A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

On one boundary problem for nonlinear stationary controlled system

The object of study is nonlinear stationary controlled system of ordinary differential equations with constant disturbance in the right part. The problem of constructing the synthesising control function providing the transfer of this system from the initial state to the origin is considered. The sufficiently simple for numerical implementation algorithm of solution of the above-mentioned problem is obtained. It is shown that for local null controllability of the considered system, it is sufficient that the conditions of the Kalman's type were satisfied. In addition, the estimates restricting the choice of initial conditions and external disturbances under which the transfer is guaranteed are obtained. The main idea of the method of construction of the desired control function consists in reducing the original problem to stabilisation of a special kind linear non-stationary system and solving the Cauchy problem for an auxiliary system of ordinary differential equations closed by stabilising control. The simplicity of the realisation of this algorithm is determined by the construction of the auxiliary system and its stabilisation that could be obtained by analytical methods. The effectiveness of the method is illustrated by solving the problem of crane control and its numerical simulation.     

Control strategies for reactive batch distillation

A batch reactor may be combined directly with a distillation column by distilling off the light component product in order to increase the reactor temperature or to improve the product yield of an equilibrium reaction. The same amount of the light product should be removed as the amount being formed by the reaction at any time. A linearized model has been developed which describes the process behaviour satisfactorily for control analysis purposes. The controllability of a combined batch reactor/batch distillation column is found to depend strongly on the operating conditions and on the time during the run. In general, controlling only the reactor temperature (one-point bottom control) is difficult since the set-point has to be specified below a maximum value in order to avoid break-through of an intermediate component in the ditillate. This maximum value may be difficult to know a priori. For the example considered in this study, control of both reactor temperature and distillate composition (two-point control) is also found to be difficult due to large interactions in the column. As with one-point bottom control, the reactor temperature has to be specified below a maximum value. However, energy can be saved since the heat duty can be decreased with time. Controlling the temperature on a tray in the column (one-point column control) is found to give good performance for the given process with no loss of reactant and a high reactor temperature, although no direct control of the reactor temperature is obtained.     

空间机器人遥控、自主与协同操作的软件基础

空间机器人控制语言是实现空间机器人三种控制方式:遥控操作,自主操作和协同操作的软件基础,本文描述了该语言的基本结构,对于自主方式,给出了编程示例;对于遥控方式,运用程序辅助的方法,解决了操作员单独进行主/从操作时难以解决的问题.     

如何加强军用软件的质量管理

军用软件在武器装备系统中的地位已经越来越重要,但我国军用软件的质量管理起步较晚,因此很有必要研究如何加强军用软件的质量管理.本文在阐述软件生命周期的基础上,从开展军用软件研制单位的软件能力评价、加强软件配置管理和加强第三方独立测试三个方面探讨了如何加强军用软件的质量管理.     

Analysis of exclusively kinetic two-link underactuated mechanical systems

Analysis of exclusively kinetic two-link underactuated mechanical systems is undertaken in this paper. It is first shown that such systems are not full-state feedback linearizable around any equilibrium point. Also, the equilibrium points for which the system is small-time locally controllable (STLC) is at most a one-dimensional submanifold. A concept less restrictive than STLC, termed the small-time local output controllability (STLOC) is introduced, the satisfaction of which guarantees that a chosen configuration output can be controlled at its desired value. It is shown that the class of systems considered is STLOC, if the inertial coupling between the input and output is nonzero. Also, in such a case, the system is nonminimum phase. An example section illustrates all the results presented.     

一类连续时间广义边值系统的能控性和能观性

连续时间广义边值系统被描述为Ｅｘ（ｔ）＝Ａｘ（ｔ）＋Ｂｕ（ｔ），Ｖ０ｘ（０）＋Ｖｒｘ（Ｔ）＝ｖ，其中Ｅ是奇异方阵，ｕ（ｔ）满足任意次可微，本文讨论了一类连续时间广义边值系统的有关向内和向外边值过程的两个重要概念，并在此基础上给出了能控性和能观性定义和判别准则．     

虚拟环境下自主水下航行器的避障研究

为了在虚拟环境下模拟自主水下航行器的水平面避障过程，基于软件平台MultiGen Creator和Vega，在HP工作站上开发了自主水下航行器避障视景仿真系统。提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并根据声纳所测得的障碍物相对于自主水下航行器的位置关系设计一个模糊推理系统来求解其避障角度，实现了虚拟环境下自主水下航行器的水平面避障。仿真结果表明，该视景仿真能够使仿真系统更加逼真和接近于实际情况，并且满足系统仿真的实时性要求。     

Basic concept and decentralized autonomous control of super‐distributed energy systems

New small‐scale dispersed generation systems, such as fuel cells and micro gas turbines, have made remarkable advances lately and they will be applied practically in the near future. Although a large number of researches on the introduction of small‐scale dispersed generation systems have been carried out, only a small number of small‐scale dispersed generation systems are considered in these researches. Therefore, little is known about problems to be solved when a large number of small‐scale dispersed generation systems are introduced into electric power systems. This paper deals with a super‐distributed energy system that consists of a great number of dispersed generation systems such as fuel cells, micro gas turbines, and so on. The behavior of a customer with a dispersed generation system is simulated as the Ising model in statistical mechanics. The necessity of a distribution network in super‐distributed energy systems is discussed based on the Ising model. The feasibility of decentralized autonomous control using vicinity information is also investigated on the basis of stability analysis of the Hopfield neural network model. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(1): 43–55, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10368