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| 1 | Target-enclosing affine formation control of two-layer networked spacecraft with collision avoidance显示文摘This paper addresses a target-enclosing problem for multiple spacecraft systems by proposing a two-layer affine formation control strategy. Compared with the existing methods,the adopted two-layer network structure in this paper is generally directed, which is suitable for practical space missions. Firstly, distributed finite-time sliding-mode estimators and formation controllers in both layers are designed separately to improve the flexibility of the formation control system. By introducing the properties of affine transformation into formation control protocol design,the controllers can be used to track different time-varying target formation patterns. Besides, multilayer time-varying encirclements can be achieved with particular shapes to surround the moving target. In the sequel, by integrating adaptive neural networks and specialized artificial potential functions into backstepping controllers, the problems of uncertain Euler-Lagrange models, collision avoidance as well as formation reconfiguration are solved simultaneously. The stability of the proposed controllers is verified by the Lyapunov direct method. Finally, two simulation examples of triangle formation and more complex hexagon formation are presented to illustrate the feasibility of the theoretical results. | Yang XU Delin LUO Dongyu LI Yancheng YOU Haibin DUAN | 2019 | Chinese Journal of Aeronautics2019，32，12： | 9 |
| 2 | Affine formation maneuver tracking control of multiple second-order agents with time-varying delays显示文摘This paper considers an affine maneuver tracking control problem for leader-follower type second-order multi-agent systems in the presence of time-varying delays, where the interaction topology is directed. Using the property of the affine transformation,this paper gives the sufficient and necessary conditions of achieving the affine localizability and extends it to the second-order condition. Under the(n + 1)-reachable condition of the given n-dimensional nominal formation with n + 1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. When the neighboring positions and velocities are available, a formation maneuver tracking control protocol with time-varying delays is constructed with the form of linear systems, where the tracking errors of the followers can be specified. Based on Lyapunov-Krasovskii stability theory, sufficient conditions to realize affine maneuvers are proposed and proved, and the unknown control gain matrix can be solved only by four linear matrix inequalities independent of the number of agents. Finally, corresponding simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references accurately and continuously. | XU Yang LI DongYu LUO DeLin YOU YanCheng | 2019 | Science China(Technological Sciences)2019，62，4： | 5 |
| 3 | New advances in multiple autonomous aerial robots formation control technology显示文摘Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geometric patterns and,at the same time, realize desired collective swarming behaviorsin a decentralized or distributed manner. In contrast toground vehicles, aerial robots have the ability to work inthree-dimensional (3D) airspace. Equipped with electric orhydraulic motors, the vertical take-off and landing (VTOL)capability is a typical performance of aerial robots. Formationcontrol technology for such aerial robots is incessantlyspringing up to satisfy the requirements of highly intelligentautonomous systems, which affects both military and civilareas, including missile defense, battlefield surveillance,satellite network construction, fire suppression, power gridinspection, commercial show, etc. [1–5]. Such a problem ofmultiple aerial robots formation control is exceptionallychallenging to analyze if practical constraints such as complexdynamics, motion constraints, and imperfect measurementsare incorporated. | XU Yang LUO DeLin YOU YanCheng DUAN HaiBin | 2019 | Science China(Technological Sciences)2019，62，10： | 3 |
| 4 | Affine transformation based formation maneuvering for discrete-time directed networked systems显示文摘For the tracking control problems of affine formation maneuvers with discrete leader-following multi-agent systems, various distributed control schemes based on the directed graphs are designed in this paper. Consider the single and double-integrator models, different types of formation maneuvers can be achieved subject to the states of leaders with the novel characteristic of affine localizability. Meanwhile, the properties of affine transformation and signed Laplacian are introduced, which simplify the structures of controllers with distinct constraints to a great extent. Moreover, the convergence analysis of proposed protocols is proven. Static, constant and time-varying target formations can be tracked successfully. In the end, corresponding numerical simulations are carried out to certify the validity of theoretical results. | XU Yang LUO DeLin YOU YanCheng DUAN HaiBin | 2020 | Science China(Technological Sciences)2020，63，1： | 3 |
