A hybrid feedback control strategy for autonomous waypoint transitioning and loitering of unmanned aerial vehicles

We consider the problem of autonomously controlling a fixed-wing aerial vehicle to visit a neighborhood of a pre-defined waypoint, and when nearby it, loiter around it. To solve this problem, we propose a hybrid feedback control strategy that unites two state-feedback controllers: a transit controller capable of steering or transitioning the vehicle to nearby the waypoint and a loiter controller capable of steering the vehicle about a loitering radius. The aerial vehicle is modeled on a level flight plane with system performance characterized in terms of the aerodynamic, propulsion, and mass properties. Thrust and bank angle are the control inputs. Asymptotic stability properties of the individual control algorithms, which are designed using backstepping, as well as of the closed-loop system, which includes a hybrid algorithm uniting the two controllers, are established. In particular, for this application of hybrid feedback control, Lyapunov functions and hybrid systems theory are employed to establish stability properties of the set of points defining loitering. The analytical results are confirmed numerically by simulations.     

基于比值导数法的棉花蚜害无人机成像光谱监测模型研究

蚜虫是棉花的主要害虫之一,我国棉花产量每年因蚜虫危害造成的损失高达5%～10%。田块尺度的棉花蚜害空间分布监测可以辅助精准定量施药,减少环境污染。利用无人机搭载成像光谱仪获取的“图谱合一”的遥感数据因其具有分辨率高、时效性高、成本低等优势,可为作物病虫害监测提供了重要数据源。比值导数法模型简洁,运行效率高,结果精确,可以有效的应用于遥感反射率光谱解混处理,提取对目标信息较为敏感的波段,为构建虫害监测模型提供了有效的手段。因此本研究选择棉花典型生产区新疆库尔勒地区为实验区,开展以下工作: （1）以低空无人机搭载成像光谱仪获取棉花蕾期冠层成像光谱影像,结合地面调查数据,获取76个样点光谱数据及蚜害严重度(包含健康植株16个,蚜害严重度1～4级每级选取15个);(2)分析不同蚜害严重度棉花冠层光谱的特征,并利用比值导数法筛选出对蚜害胁迫敏感的光谱波段,分别为514,566和698 nm波段; (3)构建基于三个敏感波段的光谱反射率、比值导数光谱值的一元线性回归和偏最小二乘法的蚜害严重度估测模型。结果表明：(1)蚜害对棉花冠层的光谱反射率有显著影响。棉株受蚜害胁迫越严重,其在可见光区域的反射率越高,近红外波段反射率越低,发生红边区域“蓝移”;（2）比值导数法可有效提取蚜害棉花冠层光谱敏感波段,所筛选的514,566和698 nm三个波段与相关系数法所筛选的敏感波段一致;(3)利用敏感波段比值导数光谱值所构建的蚜害严重度估测模型精度优于敏感波段光谱反射率所构建的模型, 其中698 nm波段构建的模型精度最佳（R2=0.597, RMSE=0.91）; (4)三个敏感波段的比值导数光谱值所构建的偏最小二乘多元回归模型精度优于单个波段比值导数光谱值所构建的模型（R2=0.612, RMSE=0.89）;(5)基于比值导数法的棉花蚜害无人机成像光谱监测模型可以获取田块尺度的不同严重度蚜害空间分布图,对于精准定量施药有重要的指示意义。     

无人机数据链带内连续波电磁干扰效应研究

数据链是无人机的重要分系统,是确保无人机实现地空通信的关键一环,但容易受到外界电磁干扰的影响而发生通信中断甚至硬件损伤.针对某型无人机数据链的前门耦合电磁敏感特性,对数据链设备进行电磁干扰的等效注入试验,研究了单频和双频电磁干扰对数据链的效应规律,得到了数据链敏感频点的失锁阈值以及误码率和信噪比的变化趋势.研究表明:由于大功率干扰信号通过自动增益控制电路,在射频前端降低了中频工作信号的输出功率,导致数据终端信噪比降低、误码率上升;当双频干扰均位于带内时,与单频干扰相比,在射频前端对工作信号增益的压缩作用更强,导致失锁时双频干扰中的任意一个干扰功率均低于只有单频干扰时的阈值,表明数据链带内干扰存在多源非线性增强效应.      

