Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequent...Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.展开更多
Current improved Empirical Mode Decomposition(EMD)methods enhance the accurate identification of peak and valley points in mechanical signals through noise-assisted filtering techniques,thereby improving the mode deco...Current improved Empirical Mode Decomposition(EMD)methods enhance the accurate identification of peak and valley points in mechanical signals through noise-assisted filtering techniques,thereby improving the mode decomposition performance,which is of great significance in extracting fault features from mechanical signals.However,noise-assisted filtering leads to the loss of critical features in mechanical signals and introduces a large amount of residual noise into Intrinsic Mode Functions(IMFs)that obscure signal features.To address these issues,a Precise Identification-based Mode Decomposition(PIMD)method is proposed.This method directly enhances the ability of EMD to precisely identify peak and valley points by using a proposed precise identifi-cation approach,which improves mode decomposition performance and avoids the negative impacts of noise-assisted filtering,thus benefiting the extraction of more mechanical fault features.Simulation results show that the proposed PIMD method can precisely identify peak and valley points of signals with noise of different signal-tonoise ratios and perform a highly rigorous high-low frequency decomposition,significantly outperforming EMD.Finally,mechanical fault diagnostic experiments on four bearing cases and two gear cases demonstrate that,compared to four mainstream methods,the PIMD method exhibits the best mode decomposition perfor-mance and can extract more and clearer mechanical fault features.展开更多
The synthesis of high-quality heteroepitaxial diamond films on iridium composite substrates is a critical step toward advancing diamond for electronic and optical applications.Microwave plasma chemical vapor depositio...The synthesis of high-quality heteroepitaxial diamond films on iridium composite substrates is a critical step toward advancing diamond for electronic and optical applications.Microwave plasma chemical vapor deposition,combined with in situ optical emission spectroscopy,enables precise control over growth modes through plasma parameter tuning.In this study,we examine how methane concentration,microwave power,and gas pressure influence plasma species and,consequently,the growth modes of heteroepitaxial diamond by optical emission spectroscopy and scanning electron microscope.At low nucleation densities,increased methane concentrations promote the transition from faceted polyhedral to ballas structures,driven by elevated C_(2) radical concentrations in the plasma.Conversely,at higher nucleation densities,gas pressure,and substrate temperature dominate growth mode determination,leading to diverse morphologies,such as planar,polycrystalline,octahedral,and step-flow growth.These findings elucidate the interplay among plasma species,growth parameters,and growth mode,offering critical insights for optimizing growth conditions and preparing heteroepitaxial diamond films in a specific growth mode.展开更多
Auroral kilometric radiation(AKR),a fundamental plasma emission in Earth's magnetosphere,exhibits three characteristic modes:the right-handed extraordinary(R-X),left-handed ordinary(L-O)and left-handed extraordina...Auroral kilometric radiation(AKR),a fundamental plasma emission in Earth's magnetosphere,exhibits three characteristic modes:the right-handed extraordinary(R-X),left-handed ordinary(L-O)and left-handed extraordinary(L-X)modes.The role of AKR in magnetosphere−ionosphere−atmosphere coupling depends sensitively on its wave mode.While previous studies have primarily focused on the dominant R-X mode,we present the first systematic identification of all three modes using a practical polarization analysis method based on Arase satellite observations.This method employs a spin-axis-relative Ratio:when the satellite's spin axis aligns with the background magnetic field,a positive(negative)Ratio indicates the right-handed(left-handed)polarization,with reversal under anti-parallel conditions.Combined polarization-frequency analysis reveals that R-X,L-O,and L-X modes can exist in both dayside and nightside regions,with power spectral densities up to 10^(-6)mV^(2)m^(-2)Hz^(-1).This study resolves long-standing ambiguities in AKR mode classification and has implications for understanding AKR-induced electron dynamics.展开更多
Using multi-source reanalysis data,this study examines the relationship between the tropical Pacific-Atlantic SST Dipole Mode(TPA-DM)and summer precipitation in North China(NCSP)on the interannual timescale during the...Using multi-source reanalysis data,this study examines the relationship between the tropical Pacific-Atlantic SST Dipole Mode(TPA-DM)and summer precipitation in North China(NCSP)on the interannual timescale during the period of 1979-2022.The results show that the TPA-DM,the dominant pattern of interannual variability in the tropical Pacific and Atlantic regions,exhibits a significant negative correlation with NCSP.The positive phase of TPA-DM induces subsidence over the Maritime Continent through a zonal circulation pattern,which initiates a Pacific-Japan-like wave train along the East Asian coast.The circulation anomalies lead to moisture deficits and convergence subsidence over North China,leading to below-normal rainfall.Further analysis reveals that cooler SST in the Southern Tropical Atlantic facilitates the persistence of the TPA-DM by stimulating the anomalous Walker circulation associated with wind-evaporation-SST-convection feedback.展开更多