| 5 | Distributed planar formation maneuvering of leader-follower networked systems via a barycentric coordinate-based approach显示文摘This paper presents a distributed planar leader-follower formation maneuver control strategy for multi-agent systems with different agent dynamic models.This method is based on the barycentric coordinate-based(BCB)control,which can be performed in the local coordinate frame of each agent with required local measurements.By exploring the properties of BCB Laplacians,a time-varying target formation can be BCB localizable by a sufficient number of leaders uniquely,and this formation is converted from a given nominal formation with geometrical similarity transformation.The proposed control laws can continuously maneuver collective single-and double-integrator agents to achieve a translation,scale,rotation,or even their compositions in various directions.For the formation shape control problem of multi-car systems with/without saturation constraints,the obtained control performance can preserve good robustness.Global stability is also proven by mathematical derivations and verified by numerical simulations. | XU Yang LUO DeLin DUAN HaiBin | 2021 | Science China(Technological Sciences)2021，64，8： | 2 |
| 6 | A guidance law for UAV autonomous aerial refueling based on the iterative computation method显示文摘The rendezvous and formation problem is a significant part for the unmanned aerial vehicle(UAV) autonomous aerial refueling(AAR) technique. It can be divided into two major phases: the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law(ICGL) is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases: the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker.The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance. | Luo Delin Xie Rongzeng Duan Haibin | 2014 | Chinese Journal of Aeronautics2014，27，4： | 2 |
| 7 | Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns显示文摘This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results. | XU Yang ZHENG Weiming LUO Delin DUAN Haibin | 2022 | Journal of Systems Engineering and Electronics2022，33，6： | 1 |
| 8 | Pose estimation for UAV aerial refueling with serious turbulences based on extended Kalman filter显示文摘 | Xu Yan Luo Delin Xian Ning | 2014 | OPTIK2014，，125： | 1 |
| 9 | Hybrid Ant Colony Multi-objective Optimization for Flexible Job Shop Scheduling Problems 显示文摘 | Luo Delin Chen Haiping Wu Shunxiang | 2010 | Journalof Internet Technology2010，11，3： | 1 |
| 10 | A kind of BP neu- ral network algorithm based on grey interval 显示文摘 | Wu Shunxiang Luo Delin Zhou Zhiwen | 2011 | Internatio nal Journal of Systems Science2011，42，3： | 1 |
| 11 | Multiscale feature learning and attention mechanism for infrared and visible image fusion显示文摘Current fusion methods for infrared and visible images tend to extract features at a single scale,which results in insufficient detail and incomplete feature preservation.To address these issues,we propose an infrared and visible image fusion network based on a multiscale feature learning and attention mechanism(MsAFusion).A multiscale dilation convolution framework is employed to capture image features across various scales and broaden the perceptual scope.Furthermore,an attention network is introduced to enhance the focus on salient targets in infrared images and detailed textures in visible images.To compensate for information loss during convolution,jump connections are utilized during the image reconstruction phase.The fusion process utilizes a combined loss function consisting of pixel loss and gradient loss for unsupervised fusion of infrared and visible images.Extensive experiments on the dataset of electricity facilities demonstrate that our proposed method outperforms nine state-of-theart methods in terms of visual perception and four objective evaluation metrics. | GAO Li LUO DeLin WANG Song | 2024 | Science China(Technological Sciences)2024，67，2： | 0 |
