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| 1 | Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments显示文摘In this paper,we present our recent advances in both theoretical methods and field experiments for the coordinated control of miniature fixed-wing unmanned aerial vehicle(UAV)swarms.We propose a multi-layered group-based architecture,which is modularized,mission-oriented,and can implement large-scale swarms.To accomplish the desired coordinated formation flight,we present a novel distributed coordinated-control scheme comprising a consensus-based circling rendezvous,a coordinated path-following control for the leader UAVs,and a leader-follower coordinated control for the follower UAVs.The current framework embeds a formation pattern reconfiguration technique.Moreover,we discuss two security solutions(inter-UAV collision avoidance and obstacle avoidance)in the swarm flight problem.The effectiveness of the proposed coordinated control methods was demonstrated in field experiments by deploying up to 21 fixed-wing UAVs. | Xiangke WANG Lincheng SHEN Zhihong LIU Shulong ZHAO Yirui CONG Zhongkui LI Shengde JIA Hao CHEN Yangguan YU Yuan CHANG Yajing WANG | 2019 | Science China(Information Sciences)2019，62，11： | 21 |
| 2 | Prediction of end-roll strength and rapid adjustment of the on-the-spot composition in automobile cross beam steel显示文摘According to the hot working technology, the calculating formulas of the end roll strength in the automobile cross beam steel have been given in theory with electron structure parameters of the alloying phase and the biphase interface. The relationships among the chemical composition, the end roll grain size and the strength, achieved by calculations, are applied to predetermine the optimal end roll grain size and chemical composition range to satisfy the technical requirements. In the productive process, according to the on the spot result analyzed, the computer can calculate the value of end roll strength quickly, and the on the spot composition can also be adjusted in accordance with the demand until the composition is up to the technical requirements. The forecast is fit for all the non quenched tempered steels. | LIUZhilin LIUWeidong LINCheng | 2004 | Progress in Natural Science:Materials International2004，14，12： | 20 |
| 3 | Calculation of the end-rolling strength in Q235strip steel by the alloying electron structure parameters显示文摘Combined with the phase transformations in rolling,the phase configuration,the tensile strength,and the yield strength with different terminal rolling grain sizes in Q235strip steel have been theoretically calculated using the covalent electron number(n A )of the strongest bond in phase cells and the interface electron density difference(Δρ)in alloys.The calculated results agree well with the results of real production.Therefore,the calculation method of terminal rolling tensile and yield strength in the non-quenched-tem-pered steel containing pearlite is given by the alloying electron structure parameters. | LIUZhilin LINCheng LIUYan GUOYanchang | 2005 | Progress in Natural Science:Materials International2005，15，3： | 18 |
| 4 | Experimental investigations on the heat transfer characteristics of micro heat pipe array applied to flat plate solar collector显示文摘This paper introduces a novel flat plate solar collector(FPC) using micro heat pipe array(MHPA) as a key element.To analyze the thermal transfer behavior of flat plate solar collector with micro heat pipe array(MHPA-FPC),an indoor experiment for thermal transfer characteristic of MHPA applied to FPC was conducted by using an electrical heating film to simulate the solar radiation.Different cooling water flow rates,cooling water temperatures,slopes,and contact thermal resistances between the condenser of MHPA and the heat exchanger were tested at different heating powers.The experimental results indicate that MHPA-FPC exhibits the enhanced heat transfer capability with increased cooling water flow rate and temperature.Total thermal resistance has a maximum decline of approximately 10% when the flow rate increases from 180 to 360 L h 1 and 38% when the cooling water temperature increases from 20℃ to 40℃.When the inclination angle of MHPA-FPC exceeds 30°,the slope change has a negligible effect on the heat transfer performance of MHPA-FPC.In addition,contact thermal resistance significantly affects the heat transfer capability of MHPA-FPC.The total thermal resistances lowers to nearly half of the original level when contact material between the condenser of MHPA and the heat exchanger changes from conductive silicone to conductive grease.These results could provide useful information for the optimal design and operation of MHPA-FPC. | DENG YueChao QUAN ZhenHua ZHAO YaoHua WANG LinCheng | 2013 | Science China(Technological Sciences)2013，56，5： | 17 |