Climate models are essential for understanding past,present,and future changes in atmospheric circulation,with circulation modes providing key sources of seasonal predictability and prediction uncertainties for both g...Climate models are essential for understanding past,present,and future changes in atmospheric circulation,with circulation modes providing key sources of seasonal predictability and prediction uncertainties for both global and regional climates.This study assesses the performance of models participating in phase 6 of the Coupled Model Intercomparison Project in simulating interannual variability modes of Northern Hemisphere 500-hPa geopotential height during winter and summer,distinguishing predictable(potentially predictable on seasonal or longer timescales)and unpredictable(intraseasonal and essentially unpredictable at long range)components,using reanalysis data and a variance decomposition method.Although most models effectively capture unpredictable modes in reanalysis,their ability to reproduce dominant predictable modes-specifically the Pacific-North American pattern,Arctic Oscillation,and Western Pacific Oscillation in winter,and the East Atlantic and North Atlantic Oscillations in summer-varies notably.An optimal ensemble is identified to distinguish(a)predictable-external modes,dominated by external forcing,and(b)predictable-internal modes,associated with slow internal variability,during the historical period(1950-2014)and the SSP5-8.5 scenario(2036-2100).Under increased radiative forcing,the leading winter/summer predictable-external mode exhibits a more uniform spatial distribution,remarkably larger trend and annual variance,and enhanced height-sea surface temperature(SST)covariance under SSP5-8.5 compared to historical conditions.The dominant winter/summer predictable-internal modes also exhibit increased variance and height-SST covariance under SSP5-8.5,along with localized changes in spatial configuration.Minimal changes are observed in spatial distribution or variance for dominant winter/summer unpredictable modes under SSP5-8.5.This study,from a predictive perspective,deepens our understanding of model uncertainties and projected changes in circulations.展开更多
Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombinati...Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombination during mode shift induces a significant torque shock.Therefore,a smooth transient process,among other concerns,typically associated with this category of vehicles,is of great importance.The present research aims to introduce a novel control strategy to manage the dynamic torque of multiple power sources and therefore im-prove ride comfort.To this end,a dynamic model of the objective power-split HEV is first built.To resolve the contention between vehicle jerk and clutch friction loss,a model predictive control(MPC)combined with control allocation(CA)is then designed for the clutch-engaged phase.To reduce the torque fluctuation caused by the inertia torques of multiple power sources,a dynamic compensation control strategy(DCcs)that coordinates motorgenerator torque to compensate for the transition torque is proposed for the brake-disengaged phase.Finally,the proposed control strategy is validated by simulation and bench test,and results show great potential in reducing shift duration,torque variation,vehicle jerk and friction loss(the simulation results show decreases of 22%,39%,83%and 53%,and the experimental results show decreases of 21%,74%,77%,and 59%,re-spectively),thereby improving shift quality.展开更多
Flexible materials play a crucial role in protecting against behind armour blunt trauma(BABT).However,their compliance complicates the understanding of failure mechanisms and energy absorption.This study used a combin...Flexible materials play a crucial role in protecting against behind armour blunt trauma(BABT).However,their compliance complicates the understanding of failure mechanisms and energy absorption.This study used a combined experimental and numerical approach to investigate the response and failure modes of a flexible ultra-high-molecular-weight polyethylene(UHMWPE)foam protective sandwich structure(UFPSS)under low-velocity impact(LVI).A finite element(FE)model,accounting for nonlinear large deformation and strain-rate-dependent material behavior,was developed for a woven-UFPSS(featuring a plain-woven fabric structure)subjected to a 50 J impact.Experimental and numerical results showed strong agreement in peak force(error<5%),maximum displacement(error<6%),and buffer time(error<8%).The impact's kinetic energy was mainly converted into internal energy of the fabric and foam materials(~50%),viscous dissipation in the foam core(12%-15%),frictional work at the contact interfaces(5%-6%),and work by the pneumatic fixture clamping force(~38%).This study provides the first investigation of the LVI performance of sandwich structures with all soft material layers,offering significant insights for the application of compliant materials in protective fields.展开更多
