijing Key lab of Nanophotonics&Ultrafine Optoelectronic systems School of PhysicsBeijing Institute of TechnologyBeijing100081China laboratory of computational Physics Institute of Applied Physics and Computational MathematicsBeijing100088China Department of Physics Capital Normal UniversityBeijing100048China

In this study,we comprehensively investigated the scaling law for elastic properties of three-dimensional honeycomb-like graphenes(3D graphenes)using hybrid neural network potential-based molecular dynamics simulations and theoretical *** elastic constants were obtained as functions of honeycomb hole size,denoted by the graphene wall length *** five independent elastic constants in the large-L limit are proportional to L^(-1).The associated coefficients are combinations of elastic constants of two-dimensional ***-order terms including L^(-2)and L^(-3)emerge for finite L *** have three origins,the distorted areas close to the joint lines of 3D graphenes,the variation in solid angles between graphene plates,and the bending distortion of graphene ***,the chirality becomes essential with decreasing L because the joint line structures are different between the armchair and zigzag-type 3D *** findings provide insights into the elastic properties of graphene-based superstructures and can be used for further studies on graphene-based materials.

关键词： scaling law neural network elastic properties 3D graphene

ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

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IET Cyber-systems and Robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key laboratory of Collaborative Sensing and autonomous Unmanned systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

Cybersecurity Landscape on Remote State Estimation:A Comprehensive Review

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 851-865页

作者： Jing Zhou Jun Shang Tongwen Chen the Department of Electrical and Computer Engineering University of AlbertaEdmonton AB T6G 1H9Canada the Department of Control Science and Engineering and Shanghai Research Institute for Intelligent autonomous systems Tongji UniversityShanghai 200092China

Cyber-physical systems(CPSs)have emerged as an essential area of research in the last decade,providing a new paradigm for the integration of computational and physical units in modern control *** state estimation(RSE)is an indispensable functional module of ***,it has been demonstrated that malicious agents can manipulate data packets transmitted through unreliable channels of RSE,leading to severe estimation performance *** paper aims to present an overview of recent advances in cyber-attacks and defensive countermeasures,with a specific focus on integrity attacks against ***,two representative frameworks for the synthesis of optimal deception attacks with various performance metrics and stealthiness constraints are discussed,which provide a deeper insight into the vulnerabilities of ***,a detailed review of typical attack detection and resilient estimation algorithms is included,illustrating the latest defensive measures safeguarding RSE from ***,some prevalent attacks impairing the confidentiality and data availability of RSE are examined from both attackers'and defenders'***,several challenges and open problems are presented to inspire further exploration and future research in this field.

关键词： Cyber-attacks Kalman filtering remote state estimation unreliable transmission channels

Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key laboratory for Management and Control of Complex systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and autonomous systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification