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Research onManeuver Decision-Making ofMulti-Agent Adversarial Game in a Random Interference Environment

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Computers, Materials and Continua 2024年第1期81卷 1879-1903页

作者： Hu S. Ru L. Lu B. Wang Z. Zhao X. Wang W. Xi H. Equipment Management and UAV Engineering College Air Force Engineering University Xi'an 710051 China national key laboratory of unmanned aerial vehicle technology Xi'an 710051 China College of Information technology Nanjing Police University Nanjing 210023 China

The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances. This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment. It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players, as well as the impact of participants' manipulative behaviors on the state changes of the players. A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario. Subsequently, the strategy selection interaction relationship, strategy evolution stability, and dynamic decision-making process of the game players are investigated and verified by simulation experiments. The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent's strategies. Especially in a highly uncertain environment, even small information asymmetry or miscalculation may have a significant impact on decision-making. This also confirms the feasibility and effectiveness of the method proposed in the paper, which can better explain the behavioral decision-making process of the agent in the interaction process. This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model. © 2024 The Authors. Published by Tech Science Press.

关键词： Behavior decision-making maneuver multi-agent nonlinear mathematical modeling stochastic evolutionary game

Aerodynamic Performance of Three Flapping Wings with Unequal Spacing in Tandem Formation

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Journal of Bionic Engineering 2024年第4期21卷 1662-1676页

作者： Min Chang Ziyi Xu Zengshuang Chen Li Li Xueguang Meng unmanned System Research Institute National Key Laboratory of Unmanned Aerial Vehicle TechnologyNorthwestern Polytechnical UniversityXi’an710072People’s Republic of China State key laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi’an Jiaotong UniversityXi’an710049People’s Republic of China Xi’an Aeronautics Computing Technique Research Institute Aviation Industry Corporation of ChinaXi’an710076People’s Republic of China

To better understand the aerodynamic reasons for highly organized movements of flying organisms,the three-flapping wing system in tandem formation was studied numerically in this *** from previous relevant studies on the multiple flapping wings that are equally spaced,this study emphasizes the impact of unequal spacing between individuals on the aerodynamics of each individual wing as well as the whole *** is found that swapping the distance between the first and second wing with the distance between the second wing and the rearmost wing does not affect the overall aerodynamic performance,but significantly changes the distribution of aerodynamic benefits across each *** the whole flapping cycle,three effects are at *** narrow channel effect and the downwash effect can promote and weaken the wing lift,respectively,while the wake capture effect can boost the *** also shows that these effects could be manipulated by changing the spacing between adjacent *** findings provide a novel way for flow control in tandem formation flight and are also inspiring for designing the formation flight of bionic aircraft.

关键词： Three flapping wings Unequal spacing Aerodynamic performance Tandem formation

State and parameter identification of linearized water wave equation via adjoint method

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Science China(Information Sciences) 2024年第10期67卷 283-297页

作者： Yang YU Cheng-Zhong XU Hai-Long PEI Jinpeng YU School of Automation Qingdao University LAGEP Batiment CPE University Claude Bernard-Lyon 1 School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle SystemSouth China University of Technology

In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Laplace equation. We assume that the wave elevation at two distinct points is the only measurement of water waves. We show that the state and water depth can be reconstructed from this point measurement records. The identification problem is recast as an optimization problem over an infinite-dimensional space. We propose the adjoint method-based identification algorithm to generate an estimated state and water depth. We then performed a numerical simulation to show the effectiveness of our designed algorithm by comparing it with existing studies.

关键词： linearized water wave equation (LWWE) point observation state estimation parameter identification adjoint method numerical simulation

Distributed collaborative complete coverage path planning based on hybrid strategy

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Journal of Systems Engineering and Electronics 2024年第2期35卷 463-472页

作者： ZHANG Jia DU Xin DONG Qichen XIN Bin School of Automation Beijing Institute of TechnologyBeijing 100081China national key laboratory of Autonomous Intelligent unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor *** to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.

关键词： multi-agent cooperation unmanned aerial vehicles(UAV) distributed algorithm complete coverage path planning(CCPP)

Coupled funnel control for supersonic tailless aerial vehicle on penetrating counter air

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Chinese Journal of Aeronautics 2024年第7期37卷 458-481页

作者： Yingyang WANG Peng ZHANG Jilian GUO Jianbo HU Equipment Management and unmanned aerial vehicle Engineering School Air Force Engineering UniversityXi’an 710051China Aviation Engineering School Air Force Engineering UniversityXi’an 710038China

Supersonic Tailless aerial vehicles(STAVs)will become an essential force in Penetrating Counter Air(PCA),but STAVs do not have the traditional horizontal and vertical tails,making pitch and yaw control *** attack angle and the sideslip angle need to be limited to ensure that the engine inlet and the aerodynamic rudder at the rear of the vehicle can work properly,which is the so-called security *** addition,the tracking error of the aerodynamic angle needs to be limited to achieve effective attitude control or high-accuracy tracking of trajectories,which is the so-called performance *** this end,an attitude control method that meets the needs of PCA has been devised,based on constraint definition,coupled constraints handling,and control law ***,mathematical descriptions of the security constraints,performance constraints,and control constraints are ***,two treatment methods,coupled command filter and coupled funnel control are proposed for the aerodynamic angle coupled constraint ***,based on Nonlinear Dynamic Inverse(NDI)design,the coupled funnel controller is designed and validated by simulation for two typical mission scenarios,high-altitude penetration and low-altitude surprise *** proposed control method not only satisfies the security and performance constraints of STAV attitude control but also is highly robust.

关键词： Supersonic tailless aircraft Penetrating counter air Funnel control Attitude control Control allocation

Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 2011-2026页

作者： Xiaolong Chen Biao Xu Manjiang Hu Yougang Bian Yang Li Xin Xu State key laboratory of Advanced Design and Manufacturing for vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State key laboratory of Advanced Design and Manufacturing for vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082 Wuxi Intelligent Control Research Institute(WICRI)of Hunan University Wuxi 214115China College of Intelligence Science and technology Institute of Unmanned SystemsNational University of Defense TechnologyChangsha 410073China

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and *** paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and *** method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at *** algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization *** proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning *** intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic *** algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

关键词： Autonomous driving decision-making reinforcement learning(RL) unsignalized intersection

Characteristics of a pre-combustion plasma jet igniter

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Chinese Journal of Aeronautics 2024年第7期37卷 178-189页

作者： Jinlu YU Baowen ZHANG Yang YU Bingbing ZHAO Lei ZHANG Aviation Engineering School Air Force Engineering UniversityXi’an 710038China Equipment Management and unmanned aerial vehicle Engineering School Air Force Engineering UniversityXi’an 710038China

Plasma ignition technology has delivered good performance in the aerospace industry. In this study, a pre-combustion plasma jet igniter was designed, and its characteristics were examined from three aspects: the morphology, temperature, and discharge characteristics and process of ignition. Images of the OH distribution were obtained by using an OH Planar Laser-Induced Fluorescence(OH-PLIF) experimental system. Results have shown that the proposed plasma jet had a higher OH concentration, longer length, and larger area than those of a traditional igniter. The stability of discharge of the igniter was improved as the equivalence ratio φ was increased, and reducing gas flow reduced the pulsation of the plasma jet. When the input current was increased from 15A to 35 A, the highest average temperature increased from 5127 K to 7987 K. An increase in the equivalence ratio reduced the region of arc ionization, but expanded the regions of the core combustion reaction and the outer flame. Herein, this study has obtained a deep understanding of the jet and ignition law and developed a new idea for the application of plasma in the ignition field.A pre-combustion plasma jet igniter can significantly improve the efficiency of ignition and shorten the ignition process compared with a traditional igniter.