| 12 | Notch signaling leads to a slower progression of embryonic myogenic differentiation in Landrace than in Langtang pigs显示文摘Delving into porcine embryonic myogenesis is the key to elucidate the complex regulation of breed-specific differences in growth performance and meat production.Increasing evidence proves that pigs with less meat production show earlier embryonic myogenesis,but little is known about the underlying mechanisms.In this study,we examine the longissimus dorsi muscle(LDM)by immunohistochemistry and confirm that the differentiation of myogenic progenitors is increased(P<0.05)in Lantang(LT,fatty)pigs compared with that in Landrace(LR,lean)pigs,which results in more(P<0.001)differentiated myoblasts(Pax7-/MyoD^(+))and less(P<0.001)myogenic progenitors(Pax7^(+)/MyoD^(-))in LT pigs at 35 days post-conception(35dpc).Additionally,embryonic myogenic progenitors isolated from LT pigs show greater(P<0.001)differentiation capacity with earlier expression of MyoD compared with those from LR pigs.Moreover,Notch signaling is more active(P<0.05)in LR pig myogenic progenitors than in LT pig myogenic progenitors.Inhibition of Notch signaling in LR myogenic progenitors suppresses Pax7 expression and increases MyoD expression,thus promoting myogenic differentiation.Consistently,the process of myogenic progenitors differentiating into myoblasts in ex vivo embryo limbs is accelerated when Notch signaling is inhibited.These results indicate that Notch signaling facilitates the maintenance of myogenic progenitors and antagonizes myogenic differentiation by promoting Pax7 expression and preventing MyoD expression in LR pigs. | Shufang Cai Bin Hu Qi Zhu Tianqi Duo Xiaoyu Wang Xian Tong Xiaorong Luo Renqiang Yuan Yaosheng Chen Jing Wang Chenglong Luo Baosong Xing Delin Mo | 2022 | Acta Biochimica et Biophysica Sinica2022，54，8： | 0 |
| 13 | Editorial of Special Issue on UAV Autonomous,Intelligent and Safe Control显示文摘The application of unmanned aerial vehicles(UAVs)poses many technique questions to be addressed urgently in the Guidance,Navigation and Control(GNC)-eld.1,2 Complexities and uncertainties with highly nonlinear dynamics of UAVs towards practical use environments to various missions and applications are the main issues and challenges being faced for the development of autonomous,intelligent,reliable,safe and low-cost UAVs.With the unceasing and rapid progress made on the electronics,communication,computation,sensing,actuating,control,arti-cial intelligence and machine learning sciences and technologies,great developments have been achieved for UAV towards autonomous,intelligent and safe control technologies in recent years along with enhancement and new development on UAVs'autonomy,intelligence and safety levels. | Youmin Zhang Delin Luo | 2021 | Guidance, Navigation and Control2021，1，4： | 0 |
| 14 | A monocular visual measurement system for UAV probe-and-drogue autonomous aerial refueling显示文摘Purpose–The purpose of this paper is to develop a monocular visual measurement system for autonomous aerial refueling(AAR)for unmanned aerial vehicle,which can process images from an infrared camera to estimate the pose of the drogue in the tanker with high accuracy and real-time performance.Design/methodology/approach–Methods and techniques for marker detection,feature matching and pose estimation have been designed and implemented in the visual measurement system.Findings–The simple blob detection(SBD)method is adopted,which outperforms the Laplacian of Gaussian method.And a novel noise-elimination algorithm is proposed for excluding the noise points.Besides,a novel feature matching algorithm based on perspective transformation is proposed.Comparative experimental results indicated the rapidity and effectiveness of the proposed methods.Practical implications–The visual measurement system developed in this paper can be applied to estimate the pose of the drogue with a fast speed and high accuracy and it is a feasible measurement strategy which will considerably increase the autonomy and reliability for AAR.Originality/value–The SBD method is used to detect the features and a novel noise-elimination algorithm is proposed.Besides,a novel feature matching algorithm based on perspective transformation is proposed which is robust and accurate. | Long Xin Delin Luo Han Li | 2018 | International Journal of Intelligent Computing and Cybernetics2018，11，2： | 0 |