| 5 | Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control显示文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle (UCAV) performing autonomous air-to-surface (A/S) attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem (RHC-OCP). In particular, an approximate elliptic launch acceptable region (LAR) model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom (2-DOF) receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment. | Zhang Yu Chen Jing Shen Lincheng | 2013 | Chinese Journal of Aeronautics2013，26，4： | 15 |
| 6 | Asymptotic normality and strong consistency of maximum quasi-likelihood estimates in generalized linear models显示文摘In a generalized linear model with q × 1 responses, the bounded and fixed (or adaptive) p × q regressors Zi and the general link function, under the most general assumption on the minimum eigenvalue of ∑ni=1 ZiZ'i, the moment condition on responses as weak as possible and the other mild regular conditions, we prove that the maximum quasi-likelihood estimates for the regression parameter vector are asymptotically normal and strongly consistent. | YIN Changming, ZHAO Lincheng & WEI Chengdong School of Mathematics and Information Science, Guangxi University, Manning 530004, China Department of Statistics and Finance, University of Science and Technology of China, Hefei 230026, China Department of Mathematics, Guangxi Teacher College, Manning 530001, China | 2006 | Science China Mathematics2006，49，2： | 13 |
| 7 | Strong consistency of maximum quasi-likelihood estimates in generalized linear models显示文摘In a generalized linear model with q × 1 responses, bounded and fixed p × qregressors Zi and general link function, under the most general assumption on the mini-mum eigenvalue of∑ni=1n ZiZ'i, the moment condition on responses as weak as possibleand other mild regular conditions, we prove that with probability one, the quasi-likelihoodequation has a solutionβn for all large sample size n, which converges to the true regres-sion parameterβo. This result is an essential improvement over the relevant results in literature. | YiN Changming ZHAO Lincheng | 2005 | Science China Mathematics2005，48，8： | 13 |
| 8 | Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins显示文摘Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms. | ZHOU Han, HU TianJiang*, XIE HaiBin, ZHANG DaiBing & SHEN LinCheng College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 12 |
| 9 | Formation flight of fixed-wing UAV swarms:A group-based hierarchical approach显示文摘This paper investigates a formation control problem of fixed-wing Unmanned Aerial Vehicle(UAV) swarms. A group-based hierarchical architecture is established among the UAVs, which decomposes all the UAVs into several distinct and non-overlapping groups. In each group, the UAVs form hierarchies with one UAV selected as the group leader. All group leaders execute coordinated path following to cooperatively handle the mission process among different groups, and the remaining followers track their direct leaders to achieve the inner-group coordination. More specifically, for a group leader, a virtual target moving along its desired path is assigned for the UAV, and an updating law is proposed to coordinate all the group leaders’ virtual targets;for a follower UAV, the distributed leader-following formation control law is proposed to make the follower’s heading angle coincide with its direct leader, while keeping the desired relative position with respect to its direct leader. The proposed control law guarantees the globally asymptotic stability of the whole closed-loop swarm system under the control input constraints of fixed-wing UAVs. Theoretical proofs and numerical simulations are provided, which corroborate the effectiveness of the proposed method. | Hao CHEN Xiangke WANG Lincheng SHEN Yirui CONG | 2021 | Chinese Journal of Aeronautics2021，34，2： | 12 |