In dry-coupled ultrasonic thickness measurement,thick rubber layers introduce high-amplitude parasitic echoes that obscure defect signals and degrade thickness accuracy.Existing methods struggle to resolve overlap-pin...In dry-coupled ultrasonic thickness measurement,thick rubber layers introduce high-amplitude parasitic echoes that obscure defect signals and degrade thickness accuracy.Existing methods struggle to resolve overlap-ping echoes under variable coupling conditions and non-stationary noise.This study proposes a novel dual-criterion framework integrating energy contribution and statistical impulsivity metrics to isolate specimen re-flections from coupling-layer interference.By decomposing A-scan signals into Intrinsic Mode Functions(IMFs),the framework employs energy contribution thresholds(>85%)and kurtosis indices(>3)to autonomously select IMFs containing valid specimen echoes.Hybrid time-frequency thresholding further suppresses interference through amplitude filtering and spectral focusing.Experimental results demonstrate the framework’s robustness,achieving 92.3%thickness accuracy for 5 mm steel specimens with 5 mm rubber coupling,outperforming conventional methods by up to 18.7%.The dual-criterion approach reduces operator dependency by 37%and maintainsΔT<0.03 mm under surface roughness up to 6.3μm,offering a practical solution for industrial nondestructive testing with thick dry-coupled interfaces.展开更多
This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain ma...This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.展开更多
For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will br...For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will bring trouble for cooperative manned helicopters.In this paper,we propose a new way of tracking,where an unmanned aerial vehicle(UAV) circles on one side of the tracked target.A circular path algorithm is developed for monitoring the relative position between the UAV and the target considering the real-time range and the bearing angle.This can determine the center of the new circular path if the predicted range between the UAV and the target does not meet the monitoring requirements.A transition path algorithm is presented for planning the transition path between circular paths that constrain the turning radius of the UAV.The transition path algorithm can generate waypoints that meet the flight ability.In this paper,we analyze the entire method and detail the scope of applications.We formulate an observation angle as an evaluation index.A series of simulations and evaluation index comparisons verify the effectiveness of the proposed algorithms.展开更多
Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Fir...Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.展开更多
This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’...This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.展开更多
To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery...To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery discharge characteristics under different operating conditions,the required battery power model and battery discharge model were studied.The required battery power model was determined using an approximate model of electric power system efficiency based on wind tunnel testing and the self-adaptive penalty function.Furthermore,current correction and ambient temperature correction terms were proposed for the trained Kriging model representing the discharge characteristics under standard operation,and then the discharged capacity-terminal voltage model was established.Through numerical integration of this model with the required battery power model,the electric-powered fixed-wing UAV endurance prediction model was obtained.Laboratory tests indicated that the proposed endurance model could precisely calculate the battery discharge time and accurately describe the battery discharge process.The similarity of the theoretical and flight test results reflected the accuracy of the proposed endurance model as well as the importance of considering dynamic changes in power system efficiency in endurance calculations.The proposed endurance model meeting precision requirements can be used in practical engineering applications.展开更多
In this paper.Active Disturbance Rejection Control(ADRC)is utilized in the pitch control of a vertical take-off and landing fixed-wing Unmanned Aerial Vehicle(UAV)to address the problem of height fluctuation during th...In this paper.Active Disturbance Rejection Control(ADRC)is utilized in the pitch control of a vertical take-off and landing fixed-wing Unmanned Aerial Vehicle(UAV)to address the problem of height fluctuation during the transition from hover to level flight.Considering the difficulty of parameter tuning of ADRC as well as the requirement of accuracy and rapidity of the controller,a Multi-Strategy Pigeon-Inspired Optimization(MSPIO)algorithm is employed.Particle Swarm Optimization(PSO),Genetic Algorithm(GA),the basic Pigeon-Inspired Optimization(PIO),and an improved PIO algorithm CMPIO are compared.In addition,the optimized ADRC control system is compared with the pure Proportional-Integral-Derivative(PID)control system and the non-optimized ADRC control system.The effectiveness of the designed control strategy for forward transition is verified and the faster convergence speed and better exploitation ability of the proposed MSPIO algorithm are confirmed by simulation results.展开更多
