Modeling Synchronous Muscle Function in Insect Flight: a Bio-Inspired Approach to Force Control in Flapping-Wing MAVs

Micro-aerial vehicles (MAV) and their promising applications—such as undetected surveillance or exploration of environments with little space for land-based maneuvers—are a well-known topic in the field of aerial robotics. Inspired by high maneuverability and agile flight of insects, over the past two decades a significant amount of effort has been dedicated to research on flapping-wing MAVs, most of which aim to address unique challenges in morphological construction, force production, and control strategy. Although remarkable solutions have been found for sufficient lift generation, effective methods for motion control still remain an open problem. The focus of this paper is to investigate general flight control mechanisms that are potentially used by real insects, thereby providing inspirations for flapping-wing MAV control. Through modeling the insect flight muscles, we show that stiffness and set point of the wing’s joint can be respectively tuned to regulate the wing’s lift and thrust forces. Therefore, employing a suitable controller with variable impedance actuators at each wing joint is a prospective approach to agile flight control of insect-inspired MAVs. The results of simulated flight experiments with one such controller are provided and support our claim.     

一种能量有效的无线传感器网络覆盖控制算法

覆盖问题是WSN(无线传感器网络)的基本问题,合理的覆盖控制可以有效地延长WSN的生存时间.提出一种能量有效的WSN覆盖控制算法(EECCA).算法中,节点采用布尔感知模型,节点根据自己的能量大小和连续未当选工作节点的轮数,来触发定时器进行工作节点选择,并根据邻居节点的能量信息进行了工作节点优化.仿真实验结果表明,算法不仅可以满足覆盖率要求,而且在减少总体能量消耗方面也有很好的改善.     

Energy Efficient Predictive Control for Vapor Compression Refrigeration Cycle Systems

Vapor compression refrigeration cycle (VCC) system is a high dimensional coupling thermodynamic system for which the controller design is a great challenge. In this paper, a model predictive control based energy efficient control strategy which aims at maximizing the system efficiency is proposed. Firstly, according to the mass and energy conservation law, an analysis on the nonlinear relationship between superheat and cooling load is carried out, which can produce the maximal effect on the system performance. Then a model predictive control (MPC) based controller is developed for tracking the calculated setting curve of superheat degree and pressure difference based on model identified from data which can be obtained from an experimental rig. The proposed control strategy maximizes the coefficient of performance (COP) which depends on operating conditions, in the meantime, it meets the changing demands of cooling capacity. The effectiveness of the control performance is validated on the experimental rig.      

Vision Based Position Control for MAVs Using One Single Circular Landmark

This paper presents a real-time vision based algorithm for 5 degrees-of-freedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that yaw is controlled independently, it is possible to determine the six degrees-of-freedom pose of the MAV. First we show how to detect the landmark in the image frame. Then we present a geometric approach for camera pose estimation from the elliptic appearance of a circle in perspective projection. Using this information we are able to determine the pose of the vehicle. Finally, given a set point in the image frame we are able to control the quadrotor such that the feature appears in the respective target position. The performance of the proposed method is presented through experimental results.     

一种能量有效的三维传感器网络覆盖控制算法

由于无线传感器网络节点部署是随机的而且数量巨大,会产生很多冗余的节点,因而对网络进行覆盖控制提高冗余节点的利用率就成为一个亟待解决的问题.针对无线传感器网络中的三维覆盖问题进行了深入的研究,提出了一种分布式能量有效的三维覆盖控制算法,并利用OPNET网络仿真软件对其性能进行了验证.     

Vision-based Control of a Delta Parallel Robot via Linear Camera-Space Manipulation

One of the open problems to control a parallel robot in real-time is the larger number of parameters to be incorporated in the control model when compared to serial robots. This paper presents an innovative vision-based method to control a delta-type parallel robot based on Linear Camera-Space Manipulation. The proposed method is a simple and robust technique capable of achieving real-time control of robots without relying on the calibration of either the robot or the environment parameters. To document the robustness of this technique, a sensitivity analysis was performed in simulation where the effect of two sources of error on the end-point positioning are considered. Such sources are the variability of each link’s parameters, and the uncertainty of the visual measurements. Experimental results on a Clavel’s delta parallel robot show that end-point positioning errors obtained with Linear Camera-Space Manipulation are less than 1.5 mm, demonstrating a low sensitivity to parameter uncertainty in qualitative agreement with the simulation results. The results show that the developed approach is advantageous to control parallel robots for industrial applications in real-time and can obviate to a number of open problems common with the control of parallel robots.     

