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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 | 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 |
| 3 | 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 |
| 4 | 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 |
| 5 | 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 |
| 6 | 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 |
| 7 | 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 |
| 8 | 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 |
| 9 | 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 |
| 10 | Robust optimization of aircraft weapon delivery trajectory using probability collectives and meta-modeling显示文摘Conventional trajectory optimization techniques have been challenged by their inability to handle threats with irregular shapes and the tendency to be sensitive to control variations of aircraft. Aiming to overcome these difficulties, this paper presents an alternative approach for trajectory optimization, where the problem is formulated into a parametric optimization of the maneuver variables under a tactics template framework. To reduce the size of the problem, global sensitivity analysis (GSA) is performed to identify the less-influential maneuver variables. The probability collectives (PC) algorithm, which is well-suited to discrete and discontinuous optimization, is applied to solve the trajectory optimization problem. The robustness of the trajectory is assessed through multiple sampling around the chosen values of the maneuver variables. Meta-models based on radius basis function (RBF) are created for evaluations of the means and deviations of the problem objectives and constraints. To guarantee the approximation accuracy, the meta-models are adaptively updated during optimization. The proposed approach is demonstrated on a typical airground attack mission scenario. Results reveal that the proposed approach is capable of generating robust and optimal trajectories with both accuracy and efficiency. | Wang Nan Shen Lincheng Liu Hongfu Chen Jing Hu Tianjiang | 2013 | Chinese Journal of Aeronautics2013，26，2： | 3 |
| 11 | Moment inequalities and weak convergence for negatively associed sequences显示文摘 | Su Chun Zhao Lincheng Wang Yuebao | 1997 | Science in China (Series A)1997，40，： | 1 |
| 12 | Moment inequalities and weak convergence for negatively associated sequences显示文摘 | Su Chun Zhao Lincheng and Wang Yuebao | 1997 | Science in China (Series A)1997，40，： | 1 |
| 13 | Moment inequalities and weak convergence for negatively associated sequences 显示文摘 | SU Chun ZHAO Lincheng WANG Yuebao | 1997 | Science in China Series A : Mathematics1997，40，2： | 1 |
| 14 | The Experimental Research on Instantaneous Efficiency of PV/T Module Based on Micro Heat Pipe Array 显示文摘 | QUAN Zhenhua WANG Lincheng ZHAO Yaohua | 2013 | Advanced Materials Research2013，，732733： | 1 |
| 15 | Moment inequalities and weak convergence for negatively associated sequences显示文摘 | Chun Su Lincheng Zhao Yuebao Wang | 1997 | Science in China Series A: Mathematics1997，，2： | 1 |
| 16 | Construction summary of karst grouting treatment for Railway Subgrade显示文摘The karst is one of the main bad geological problems,which determines the design of the subgrade treatment plan and the safety of the engineering construction.This paper summarizes the key technology of grouting in karst roadbed regulation,and the following factors should be considered in grouting scheme selection: grouting method,technology,material,equipment,grouting control and detection means and standard of grouting effect.Through the use of high density electrical method,transient surface wave method,core drilling method,pressure water test method and so on,study the targeted detection methods for different coverage karst types and different remediation methods. | Lincheng Wang | 2018 | Smart Construction Research2018，2，1： | 0 |
| 17 | INFERENCE ON THE RANK OF THE GROWTH CURVE MODEL USING MODEL SELECTION METHOD显示文摘In this paper we study the estimation of the rank of the parameter trix(RPM) in a growth curve model in the framework of model selection. Following AIC criterion we propose a new general criterion and obtain a strongly consistent estimate of the RPM. We come to our conclusions under the assumptions of normal population and a general case separately. | ZHAO Lincheng WANG Xuena WU Yaohua (Department of Statistics and Finance, University of Science and Technology of China, Hefei 230026, China) | 2001 | Journal of Systems Science & Complexity2001，14，2： | 0 |
| 18 | Construction summary of karst grouting treatment for Railway Subgrade显示文摘The karst is one of the main bad geological problems, which determines the design of the subgrade treatment plan and the safety of the engineering construction.This paper summarizes the key technology of grouting in karst roadbed regulation, and the following factors should be considered in grouting scheme selection: grouting method, technology, material, equipment, grouting control and detection means and standard of grouting effect.Through the use of high density electrical method, transient surface wave method, core drilling method, pressure water test method and so on, study the targeted detection methods for different coverage karst types and different remediation methods. | Lincheng Wang | 2018 | Smart Construction Research2018，2，2： | 0 |
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