2020 3rd International Conference on Unmanned Systems (ICUS)最新文献_第3页

Dynamic Resource and Task Allocation for Time Efficiency in Modular Reconfigurable Space Systems 模块化可重构空间系统中时间效率的动态资源和任务分配

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274955

Jiahui Shi, Zhi Li, Zhimin Zhang

{"title":"Dynamic Resource and Task Allocation for Time Efficiency in Modular Reconfigurable Space Systems","authors":"Jiahui Shi, Zhi Li, Zhimin Zhang","doi":"10.1109/ICUS50048.2020.9274955","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274955","url":null,"abstract":"Space unmanned systems with modular and reconfigurable characteristics show a distributed spatial information processing scenario, which needs a new intelligent information processing architecture and task scheduling method, so as to make better use of on orbit resources, adapt to reconfigurable spatial computing and provide spatial reliability computing. we propose a dynamic computing resource and task allocation algorithm for modular reconfigurable space systems, by introducing Docker container technology to minimize completion time cost of a task for given resource constraints considering network traffic and variable workloads in a unified framework. The algorithm first answers the problem of how multiple modules perform cooperative and reliable computing in modular reconfigurable space systems, and gives a method to jointly optimize task allocating strategy and computing resource scheduling through online prediction and linear regression optimization in distributed environment. We design and implement the algorithm architecture on the Linux based platform, and perform series of tests on the simulated distributed network environment. The experiment results show that the algorithm has resource utilization and task response gain in various situations (different cluster node capabilities, different task response demands), obtain the cluster resource allocation balance, and minimize the total completion time of tasks.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116353420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of Multi-platforms Sensor Management System for UAV Autonomous Detection and Perception 无人机自主探测与感知多平台传感器管理系统设计

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274839

Z. Mou, Deyan Zheng

引用次数: 0

Target Detection and Parameter Recognition for The Crawling Submersible Based on Forward-looking Sonar 基于前视声纳的爬行潜水器目标检测与参数识别

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274827

Yan Xian, Li-e Gao, Le Li, Wenbo Zhang, Weidong Liu

{"title":"Target Detection and Parameter Recognition for The Crawling Submersible Based on Forward-looking Sonar","authors":"Yan Xian, Li-e Gao, Le Li, Wenbo Zhang, Weidong Liu","doi":"10.1109/ICUS50048.2020.9274827","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274827","url":null,"abstract":"The crawling submersible is a new type of deep-sea unmanned submersible that can both cruise in the deep sea and crawl on the seabed. The forward-looking sonar is used by the submersible for obstacle avoidance in the crawling process. This paper proposes a new target detection and parameter recognition method using multi-frame acoustic images from the single-beam and mechanical scanning sonar. The proposed target detection and parameter recognition method implements first the multi-frame acoustic image synthesis and filtering algorithm for overcoming the “overflow” problem after fusing the images, next uses the piecewise linear stretch and median filtering algorithm to deal with the blurring issue at the target edge and to reduce the noise interference, adopts the Otsu algorithm for determining the optimal segmentation threshold of the binarization operation, implements the mathematical morphological operation to further improve the quality of the target detection, and finally detects the target and obtains their location and distance information through searching for the connected domain in the images. The experiment results demonstrate that the proposed target detection and parameter recognition method is able to reduce the occurrence of false alarms and effectively obtain the position and distance information of targets relative to the crawling submersible. This will provide the basic information for the crawling submersible to achieve efficient obstacle avoidances.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123922580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Obstacle Avoidance of UAV Based on Neural Networks and Interfered Fluid Dynamical System 基于神经网络和干扰流体动力系统的无人机避障

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274988

Yanxiang Wang, Honglun Wang, Jiayun Wen, Yuebin Lun, Jianfa Wu

引用次数: 8

A Design of UAV Prescribed Performance Controller for Formation Wingman Reentry 无人机编队僚机再入规定性能控制器设计

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274918

Linxiao Han, Jianbo Hu, Yingyang Wang

{"title":"A Design of UAV Prescribed Performance Controller for Formation Wingman Reentry","authors":"Linxiao Han, Jianbo Hu, Yingyang Wang","doi":"10.1109/ICUS50048.2020.9274918","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274918","url":null,"abstract":"In order to solve the problem of Leader-Follower formation reentry with uncertain nonlinear dynamics and external time-varying disturbances, a design method of attitude controller for wingman formation based on backstepping is proposed. Firstly, considering the coupling disturbance between wings, this paper constructs the wingman model of UAV formation. Secondly, a design method of pre-set performance controller based on backstepping is adopted. A first-order low-pass filter is introduced to avoid computational expansion and for the sake of solving the problem of repeated differentiation of virtual control variables in the design process. Finally, based on Lyapunov theory, the stability of the prescribed performance controller is analyzed, and the effectiveness of the controller is verified by the data simulation curve. The simulation results show that the prescribed performance controller can improve the stability, accuracy and rapidity of the tracking error in the control process, so that the tracking error converges to the prescribed cells, while the convergence speed and the maximum overshoot are also improved It can meet the prescribed conditions.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126006590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Design and Research of Intelligent Navigation System for Unmanned Surface Vehicle 无人水面车辆智能导航系统的设计与研究

