A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

A terrain risk assessment method for military surveillance applications for mobile assets

This study proposes an analytical and flexible terrain risk assessment method for military surveillance applications for mobile assets. Considering the risk as the degree of possibility of insurgent presence, the assessment method offers an efficient evaluation of risk in the surrounding terrain for military combat operating posts or observation posts. The method is designed for unmanned aerial vehicles as the surveillance assets of choice to improve the effectiveness of their use. Starting with the area map and geographical data, the target terrain is first digitized for space representation. Then the data of nine geographical parameters are used to formulate five contributing risk factors. These factors are incorporated in an analytical framework to generate a composite map with risk scores that reveal the potential high-risk spots in the terrain. The proposed method is also applied to a real-life case study of COP Kahler in Afghanistan, which was a target for insurgent attacks in 2008. The results confirm that when evaluated with the developed method, the region that the insurgents used to approach COP Kahler has high concentration of high-risk cells.     

频率域电磁法在采空区探测中的应用

隐伏采空区的探测已成为近年来研究课题,采用无人机搭载发射装置,高空平面布置探测线和测点,克服在陡峭的山坡难以布置探测工作,消除地形地貌及其它条件对探测工作带的误差。对已知空区的探测和分析,验证了该方法的有效性和精确程度,为后续其它探测提供了频率域区间和参数校正。研究表明:此方法具有适用性强、工作效率高和精确度高优点,是一种可用于隐伏空区的探测方法,分析过程中可以辨别采空区变形情况。     

旋挖钻机设备油液智能分析与健康监测

为了对直升机盒段件入水载荷进行分析，开展了模型垂直入水冲击试验，同时采用有限元-光滑粒子流体动力学（finite element method-smooth particle hydrodynamics，简称FEM-SPH）耦合数值方法进行仿真分析，计算了不同材料构型和速度下的过载、压力及应变结果。与试验结果进行对比表明，仿真结果与试验值吻合较好，预测的结构失效破坏模式与试验结果基本一致，可为真实直升机入水冲击的结构设计提供参考。     

一种直升机避障电力线检测方法

电力线是一类形状细长、特征稀疏、随着视角的变化容易混淆在大量背景信息中的特殊障碍物，常规电力线检测识别算法得到的目标框对电力线所在位置的估计不够准确。为此，提出了一种相对角度估计方法，基于常规电力线目标检测与识别算法，并结合电力线相对角度估计，从而提高电力线的检测识别过程中所在位置的精度。相比电力线绝对角度回归的方法，提出的相对角度估计方法容易训练易收敛，计算量小，适用于实时性要求较高的应用场合。     

Bottom-up image detection of water channel slope damages based on superpixel segmentation and support vector machine

The operation of water supply channels is threatened by the occasionally occurred slope damages. Timely detection of their occurrence is critical for the rapid enforcement of mitigation measures. However, current practices based on routine inspection and structural heath monitoring are inefficient, laborious and tend to be biased. As an attempt to address the limitations, this paper proposes a bottom-up image detection approach for slope damages, which includes four steps, i.e. superpixel segmentation, feature handcrafting, superpixel classification based on support vector machine (SVM), and slope damage recognition. The approach employs a bottom-up strategy to infer the upper-level slope condition from the classification results of individual superpixels in the bottom level. Experiments were conducted to demonstrate the effectiveness of the approach. The handcrafted feature “LBP + HSV” was demonstrated to be effective in characterizing the image features of slope damages. An SVM model with “LBP + HSV” as input can reliably identify the slope condition in superpixels. Based on the SVM model, the bottom-up strategy achieved high recognition performance, of which the overall accuracy can be up to 91.7%. The proposed approach has potential to facilitate the early and comprehensive awareness of slope damages along the entire route of water channel by the integration with unmanned aerial vehicles.     

A review of digital twin in product design and development

In the era of digitalization, there are many emerging technologies, such as the Internet of Things (IoT), Digital Twin (DT), Cloud Computing and Artificial Intelligence (AI), which are quickly developped and used in product design and development. Among those technologies, DT is one promising technology which has been widely used in different industries, especially manufacturing, to monitor the performance, optimize the progresses, simulate the results and predict the potential errors. DT also plays various roles within the whole product lifecycle from design, manufacturing, delivery, use and end-of-life. With the growing demands of individualized products and implementation of Industry 4.0, DT can provide an effective solution for future product design, development and innovation. This paper aims to figure out the current states of DT research focusing on product design and development through summarizing typical industrial cases. Challenges and potential applications of DT in product design and development are also discussed to inspire future studies.     

直升机航空瞬变电磁Occam反演及软件实现

直升机航空瞬变电磁系统对于地形复杂、环境恶劣地区的资源勘探具有十分重要的意义.由于航空瞬变电磁系统空间采样密集,数据量很大,在工程实践中普遍采用一维反演进行数据解释.研究了以圆形回线为模型的直升机航空瞬变电磁Occam反演算法,详细推导了圆形回线正演函数的雅克比矩阵的解析解,比用数值差分计算的雅克比矩阵有更高的反演精度.为适用于野外实验,基于直升机航空瞬变电磁系统用C++语言开发了具有自主知识产权的一维Occam反演软件,该软件能实现坐标选取、数据预处理和反演等功能.将该软件应用实测数据的反演中取得了较好的效果.