There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. ...There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. For critical missions (civilian or military), it is imperative that mechanical complexity is kept to a minimum to help achieve mission success. This work proposes that the tried-and-true radio controlled (RC) aerobatic airplanes can be implemented as basis for fixed-wing UAVs having both speed and vertical takeoff and landing (VTOL) capabilities. These powerful and highly maneuverable airplanes have non-rotatable nacelles, yet capable of deep stall maneuvers. The power requirements for VTOL and level flight of an aerobatic RC airplane are evaluated and they are compared to those of a RC helicopter of similar flying weight. This work provides quantitative validation that commercially available RC aerobatic airplanes can serve as platform to build VTOL capable fixed-wing UAVs that are agile, cost effective, reliable and easy maintenance.展开更多
The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in ...The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.展开更多
In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis...In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.展开更多
Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span styl...Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span style="font-family:Verdana;"> com</span><span style="font-family:Verdana;">pared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled </span><span style="font-family:Verdana;">aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier </span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics.</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.</span></span></span>展开更多
基金supported by the National Natural Science Foundation of China(No.62203256)。
文摘Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
基金Supported by National Natural Science Foundation of China(Grant No.52075236)Opening Foundation of Intelligent Manufacturing Technology(Shantou University),Ministry of Education(Grant No.STME2024002)+1 种基金Hundred Doctor and Hundred Enterprise,Science and Technology Project,Ji'an City(Grant No.42064001)Guangdong Provincial University Innovation Team Project(Grant No.2020KCXTD012).
文摘Current improved Empirical Mode Decomposition(EMD)methods enhance the accurate identification of peak and valley points in mechanical signals through noise-assisted filtering techniques,thereby improving the mode decomposition performance,which is of great significance in extracting fault features from mechanical signals.However,noise-assisted filtering leads to the loss of critical features in mechanical signals and introduces a large amount of residual noise into Intrinsic Mode Functions(IMFs)that obscure signal features.To address these issues,a Precise Identification-based Mode Decomposition(PIMD)method is proposed.This method directly enhances the ability of EMD to precisely identify peak and valley points by using a proposed precise identifi-cation approach,which improves mode decomposition performance and avoids the negative impacts of noise-assisted filtering,thus benefiting the extraction of more mechanical fault features.Simulation results show that the proposed PIMD method can precisely identify peak and valley points of signals with noise of different signal-tonoise ratios and perform a highly rigorous high-low frequency decomposition,significantly outperforming EMD.Finally,mechanical fault diagnostic experiments on four bearing cases and two gear cases demonstrate that,compared to four mainstream methods,the PIMD method exhibits the best mode decomposition perfor-mance and can extract more and clearer mechanical fault features.
基金funded by the National Key Research and Development Program of China(Grant No.2022YFB3608602)the National Natural Science Foundation of China(Grant Nos.62404215 and 62574199)Instrument and Equipment Development Project of CAS(Grant No.PTYQ2024TD0003)。
文摘The synthesis of high-quality heteroepitaxial diamond films on iridium composite substrates is a critical step toward advancing diamond for electronic and optical applications.Microwave plasma chemical vapor deposition,combined with in situ optical emission spectroscopy,enables precise control over growth modes through plasma parameter tuning.In this study,we examine how methane concentration,microwave power,and gas pressure influence plasma species and,consequently,the growth modes of heteroepitaxial diamond by optical emission spectroscopy and scanning electron microscope.At low nucleation densities,increased methane concentrations promote the transition from faceted polyhedral to ballas structures,driven by elevated C_(2) radical concentrations in the plasma.Conversely,at higher nucleation densities,gas pressure,and substrate temperature dominate growth mode determination,leading to diverse morphologies,such as planar,polycrystalline,octahedral,and step-flow growth.These findings elucidate the interplay among plasma species,growth parameters,and growth mode,offering critical insights for optimizing growth conditions and preparing heteroepitaxial diamond films in a specific growth mode.
基金supported by the National Natural Science Foundation of China(Grants 42374215,42230209,42374199,42304183,42422406,42174185,72061147004 and 72342001)the Science and Technology Development Fund,Macao SAR(File no.0042/2024/RIA1 and 0008/2024/AKP)+1 种基金the Natural Science Foundation of Hunan Province(Grant 2023JJ20038)the Research Project of Science and Technology of Hunan Province(2025JJ10009,2022RC4025,2025QK1004,2023JJ50312,2023JJ50010 and 2024RC9012).