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274832

Ai Wei, Leng Yue, W. Yanfeng, Huang Yong, C. Guoqing, Huang Genwang

{"title":"Design and Research of Intelligent Navigation System for Unmanned Surface Vehicle","authors":"Ai Wei, Leng Yue, W. Yanfeng, Huang Yong, C. Guoqing, Huang Genwang","doi":"10.1109/ICUS50048.2020.9274832","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274832","url":null,"abstract":"In recent years, with the gradual opening of marine resource, the world’s major powers are shifting the focus of nation defense and diplomacy to the ocean, in addition, military equipment is also developing towards the direction of unmanned, under this trend, Unmanned Surface Vehicle(USV) are played more and more attention by experts and scholars outside the country. As an important part of the normal navigation of USV, path planning is that USV in an environment with obstacles can plan an optimal path or sub-optimal path without collision from start position to the target position and meets all the conditions. It’s one of the key technology for showing the intelligence of USV. Most of the current path planning algorithms are applicable to the free navigation of USV and the collision avoidance is simple, the limitations of underacting type and the maneuverability of USV are not fully considered. It is hard to meet the needs of USV’s intelligent collision avoidance in a complex obstacle environment. The paper studies and designs a path planning method based on layered planning, proposes an USV planning strategy under a multi-unit module and designs a trajectory planning unit based on the USV’s own characteristics which further reflects the intelligent navigation of USV. The intelligent navigation system of USV can be realized. Finally using the GIS information, the deigned intelligent navigation system is simulated and tested. The results show the effectiveness and practicability of the deigned system.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126134796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A Deep Learning Based Distributed Compressive Video Sensing Reconstruction Algorithm for Small Reconnaissance UAV 基于深度学习的小型侦察无人机分布式压缩视频感知重构算法

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274972

Chen Zhen, Chen De-rong, Gong Jiu-lu

{"title":"A Deep Learning Based Distributed Compressive Video Sensing Reconstruction Algorithm for Small Reconnaissance UAV","authors":"Chen Zhen, Chen De-rong, Gong Jiu-lu","doi":"10.1109/ICUS50048.2020.9274972","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274972","url":null,"abstract":"Distributed compressive video sensing (DCVS) is an effective method for small reconnaissance Unmanned Aerial Vehicle(UAV) to obtain high-quality videos on the battlefield. However, the existing reconstruction algorithms based on deep learning fail to make full use of the temporal correlation of videos, resulting in low reconstruction quality. In this paper, a measurement information compensation network called MCINet is used to compensate for the information in non-key frame measurements with the help of key frame measurements before initial recovery. At joint reconstruction stage, a neural network with autoencoder mix with recurrent neural network (RNN) structure called ECLDNet which makes full use of high-quality key frames is adopted, the encoder extracts temporal-spatial features from key and non-key frames, the RNN uses features of key frame to compensate for missing details in non-key frame features, the decoder reconstructs images in a symmetrical way with encoder. Experimental results indicate that our model can get an additional performance gain of more than 1.5 dB peak signal-noise ratio (PSNR) without any changes at the encoding end. The reconstruction runtime of our model increases slightly, but is still much less than iterative reconstruction algorithms due to the non-iterative nature of deep learning.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1814 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129718069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Analysis and Improvement to Viewing Angle of Liquid Crystal Display in Manned Spacecraft Systems 载人航天系统中液晶显示器视角的分析与改进

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274999

Kewu Huang, Cai Huang, Wei Zhang

引用次数: 0

Dynamic obstacle avoidance path planning for UAV 无人机动态避障路径规划

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274865

Tao Jia, Shaohuan Han, Ping Wang, Wenyuan Zhang, Yawu Chang

引用次数: 4

Aeroservoelastic Analysis and Active Disturbance Rejection Control Scheme for the High-aspect-ratio UAVs 大展弦比无人机气动伺服弹性分析及自抗扰控制方案

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274843

Qing Yang, Jing Men, Ya-ke Wu

引用次数: 2