关键词： Pre-combustion plasma igniter Plasma Jet temperature field Ignition process Arc Flame

Cluster DetectionMethod of Endogenous Security Abnormal Attack Behavior in Air Traffic Control Network

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Computers, Materials & Continua 2024年第5期79卷 2523-2546页

作者： Ruchun Jia Jianwei Zhang Yi Lin Yunxiang Han Feike Yang College of Computer Science Sichuan UniversityChengdu610065China Equipment Management and unmanned aerial vehicle College of Air Force Engineering University Air Force Engineering UniversityXi’an710051China

In order to enhance the accuracy of Air Traffic Control(ATC)cybersecurity attack detection,in this paper,a new clustering detection method is designed for air traffic control network security *** feature set for ATC cybersecurity attacks is constructed by setting the feature states,adding recursive features,and determining the feature *** expected information gain and entropy of the feature data are computed to determine the information gain of the feature data and reduce the interference of similar feature *** autoencoder is introduced into the AI(artificial intelligence)algorithm to encode and decode the characteristics of ATC network security attack behavior to reduce the dimensionality of the ATC network security attack behavior *** on the above processing,an unsupervised learning algorithm for clustering detection of ATC network security attacks is ***,determine the distance between the clustering clusters of ATC network security attack behavior characteristics,calculate the clustering threshold,and construct the initial clustering ***,the new average value of all feature objects in each cluster is recalculated as the new cluster ***,it traverses all objects in a cluster of ATC network security attack behavior feature ***,the cluster detection of ATC network security attack behavior is completed by the computation of objective *** experiment took three groups of experimental attack behavior data sets as the test object,and took the detection rate,false detection rate and recall rate as the test indicators,and selected three similar methods for comparative *** experimental results show that the detection rate of this method is about 98%,the false positive rate is below 1%,and the recall rate is above 97%.Research shows that this method can improve the detection performance of security attacks in air traffic control network.

关键词： Air traffic control network security attack behavior cluster detection behavioral characteristics information gain cluster threshold automatic encoder

Progress in Mechanical Modeling of Implantable Flexible Neural Probes

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1205-1231页

作者： Xiaoli You Ruiyu Bai Kai Xue Zimo Zhang Minghao Wang Xuanqi Wang Jiahao Wang Jinku Guo Qiang Shen Honglong Chang Xu Long Bowen Ji unmanned System Research Institute Northwestern Polytechnical UniversityXi’an710072China national key laboratory of unmanned aerial vehicle technology Northwestern Polytechnical UniversityXi’an710072China Ministry of Education key laboratory of Micro and Nano Systems for Aerospace School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an710072China School of Automobile Chang’an UniversityXi’an710018China MOE Engineering Research Center of Smart Microsensors and Microsystems College of Electronics and InformationHangzhou Dianzi UniversityHangzhou310018China School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi’an710129China

Implanted neural probes can detect weak discharges of neurons in the brain by piercing soft brain tissue,thus as important tools for brain science research,as well as diagnosis and treatment of brain ***,the rigid neural probes,such as Utah arrays,Michigan probes,and metal microfilament electrodes,are mechanically unmatched with brain tissue and are prone to rejection and glial scarring after implantation,which leads to a significant degradation in the signal quality with the implantation *** recent years,flexible neural electrodes are rapidly developed with less damage to biological tissues,excellent biocompatibility,and mechanical compliance to alleviate *** them,the mechanical modeling is important for the optimization of the structure and the implantation *** this review,the theoretical calculation of the flexible neural probes is firstly summarized with the processes of buckling,insertion,and relative interaction with soft brain tissue for flexible probes from outside to ***,the corresponding mechanical simulation methods are organized considering multiple impact factors to realize minimally invasive ***,the technical difficulties and future trends of mechanical modeling are discussed for the next-generation flexible neural probes,which is critical to realize low-invasiveness and long-term coexistence in vivo.

关键词： Mechanical modeling flexible neural probes invasive theoretical calculation simulation