| 10 | Bio-inspired Flow Sensing and Prediction for Fish-like Undulating Locomotion: A CFD-aided Approach显示文摘 | Han Zhou Tianjiang Hu Kin Huat Low Lincheng Shen Zhaowei Ma Guangming Wang Haijun Xu | 2015 | Journal of Bionic Engineering2015，12，3： | 7 |
| 11 | Bionic asymmetry:from amiiform fish to undulating robotic fins显示文摘Similar to bionic non-smooth which has been successfully applied in anti-resistance and anti-adhesion, bionic asymmetry is also an inherent property of biological systems and is worth exploring for con-ceivable pragmatic applications. Therefore, bionic asymmetry for undulations is of main interest in this paper. We initially investigate bionic asymmetry with a case study of the undulating robotic fin, RoboGnilos, which evolved from the long dorsal fin of Gymnarchus niloticus in the amiiform mode. Since the performance of the pre-existing undulating fins is hardly satisfactory, we obtain bionic in-spirations of undulatory asymmetry through observations and measurements on the specimen of G. niloticus, to improve upon the performance. Consequently, the newly acquired innovation for bionic asymmetry is incorporated into the previously derived kinematics model, and also applied to the experimental prototype. Both computational and experimental results verify that bionic asymmetric undulation generates better propulsion performance (in terms of linear velocity and efficiency) than the traditional symmetric modes with the same undulatory parameters. | HU TianJiang SHEN LinCheng LOW K. H. | 2009 | Chinese Science Bulletin2009，54，4： | 7 |
| 12 | Strong convergence of LAD estimates in a censored regression model显示文摘A regression model with a nonnegativity constraint on the dependent variable,known as censored median regression model, is considered. Under some mild conditions, the LAD estimate of the regression coefficient is shown to be strongly consistent.Furthermore, its convergence rate and Bahadur strong representation are also obtained. | FANG Yixin JIN Man ZHAO Lincheng | 2005 | Science China Mathematics2005，48，2： | 6 |
| 13 | Vector Field Based Sliding Mode Control of Curved Path Following for Miniature Unmanned Aerial Vehicles in Winds显示文摘在这份报纸,为在有经常的速度和高度的风中的缩小的无人的天线车辆(UAV ) 的一个弄弯的路径追随者控制算法被开发。对广泛地考虑的线或轨道追随者,不同如果他们是光滑的,要列在后面的弄弯的路径以弧长度参数被定义,它能是直线,轨道, B 花键或任何另外的曲线。建议路径追随者控制算法,由 VF-SMC 说出,把向量域(VF ) 策略与滑动模式控制(SMC ) 正在相结合方法。设计算法保证追踪的错误面对风是一个围住的球,这被证明,在 Lyapunov 方法和 BIBO 稳定性的帮助下。算法在基于 Matlab 的模拟和高保真两个都被验证半物理的模拟。在基于 Matlab 的模拟,建议算法为在不同曲线显示出它的宽用法的直线,轨道和 B 花键被验证。高保真半物理的模拟系统由实际自动驾驶仪控制器,地面车站和 X 飞机飞行组成模拟器在里面环。在半物理的模拟,建议算法彻底地在各种各样的获得参数和风条件下面为 B 花键路径追随者被验证。所有实验在弄弯的路径列在后面和优秀坚韧性弯屈建议算法的骚乱显示出精确性。 | WANG Yajing WANG Xiangke ZHAO Shulong SHEN Lincheng | 2018 | Journal of Systems Science & Complexity2018，31，1： | 6 |
| 14 | Adaptive level of autonomy for human-UAVs collaborative surveillance using situated fuzzy cognitive maps显示文摘Collaborating with a squad of Unmanned Aerial Vehicles(UAVs)is challenging for a human operator in a cooperative surveillance task.In this paper,we propose a cognitive model that can dynamically adjust the Levels of Autonomy(LOA)of the human-UAVs team according to the changes in task complexity and human cognitive states.Specifically,we use the Situated Fuzzy Cognitive Map(Si FCM)to model the relations among tasks,situations,human states and LOA.A recurrent structure has been used to learn the strategy of adjusting the LOA,while the collaboration task is separated into a perception routine and a control routine.Experiment results have shown that the workload of the human operator is well balanced with the task efficiency. | Zhe ZHAO Yifeng NIU Lincheng SHEN | 2020 | Chinese Journal of Aeronautics2020，33，11： | 6 |
| 15 | Approximation by randomly weighting method in censored regression model显示文摘Censored regression ('Tobit') models have been in common use, and their linear hypothesis testings have been widely studied. However, the critical values of these tests are usually related to quantities of an unknown error distribution and estimators of nuisance parameters. In this paper, we propose a randomly weighting test statistic and take its conditional distribution as an approximation to null distribution of the test statistic. It is shown that, under both the null and local alternative hypotheses, conditionally asymptotic distribution of the randomly weighting test statistic is the same as the null distribution of the test statistic. Therefore, the critical values of the test statistic can be obtained by randomly weighting method without estimating the nuisance parameters. At the same time, we also achieve the weak consistency and asymptotic normality of the randomly weighting least absolute deviation estimate in censored regression model. Simulation studies illustrate that the per-formance of our proposed resampling test method is better than that of central chi-square distribution under the null hypothesis. | WANG ZhanFeng WU YaoHua ZHAO LinCheng | 2009 | Science China Mathematics2009，52，3： | 6 |
