Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to co...Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.展开更多
In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the ...In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw channel.The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV.These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output.It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.展开更多
Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to subs...Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to substitute part of road tests for designing,testing,and tuning electronic control units（ECUs） of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided.展开更多
A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,...A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,the structure of the manipulator-type HIL simulation system is explained.The mass and the flexibility of the manipulator has an important influence on the stability of the HIL system,which is the premise of accurately simulating actual space docking.Thus,the docking HIL simulation models of rigid,flexible and flexible-light space manipulators are established.The characteristics of the three HIL systems are studied from three important aspects:the system parameter configuration relation,the system stability condition and the dynamics frequency simulation ability.The key conclusions obtained were that the system satisfies stability or reproduction accuracy.Meanwhile,the influence of different manipulators on the system stability is further analyzed.The accuracy of the calculated results is verified experimentally.展开更多
Many genes associated with reproduction show rapid evolution across diverse animal groups, a result commonly due to adaptive evolution driven by positive selection （Swanson and Vacquier, 2002）. Different theories ha...Many genes associated with reproduction show rapid evolution across diverse animal groups, a result commonly due to adaptive evolution driven by positive selection （Swanson and Vacquier, 2002）. Different theories have been proposed to explain the elevated rates of evolution （Swanson and Vacquier, 2002）, including sperm competition, where sperm compete to fertilize eggs leading to the proteins in the sper- matozoa adaptively evolving to increase their ability to fertilize eggs; sexual conflict, where the egg experiences a loss of fitness when sperm are too abundant; sexual selection, where eggs bind sperm carrying adaptive alleles （Palumbi, 1999）; and cryptic female choice （reviewed in Swanson and Vacquier, 2002）.展开更多
Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded...Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.展开更多
A simple and economical method based on dSPACE system is developed to measure the effect of cable vibration control.The experiments,numerical simulation and hardware-in-the-loop(HIL)simulation are carried out for the ...A simple and economical method based on dSPACE system is developed to measure the effect of cable vibration control.The experiments,numerical simulation and hardware-in-the-loop(HIL)simulation are carried out for the vibration control of stay cables with dampers.Firstly,the test results of solid cable vibration under harmonic excitation are compared with the numerical simulation results of cable vibration to ensure the correctness of the simulation of cable module.Then,the vibration test results of solid cable with damper under harmonic excitation are compared with the numerical simulation results of solid cable with damper to ensure the correctness of the relevant modules.Finally,the external load and the cable are imported into the real-time simulation system to simulate the control effect of the damper under the current excitation in real time.The results show that the simulation is correct and the HIL simulation is feasible in the bridge engineering.展开更多
The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence o...The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence of deadlock zone and the small damp of the pneumatic oscillating cylinder, it is likely to result in overshoot, and there is also certain steady-state error, so online modifying of proportion-integration-differentiation （PID） parameters is needed so as to achieve better control performance. Meanwhile considering the stability demand for long-term run, a fuzzy adaptive PID controller is designed. The result of hardware-inloop （HIL） test and real-time control experiment shows that the adaptive PID controller has desirable serfadaptability and robustness to external disturbance and to change of system parameters, and its control per- fonnance is better than that of traditional PID controllers.展开更多
Microsoft Kinect sensor has shown the research community that it's more than just an interactive gaming device, due to its multi-functional abilities and high reliability. In this work, online HIL (Hardware-in-the...Microsoft Kinect sensor has shown the research community that it's more than just an interactive gaming device, due to its multi-functional abilities and high reliability. In this work, online HIL (Hardware-in-the-Loop) experimental data are used to apply human motion imitation to a 2-degree of freedom Lego Mind storm NXT robotic arm. A model simulation of the dc motor used in this experiment is also present in this paper. The acquired input data from the Kinect sensor are processed in a closed loop PID controller with feedback from motors encoders. The applied algorithms solve the overlapping input problem, conducting a simultaneous control of both shoulder and elbow joints, and solving the overlapping input problem as well. The work in this paper is presented as a prototype to assure the applicability of the algorithms, for further development.展开更多
基金supported by the National Natural Science Foundation of China(62406345).
文摘Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.
基金supported in part by the National Natural Science Foundation of China(62173028,62233015,62173024)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011493)+3 种基金the Science,Technology&Innovation Project of Xiongan New Area(2023XAGG0062)Beijing Natural Science Foundation(4232060)the International Scientists Project,Beijing Natural Science Foundation(IS23065)the Brazilian Research Council(303289/2022-8)
文摘In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw channel.The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV.These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output.It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.
基金supported by National Natural Science Foundation of China(Grant No.50908008)National Hi-tech Research and Development Program of China(863Program,Grant No.2009AA11Z216)
文摘Nowadays validation of anti-lock braking systems（ABS） relies mainly on a large amount of road tests.An alternative means with higher efficiency is employing the hardware-in-the-loop simulation（HILS） system to substitute part of road tests for designing,testing,and tuning electronic control units（ECUs） of ABS.Most HILS systems for ABS use expensive digital signal processor hardware and special purpose software,and some fail-safe functions with regard to wheel speeds cannot be evaluated since artificial wheel speed signals are usually provided.In this paper,a low-cost ABS HILS test bench is developed and used for validating the anti-lock braking performance and tuning control parameters of ABS controllers.Another important merit of the proposed test bench is that it can comprehensively evaluate the fail-safe functions with regard to wheel speed signals since real tone rings and sensors are integrated in the bench.A 5-DOF vehicle model with consideration of longitudinal load transfer is used to calculate tire forces,wheel speeds and vehicle speed.Each of the four real-time wheel speed signal generators consists of a servo motor plus a ring gear,which has sufficient dynamic response ability to emulate the rapid changes of the wheel speeds under strict braking conditions of very slippery roads.The simulation of braking tests under different road adhesion coefficients using the HILS test bench is run,and results show that it can evaluate the anti-lock braking performance of ABS and partly the fail-safe functions.This HILS system can also be used in such applications as durability test,benchmarking and comparison between different ECUs.The test bench developed not only has a relatively low cost,but also can be used to validate the wheel speed-related ECU design and all its fail-safe functions,and a rapid testing and proving platform with a high efficiency for research and development of the automotive ABS is therefore provided.