飞行目标红外多光谱高效识别算法

随着新型诱饵的快速发展,在日益复杂的目标环境中探测识别真假目标是红外探测识别系统最难解决的技术问题之一.通过分析天空背景下红外小目标,干扰物,噪音及背景的光谱特性,利用人造飞行目标光谱辐射强度高且相邻波段光谱辐射强度连续性特点,提出了一种以多光谱辐射强度和梯度相组合的目标识别高效算法.就此给出了相应的仿真算例,验证了算法在获取的红外图像信噪比很低,背景高亮度,多个诱饵干扰的条件下也能准确识别目标,具有更强的自适应性,更高的识别率和更为快捷的处理能力.     

Efficient Impostor Manipulation for Real-Time Visualization of Urban Scenery

Urban environments present unique challenges to interactive visualization systems, because of the huge complexity of the geometrical data and the widely varying visibility conditions. This paper introduces a new framework for real-time visualisation of such urban scenes. The central concept is that of a dynamic segmentation of the dataset, into a local three-dimensional model and a set of impostors used to represent distant scenery. A segmentation model is presented, based on inherent urban structure. A new impostor structure is introduced, derived from the level-of-detail approach. Impostors combine three-dimensional geometry to correctly model large depth discontinuities and parallax, and textures to rapidly display visual detail. We present the algorithms necessary for the creation of accurate and efficient three-dimensional impostors. The implementation of our algorithms allows interactive navigation in complex urban databases, as required by many applications.     

工业机器人机械设计参数对控制能量的影响

以三自由度搬运工业机器人为研究对象,通过机械设计参数与能量指标关系的程序计算和仿真的方法,研究了机械设计参数对控制能量的影响,从而为在提高控制系统性能角度优化机械设计参数提供了依据。     

Hybrid Adaptive Control for Aerial Manipulation

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.     

高效节能虚拟网络映射多反馈控制模型及算法

网络虚拟化使得智能能耗感知网络部署成为可能.由于虚拟网络请求到来以及退出等动态性,引起底层网络资源分配以及回收,会对底层网络激活资源数量与集合范围产生影响;虚拟网络映射不仅决定了当前激活的底层网络资源数量与集合大小,而且作用于后续的虚拟网络映射.本文利用自动控制原理的反馈控制理论,研究不同虚拟网络映射之间的关系以及当前虚拟网络映射对激活底层网络资源集合产生的影响,并提出一种新的高效节能虚拟网络映射多反馈控制模型及算法.以控制底层网络休眠链路数量作为主反馈,消除主动休眠的底层网络链路数量与被动休眠的链路数量的偏差,抑制虚拟网络映射动态特征对求解最小底层网络激活资源集合的干扰;并以节点和链路映射为局部反馈,由大到小逐步调整主动休眠底层链路数量,快速地找到适合当前虚拟网络请求的最小底层网络资源集合.多反馈控制模型能够把虚拟网络映射在一个较小的节点和链路集合中,从而提高休眠节点和链路数量,实现高效节能虚拟网络映射.系统仿真结果验证了在非饱和状态下虚拟网络映射多反馈控制算法能够提高底层节点和链路休眠数量,显著减少系统能耗;且在负载周期性动态变化的饱和状态下,提高了虚拟网络接收率以及系统收益.     

基于功率控制的无线体域网能量有效传输算法

在资源受限的体域网中,人体移动特性使得体域网不适合采用固定功率发送数据.为此,提出一种适用于体域网的能量有效传输算法.该算法中的传感器节点利用周期信标帧的广播特性,对当前路径损耗进行估计,并通过回复帧动态调整路径损耗权重因子,减少估计误差值.最后在保障误包率的前提下,传感器节点根据信道状态调整发送功率.仿真结果表明,所提算法不仅能够减少发送能量的浪费,而且可以减少包平均发送次数,从而提高节点的能量效率.     