| 16 | Event-triggered encirclement control of multi-agent systems with bearing rigidity显示文摘In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads,the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability(ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated. | Yangguang YU Zhiwen ZENG Zhongkui LI Xiangke WANG Lincheng SHEN | 2017 | Science China(Information Sciences)2017，60，11： | 6 |
| 17 | Improving multi-target cooperative tracking guidance for UAV swarms using multi-agent reinforcement learning显示文摘Multi-Target Tracking Guidance(MTTG)in unknown environments has great potential values in applications for Unmanned Aerial Vehicle(UAV)swarms.Although Multi-Agent Deep Reinforcement Learning(MADRL)is a promising technique for learning cooperation,most of the existing methods cannot scale well to decentralized UAV swarms due to their computational complexity or global information requirement.This paper proposes a decentralized MADRL method using the maximum reciprocal reward to learn cooperative tracking policies for UAV swarms.This method reshapes each UAV’s reward with a regularization term that is defined as the dot product of the reward vector of all neighbor UAVs and the corresponding dependency vector between the UAV and the neighbors.And the dependence between UAVs can be directly captured by the Pointwise Mutual Information(PMI)neural network without complicated aggregation statistics.Then,the experience sharing Reciprocal Reward Multi-Agent Actor-Critic(MAAC-R)algorithm is proposed to learn the cooperative sharing policy for all homogeneous UAVs.Experiments demonstrate that the proposed algorithm can improve the UAVs’cooperation more effectively than the baseline algorithms,and can stimulate a rich form of cooperative tracking behaviors of UAV swarms.Besides,the learned policy can better scale to other scenarios with more UAVs and targets. | Wenhong ZHOU Jie LI Zhihong LIU Lincheng SHEN | 2022 | Chinese Journal of Aeronautics2022，35，7： | 6 |
| 18 | Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack显示文摘This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle (UCAV) performing an air-to-surface multi-target attack (A/SMTA) mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem (TSP), called the dynamic-constrained TSP with neighborhoods (DCTSPN). Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable probabilistic roadmap (PRM) is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmetric TSP (ATSP). Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes. | Yu Zhang Jing Chen Lincheng Shen | 2012 | Journal of Systems Engineering and Electronics2012，23，4： | 5 |
| 19 | CPGs control method using a new oscillator in robotic fish显示文摘A new oscillator is presented in this paper based on our pervious oscillator (Zhang’s oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control. | WANG Gang*, ZHANG DaiBing, LIN LongXin, XIE HaiBin, HU TianJiang & SHEN LinCheng School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 4 |
| 20 | Inference of change-point in single index models显示文摘Single index models are widely used in medicine, econometrics and some other fields. In this paper, we consider the inference of a change point problem in single index models. Based on density-weighted average derivative estimation (ADE) method, we propose a statistic to test whether a change point exists or not. The null distribution of the test statistic is obtained using a permutation technique. The permuted statistic is rigorously shown to have the same distribution in the limiting sense under both null and alternative hypotheses. After the null hypothesis of no change point is rejected, an ADE-based estimate of the change point is proposed under assumption that the change point is unique. A simulation study confirms the theoretical results. | CAO GuanQun WANG ZhanFeng WU YaoHua ZHAO LinCheng | 2008 | Science China Mathematics2008，51，10： | 3 |
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