移动边缘计算中的无人机群协同任务卸载策略研究

针对应急灾害中通信受限的场景,研究了基于移动边缘计算(mobile edge computing, MEC)的无人机群(unmanned aerial vehicles,UAV)协同任务卸载问题。在对系统通信过程和计算过程的延时与能耗分析的基础上,设计联盟效用函数和回报函数,并基于享乐博弈模型提出联盟分割形成算法。理论分析证明,该算法最终收敛于某个稳定的联盟分割。仿真结果表明,相比其他典型策略,提出的策略具有更低延时和能耗,能够提升用户服务体验、增加设备续航时间,解决通信受限问题。     

飞机空中加油问题的研究

讨论了飞机的空中加油问题,通过比较不同方案下主机的最大作战半径,找到了辅机给主机空中加油的最佳方案,分析了存在多个基地时各基地的位置及辅机在各基地的数量,研究了二维坐标下主机的最佳飞行路径,给出了解决问题的办法.整个思路由浅入深,通过考虑辅机数目n分别为1,2,3,4的特殊情况进而探讨一般的规律,包括辅机在基地无加油时间和有加油时间以及主机在空中盘旋等不同假设条件下的复杂情况,并将统计出的数据列表对比,获得了更直观的认识.在最后进行了展望,希望结合实际中的飞机空中加油问题综合考虑风力、风向等随机因素的影响,拓展到3维空间的更复杂模型中,使飞机的空间加油问题变得更有实际意义.     

Calculation of the scatteredγ-radiation spectrum of radionuclides for problems of aerial gamma-ray photography

We obtained analytical expressions for the intensities of γ-quanta fluxes that were emitted by radioactive isotopes distributed in soil and that experiented n-tuple scattering. We present these expressions in the form of a sum of multiple integrals of simple form. The results of numerical integration performed for test examples are given. Scientific-Research Institute of Nuclear Problems at the Belarusian State University, 11, Bobruiskaya St., 220050, Minsk, Belarus. Translated from Zhurnal Prikladnoi Spektroskopii, Vol. 64, No. 3, pp. 405–411, May–June, 1997.     

浅谈树脂锚杆在架空人车安装中的应用

东曲矿全煤巷道中安装架空人车无法采用常规的预埋梁法固定托轮横梁，根据锚杆工作原理，将树脂锚杆应用到架空人车的托轮横梁固定安装中，较好地解决了架空人车在全煤巷道中的安装难题，达到了预期的安装效果。     

Integration Technique of Multi-source Information Dominated by Aerial Radiometric Measure-ment and Its Application

This paper aims at exploring a digital image integration technique for multi-geoscience in formation dominated by airborne gamma-ray data, especially deeply discussing the method to secondly develop those aerial data by combining digital image processing system with the colored mapping system. Utilizing this technique , we have analyzed the geologic environment of uranium mineralization of Lianshanguan area > Liaoning Province, provided some important background information for further seeking of minerals. Meanwhile , experimental studies have been made to predict uranium mineralization , and evident results aquired. Practise shows that this new technique offers prospecting significance for mineral seeking and great practical value in survey of uranium resources.     

基于视觉的自动空中加油技术

无人机在军用和民用领域都发挥着越来越重要的作用,但是续航时间短、负载能力弱等缺点限制了无人机的应用。自动空中加油技术能够增加无人机的续航时间,增强无人机执行长航时、复杂任务的能力,从而有效地弥补上述缺点。计算机视觉技术的发展为无人机自动空中加油技术的实现提供了有效的支持。对基于视觉的硬管式自动空中加油技术的2类典型解决方案进行了介绍和对比,并在此基础上提出了基于切换模式的双目视觉解决方案,总结了涉及的关键技术和待研究的问题。