基金Supported by the National Natural Science Foundation of China(51475116)。
文摘A manipulator-type docking hardware-in-the-loop(HIL)simulation system is proposed in this paper,with further development of the space docking technology and corresponding requirements of the engineering project.First,the structure of the manipulator-type HIL simulation system is explained.The mass and the flexibility of the manipulator has an important influence on the stability of the HIL system,which is the premise of accurately simulating actual space docking.Thus,the docking HIL simulation models of rigid,flexible and flexible-light space manipulators are established.The characteristics of the three HIL systems are studied from three important aspects:the system parameter configuration relation,the system stability condition and the dynamics frequency simulation ability.The key conclusions obtained were that the system satisfies stability or reproduction accuracy.Meanwhile,the influence of different manipulators on the system stability is further analyzed.The accuracy of the calculated results is verified experimentally.
基金supported by the grant from the National Natural Science Foundation of China(No.31061160189)
文摘Many genes associated with reproduction show rapid evolution across diverse animal groups, a result commonly due to adaptive evolution driven by positive selection （Swanson and Vacquier, 2002）. Different theories have been proposed to explain the elevated rates of evolution （Swanson and Vacquier, 2002）, including sperm competition, where sperm compete to fertilize eggs leading to the proteins in the sper- matozoa adaptively evolving to increase their ability to fertilize eggs; sexual conflict, where the egg experiences a loss of fitness when sperm are too abundant; sexual selection, where eggs bind sperm carrying adaptive alleles （Palumbi, 1999）; and cryptic female choice （reviewed in Swanson and Vacquier, 2002）.
文摘Assessment of railway wheel slide protection(WSP) systems involves the execution of complex experimental activities that are quite expensive and time-consuming, since they involve the physical reproduction of degraded adhesion conditions on a real railway line. WSP is devoted to regulating applied braking forces to avoid excessive wheel sliding in case of degraded adhesion conditions between wheel and rail. WSP must be also compliant to safety specifications related to assured braking performances and consumed air. Hardware in the loop(HIL) testing offers an affordable and sustainable way to accelerate these activities optimizing cost, duration and safety of experimental activities performed online. HIL test rigs are subjected to continuous updates, customization and natural ageing of their components. This work investigates the criteria that can be adopted to assure a continuous monitoring and validation of a real WSP test rig, the Italian test rig of Firenze Osmannoro.
基金National Natural Science Foundation of China(No.50178430)。
文摘A simple and economical method based on dSPACE system is developed to measure the effect of cable vibration control.The experiments,numerical simulation and hardware-in-the-loop(HIL)simulation are carried out for the vibration control of stay cables with dampers.Firstly,the test results of solid cable vibration under harmonic excitation are compared with the numerical simulation results of cable vibration to ensure the correctness of the simulation of cable module.Then,the vibration test results of solid cable with damper under harmonic excitation are compared with the numerical simulation results of solid cable with damper to ensure the correctness of the relevant modules.Finally,the external load and the cable are imported into the real-time simulation system to simulate the control effect of the damper under the current excitation in real time.The results show that the simulation is correct and the HIL simulation is feasible in the bridge engineering.
基金Supported by Japanese SMC Corporation with contract (No. 05-07)
文摘The servo system actuated by oscillating pneumatic cylinder for X-Y plate is a multi-variable nonlinear control system. Its mathematical model is established, and nonlinear factors are analyzed. Due to the existence of deadlock zone and the small damp of the pneumatic oscillating cylinder, it is likely to result in overshoot, and there is also certain steady-state error, so online modifying of proportion-integration-differentiation （PID） parameters is needed so as to achieve better control performance. Meanwhile considering the stability demand for long-term run, a fuzzy adaptive PID controller is designed. The result of hardware-inloop （HIL） test and real-time control experiment shows that the adaptive PID controller has desirable serfadaptability and robustness to external disturbance and to change of system parameters, and its control per- fonnance is better than that of traditional PID controllers.
文摘Microsoft Kinect sensor has shown the research community that it's more than just an interactive gaming device, due to its multi-functional abilities and high reliability. In this work, online HIL (Hardware-in-the-Loop) experimental data are used to apply human motion imitation to a 2-degree of freedom Lego Mind storm NXT robotic arm. A model simulation of the dc motor used in this experiment is also present in this paper. The acquired input data from the Kinect sensor are processed in a closed loop PID controller with feedback from motors encoders. The applied algorithms solve the overlapping input problem, conducting a simultaneous control of both shoulder and elbow joints, and solving the overlapping input problem as well. The work in this paper is presented as a prototype to assure the applicability of the algorithms, for further development.