文摘Auroral kilometric radiation(AKR),a fundamental plasma emission in Earth's magnetosphere,exhibits three characteristic modes:the right-handed extraordinary(R-X),left-handed ordinary(L-O)and left-handed extraordinary(L-X)modes.The role of AKR in magnetosphere−ionosphere−atmosphere coupling depends sensitively on its wave mode.While previous studies have primarily focused on the dominant R-X mode,we present the first systematic identification of all three modes using a practical polarization analysis method based on Arase satellite observations.This method employs a spin-axis-relative Ratio:when the satellite's spin axis aligns with the background magnetic field,a positive(negative)Ratio indicates the right-handed(left-handed)polarization,with reversal under anti-parallel conditions.Combined polarization-frequency analysis reveals that R-X,L-O,and L-X modes can exist in both dayside and nightside regions,with power spectral densities up to 10^(-6)mV^(2)m^(-2)Hz^(-1).This study resolves long-standing ambiguities in AKR mode classification and has implications for understanding AKR-induced electron dynamics.
基金jointly supported by the Second Tibetan Plateau Scientific Expedition and Research Program[grant number-ber 2019QZKK0103]the National Natural Science Foundation of China[grant number 42293294]the China Meteorological Admin-istration Climate Change Special Program[grant number QBZ202303]。
文摘Using multi-source reanalysis data,this study examines the relationship between the tropical Pacific-Atlantic SST Dipole Mode(TPA-DM)and summer precipitation in North China(NCSP)on the interannual timescale during the period of 1979-2022.The results show that the TPA-DM,the dominant pattern of interannual variability in the tropical Pacific and Atlantic regions,exhibits a significant negative correlation with NCSP.The positive phase of TPA-DM induces subsidence over the Maritime Continent through a zonal circulation pattern,which initiates a Pacific-Japan-like wave train along the East Asian coast.The circulation anomalies lead to moisture deficits and convergence subsidence over North China,leading to below-normal rainfall.Further analysis reveals that cooler SST in the Southern Tropical Atlantic facilitates the persistence of the TPA-DM by stimulating the anomalous Walker circulation associated with wind-evaporation-SST-convection feedback.
基金supported by the National Natural Science Foundation of China(Grant Nos.U2342210 and 42275043)the National Institute of Natural Hazards,Ministry of Emergency Management of China(Grant Nos.J2223806,ZDJ2024-25 and ZDJ2025-34)。
文摘Climate models are essential for understanding past,present,and future changes in atmospheric circulation,with circulation modes providing key sources of seasonal predictability and prediction uncertainties for both global and regional climates.This study assesses the performance of models participating in phase 6 of the Coupled Model Intercomparison Project in simulating interannual variability modes of Northern Hemisphere 500-hPa geopotential height during winter and summer,distinguishing predictable(potentially predictable on seasonal or longer timescales)and unpredictable(intraseasonal and essentially unpredictable at long range)components,using reanalysis data and a variance decomposition method.Although most models effectively capture unpredictable modes in reanalysis,their ability to reproduce dominant predictable modes-specifically the Pacific-North American pattern,Arctic Oscillation,and Western Pacific Oscillation in winter,and the East Atlantic and North Atlantic Oscillations in summer-varies notably.An optimal ensemble is identified to distinguish(a)predictable-external modes,dominated by external forcing,and(b)predictable-internal modes,associated with slow internal variability,during the historical period(1950-2014)and the SSP5-8.5 scenario(2036-2100).Under increased radiative forcing,the leading winter/summer predictable-external mode exhibits a more uniform spatial distribution,remarkably larger trend and annual variance,and enhanced height-sea surface temperature(SST)covariance under SSP5-8.5 compared to historical conditions.The dominant winter/summer predictable-internal modes also exhibit increased variance and height-SST covariance under SSP5-8.5,along with localized changes in spatial configuration.Minimal changes are observed in spatial distribution or variance for dominant winter/summer unpredictable modes under SSP5-8.5.This study,from a predictive perspective,deepens our understanding of model uncertainties and projected changes in circulations.