Impedance Identification Using Tactile Sensing and Its Adaptation for an Underactuated Gripper Manipulation

International Journal of Control, Automation and Systems - Underactuated gripper has a broad application in the field of space robot and industrial robot because of its better shape-adaptation....     

一种基于随机波束天线的自组网拓扑控制协议

定向天线能显著提高无线系统的性能和容量,但采用定向天线的自组网拓扑构建问题比全向天线网络复杂.拓扑控制是一种保证网络连通和节能的有效手段.文中通过对随机波束自组网连通问题定性和定量的分析研究,运用样方统计法推导保证拓扑图高概率连通的临界邻居数;在此基础上,提出了一种基于邻居数的分布式拓扑控制协议,节点独立确定天线波束的...     

Ad hoc网络中能量有效的QoS拓扑控制算法研究

无线Ad hoc网络中节点电池的能量有限,为了延长节点的牛存时间,必须有效提高电池的利用率.拓扑控制足提高Ad hoc网络能量利用率的一种重要的机制.概述了面向节能的两种基本拓扑控制机制,提出了一种能量有效的Qos拓扑控制算法EEQTC算法.算法在给定平面巾的节点集合以及任意节点对问的QoS需求下,通过计算每个节点的发送功率p,使节点以发送功率p米构建网络拓扑结构,这种拓扑结构小仅能够满足任意节点对间的QoS需求,而且最小化了节点的发射功率,提高了网络的能量使用效率.仿真研究表明,算法生成的网络拓扑结构在满足QoS需求的条件下,有效的减少了节点的能量消耗,提高了网络的能量有效性.     

MWSN中能量有效的拓扑控制算法

由于在移动无线传感器网络中很难对电池进行充电或者更换,因此节省能量消耗成为无线传感器网络中的一个重要问题。采用一种运动模型,借助中继区和类GeRaF方法给出一个拓扑控制算法。理论分析与仿真结果表明,该算法可以节省更多的能量,是一个能量有效的拓扑控制算法。     

A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit

In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU)     

EeRCCA：一种能量有效的传感器网络覆盖控制算法

针对已有算法中边界节点过早死亡和网络能耗不均问题,本文提出了一种能量有效的分布式覆盖控制算法EeRC-CA.EeRCCA采用多启动和能量自适应竞争相结合的策略,减缓边界节点过早死亡;在协同节点选举中,依据当前节点与启动节点、邻居协同节点间的距离和剩余能量的权值,合理调整避退时间,均衡网络能耗,延长网络生存周期.仿真结果表明EeRCCA可以保证完全覆盖和连通,在工作节点数目和覆盖率方面与RBSS算法基本相当,在不增加额外控制开销的条件下,可以显著延长网络生命期.     

小型无人机双余度飞控系统设计

针对小型无人机长航时条件下安全飞行时的可靠性需求,对双余度飞控系统进行了研究。充分利用近年来电子、总线、传感器和软件等领域的技术进步,通过选取具有高可靠双核锁步技术的TI公司的Hercules系列处理器RM57Lx,采用全交叉自检架构,通过选取成熟且可靠的外围传感器,设计并实现了一种主备式热备份双余度飞控系统,分析了所设计的双余度系统的工作方式,计算获取了该系统的基本可靠性。与传统的多余度飞控系统相比,该系统具有体积小、质量轻、结构简单、成本较低的特点。通过地面系统综合试验以及飞行验证,证明了其高可靠的性能。     

协同设计中以实体为中心的并发操作控制机制

并发操作控制机制是协同设计中的重要问题,其实质是解决操作冲突并提供无冲突操作;而一致性、响应性和并发性是其中三个重要但互斥的需求．因此,并发操作控制机制的焦点是在保证一致性前提下,以最小响应时间和最大并发程度,解决操作冲突．文中提出了并发操作控制机制的重要设计准则,并进一步提出一种以实体为中心的并发控制机制及其形式化定义和总体实现．该机制以冲突消除取代冲突避免,通过本地操作、服务器端操作确认和复制同步三个步骤,实现松散WYSIWIS原则;其中本地操作改善响应性;服务器端操作确认最大化并发性;复制同步保证一致性．