| 15 | Segment differential aggregation representation and supervised compensation learning of ConvNets for human action recognition显示文摘With more multi-modal data available for visual classification tasks,human action recognition has become an increasingly attractive topic.However,one of the main challenges is to effectively extract complementary features from different modalities for action recognition.In this work,a novel multimodal supervised learning framework based on convolution neural networks(Conv Nets)is proposed to facilitate extracting the compensation features from different modalities for human action recognition.Built on information aggregation mechanism and deep Conv Nets,our recognition framework represents spatial-temporal information from the base modalities by a designed frame difference aggregation spatial-temporal module(FDA-STM),that the networks bridges information from skeleton data through a multimodal supervised compensation block(SCB)to supervise the extraction of compensation features.We evaluate the proposed recognition framework on three human action datasets,including NTU RGB+D 60,NTU RGB+D 120,and PKU-MMD.The results demonstrate that our model with FDA-STM and SCB achieves the state-of-the-art recognition performance on three benchmark datasets. | REN ZiLiang ZHANG QieShi CHENG Qin XU ZhenYu YUAN Shuai LUO DeLin | 2024 | Science China(Technological Sciences)2024，67，1： | 0 |
| 16 | Guest editorial显示文摘Autonomous control of Unmanned Aerial System(UAS)is that UASs can make decisions in the flight and carry out missions autonomously according to the scheduled tasks and rules through online sensing the surrounding situation.Through cooperation,UASs can share information among individual agents and work together to accomplish complicated mission which would not be possible for a single agent otherwise.With the development of UAS technology,autonomous control has become one of the hot topics and key technologies in UAS research field. | Delin Luo Feng Lin | 2017 | International Journal of Intelligent Computing and Cybernetics2017，10，4： | 0 |
| 17 | A Continuous Time Domain Direct Identication Method for Unsteady Fluid Dynamic Model in Incompressible Flow显示文摘To identify the unsteady°uid dynamic model for a solid moving in the°uid,a new identication method that operates in the continuous time domain is proposed.It is illustrated that this new identication method is more accurate and appropriate for identifying unsteady°uid dynamic model in incompressible°ow in comparison with the classical frequency domain or discrete domain method.This new method is applied to identify the unsteady°uid dynamic models of a NACA0012 airfoil and the e®ect of the°uid viscosity on the model parameter is analyzed.The result shows that the added mass in viscous°ow is dependent on the input signal frequency and is exactly the added mass in inviscid°ow when the frequency approaches innity.Based on this discovery,the long controversy on the relationship of added mass between viscous and inviscid°ow is solved.Then,the enlightenment of this discovery on the identication of both linear and nonlinear unsteady aerodynamic model in incompressible°ow is illustrated.At last,the advantage of the new acquired unsteady°uid dynamic model is discussed in comparison with the classical quasi-steady aerodynamic model. | Xianwu Lin Tao Li Lixun Xiong Delin Luo | 2023 | Guidance, Navigation and Control2023，3，1： | 0 |
| 18 | Docking navigation method for UAV autonomous aerial refueling显示文摘In this paper, a docking navigation method for autonomous aerial refueling(AAR) of unmanned aerial vehicles(UAVs) based on a binocular vision system(BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes(LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point(FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally,the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method. | Delin LUO Jiang SHAO Yang XU Jinpeng ZHANG | 2019 | Science China(Information Sciences)2019，62，1： | 0 |
| 19 | UAV swarm formation reconfiguration control based on variable-stepsize MPC-APCMPIO algorithm显示文摘For a complex operational environment,to actualize safe obstacle avoidance and collision avoidance,a swarm must be capable of autonomous formation reconfiguration.First,this paper introduces the basic pigeon-inspired optimization(PIO)algorithm,and establishes the unmanned aerial vehicle motion model and the virtual leader swarm formation control structure.Then,given the above knowledge,the basic error objective function of a UAV swarm,obstacle avoidance objective function,and collision avoidance objective function are devised based on the variable-stepsize model predictive control technique.Next,the adaptive perception Cauchy mutation PIO algorithm is proposed by introducing the Cauchy mutation operator,adaptive weight factor,and roulette wheel selection into the basic PIO.This algorithm is used to optimally solve the abovementioned swarm objective functions.Ultimately,a set of comparative simulations are performed to verify the effectiveness and reliability of the proposed algorithm. | Jian LIAO Jun CHENG Bin XIN Delin LUO Lihui ZHENG Yuhang KANG Shaolei ZHOU | 2023 | Science China(Information Sciences)2023，66，11： | 0 |
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