基金Supported by National Natural Science Foundation of China(Grant Nos.52005039,51575043,51975048,U1764257).
文摘Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombination during mode shift induces a significant torque shock.Therefore,a smooth transient process,among other concerns,typically associated with this category of vehicles,is of great importance.The present research aims to introduce a novel control strategy to manage the dynamic torque of multiple power sources and therefore im-prove ride comfort.To this end,a dynamic model of the objective power-split HEV is first built.To resolve the contention between vehicle jerk and clutch friction loss,a model predictive control(MPC)combined with control allocation(CA)is then designed for the clutch-engaged phase.To reduce the torque fluctuation caused by the inertia torques of multiple power sources,a dynamic compensation control strategy(DCcs)that coordinates motorgenerator torque to compensate for the transition torque is proposed for the brake-disengaged phase.Finally,the proposed control strategy is validated by simulation and bench test,and results show great potential in reducing shift duration,torque variation,vehicle jerk and friction loss(the simulation results show decreases of 22%,39%,83%and 53%,and the experimental results show decreases of 21%,74%,77%,and 59%,re-spectively),thereby improving shift quality.
基金supported by the Zhenjiang Key R&D Plan(GY2021009)Lianyungang City Major Technology Breakthrough(CGJBGS2104)+2 种基金National Natural Science Foundation of China under Grant(12302456)National Key Laboratory Foundation of Science and Technology on Materials under Shock and Impact under Grant(6142902241601)China Postdoctoral Science Foundation under Grants(2025M774217)。
文摘Flexible materials play a crucial role in protecting against behind armour blunt trauma(BABT).However,their compliance complicates the understanding of failure mechanisms and energy absorption.This study used a combined experimental and numerical approach to investigate the response and failure modes of a flexible ultra-high-molecular-weight polyethylene(UHMWPE)foam protective sandwich structure(UFPSS)under low-velocity impact(LVI).A finite element(FE)model,accounting for nonlinear large deformation and strain-rate-dependent material behavior,was developed for a woven-UFPSS(featuring a plain-woven fabric structure)subjected to a 50 J impact.Experimental and numerical results showed strong agreement in peak force(error<5%),maximum displacement(error<6%),and buffer time(error<8%).The impact's kinetic energy was mainly converted into internal energy of the fabric and foam materials(~50%),viscous dissipation in the foam core(12%-15%),frictional work at the contact interfaces(5%-6%),and work by the pneumatic fixture clamping force(~38%).This study provides the first investigation of the LVI performance of sandwich structures with all soft material layers,offering significant insights for the application of compliant materials in protective fields.
基金funded by the National Natural Science Foundation of China,grant number U24A20135Inner Mongolia Natural Science Foundation major project,grant number 2023ZD12+7 种基金Inner Mongolia Autonomous Region key research and development and achievement transformation plan project,grant number 2023YFHH0090Natural Science Foundation of Inner Mongolia,grant number 2022MS05006Inner Mongolia Autonomous Region Talent Development FundUniversity basic research business expenses,grant number 2023RCTD012University basic research business expenses,grant number 2023QNJS075Postgraduate Research Innovation Program and of Inner Mongolia Autonomous Region,grant number KC2024053BUniversity basic research business expenses,grant number 2024YXXS012National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology,grant number GZ2023KF012.
文摘In dry-coupled ultrasonic thickness measurement,thick rubber layers introduce high-amplitude parasitic echoes that obscure defect signals and degrade thickness accuracy.Existing methods struggle to resolve overlap-ping echoes under variable coupling conditions and non-stationary noise.This study proposes a novel dual-criterion framework integrating energy contribution and statistical impulsivity metrics to isolate specimen re-flections from coupling-layer interference.By decomposing A-scan signals into Intrinsic Mode Functions(IMFs),the framework employs energy contribution thresholds(>85%)and kurtosis indices(>3)to autonomously select IMFs containing valid specimen echoes.Hybrid time-frequency thresholding further suppresses interference through amplitude filtering and spectral focusing.Experimental results demonstrate the framework’s robustness,achieving 92.3%thickness accuracy for 5 mm steel specimens with 5 mm rubber coupling,outperforming conventional methods by up to 18.7%.The dual-criterion approach reduces operator dependency by 37%and maintainsΔT<0.03 mm under surface roughness up to 6.3μm,offering a practical solution for industrial nondestructive testing with thick dry-coupled interfaces.
基金supported by the Fundamental Research Funds for the Central Universities(4007019109)(RECON-STRUCT)the Special Guiding Funds for Double First-class(4007019201)the Joint TU Delft-CSSC Project ‘Multi-agent Coordination with Networked Constraints’(MULTI-COORD)
文摘This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.
基金the Deanship of Scientific Research at King Saud University through research group number(RG-1440-048)。
文摘For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will bring trouble for cooperative manned helicopters.In this paper,we propose a new way of tracking,where an unmanned aerial vehicle(UAV) circles on one side of the tracked target.A circular path algorithm is developed for monitoring the relative position between the UAV and the target considering the real-time range and the bearing angle.This can determine the center of the new circular path if the predicted range between the UAV and the target does not meet the monitoring requirements.A transition path algorithm is presented for planning the transition path between circular paths that constrain the turning radius of the UAV.The transition path algorithm can generate waypoints that meet the flight ability.In this paper,we analyze the entire method and detail the scope of applications.We formulate an observation angle as an evaluation index.A series of simulations and evaluation index comparisons verify the effectiveness of the proposed algorithms.
文摘Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.
基金the National Natural Science Foundation of China(61933010)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.
文摘To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery discharge characteristics under different operating conditions,the required battery power model and battery discharge model were studied.The required battery power model was determined using an approximate model of electric power system efficiency based on wind tunnel testing and the self-adaptive penalty function.Furthermore,current correction and ambient temperature correction terms were proposed for the trained Kriging model representing the discharge characteristics under standard operation,and then the discharged capacity-terminal voltage model was established.Through numerical integration of this model with the required battery power model,the electric-powered fixed-wing UAV endurance prediction model was obtained.Laboratory tests indicated that the proposed endurance model could precisely calculate the battery discharge time and accurately describe the battery discharge process.The similarity of the theoretical and flight test results reflected the accuracy of the proposed endurance model as well as the importance of considering dynamic changes in power system efficiency in endurance calculations.The proposed endurance model meeting precision requirements can be used in practical engineering applications.
基金supported by Science and Technology Innovation 2030-Key Project of"New Generation Artificial Intelli-gence",China(No.2018AAA0100803)National Natural Science Foundation of China(Nos.U20B2071,91948204,U1913602)Aeronautical Foundation of China(No.20185851022).
文摘In this paper.Active Disturbance Rejection Control(ADRC)is utilized in the pitch control of a vertical take-off and landing fixed-wing Unmanned Aerial Vehicle(UAV)to address the problem of height fluctuation during the transition from hover to level flight.Considering the difficulty of parameter tuning of ADRC as well as the requirement of accuracy and rapidity of the controller,a Multi-Strategy Pigeon-Inspired Optimization(MSPIO)algorithm is employed.Particle Swarm Optimization(PSO),Genetic Algorithm(GA),the basic Pigeon-Inspired Optimization(PIO),and an improved PIO algorithm CMPIO are compared.In addition,the optimized ADRC control system is compared with the pure Proportional-Integral-Derivative(PID)control system and the non-optimized ADRC control system.The effectiveness of the designed control strategy for forward transition is verified and the faster convergence speed and better exploitation ability of the proposed MSPIO algorithm are confirmed by simulation results.
文摘There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. For critical missions (civilian or military), it is imperative that mechanical complexity is kept to a minimum to help achieve mission success. This work proposes that the tried-and-true radio controlled (RC) aerobatic airplanes can be implemented as basis for fixed-wing UAVs having both speed and vertical takeoff and landing (VTOL) capabilities. These powerful and highly maneuverable airplanes have non-rotatable nacelles, yet capable of deep stall maneuvers. The power requirements for VTOL and level flight of an aerobatic RC airplane are evaluated and they are compared to those of a RC helicopter of similar flying weight. This work provides quantitative validation that commercially available RC aerobatic airplanes can serve as platform to build VTOL capable fixed-wing UAVs that are agile, cost effective, reliable and easy maintenance.
基金Natural Science Foundation of Shangdong,Grant/Award Number:ZR2019MF065.
文摘The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.
文摘In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.
文摘Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span style="font-family:Verdana;"> com</span><span style="font-family:Verdana;">pared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled </span><span style="font-family:Verdana;">aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier </span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics.</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.</span></span></span>
