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2023 6th International Symposium on Autonomous Systems (ISAS)最新文献

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Cooperative Passive Location of Multi-UAVs Based on TDOA-DOA Fusion Algorithm 基于TDOA-DOA融合算法的多无人机协同无源定位
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164550
X. Liu, Ju Jiang, Zhe Zhang
{"title":"Cooperative Passive Location of Multi-UAVs Based on TDOA-DOA Fusion Algorithm","authors":"X. Liu, Ju Jiang, Zhe Zhang","doi":"10.1109/ISAS59543.2023.10164550","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164550","url":null,"abstract":"Electronic warfare plays an essential role in modern warfare. In this background, the multiple UAVs cooperative passive positioning technology, which has the advantages of long operating distance and strong concealment, has received significant attention. Considering the scenario of three UAVs attacking enemy surface ships in a naval battle, this paper proposes a collaborative passive localization algorithm based on TDOA and DOA to solve the positioning problem in three-dimensional space. Firstly, we establish a passive location model according to the time delay and measurement errors of the ship target and UAV. Second, the nonlinear terms are linearized using the relative spatial position between the ship and the UAV. Third, a loss function is constructed for the error term, and the least square estimation algorithm obtains the ship coordinate position. Finally, we design two comparative experiments. One discusses the influence of acute angle, isosceles, right angle, equilateral and obtuse angle five UAV spatial structures on positioning accuracy; the other explores the impact of different delay and measurement errors on positioning accuracy. The numerical simulation results effectively verify the model’s rationality and the algorithm’s effectiveness.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124927794","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
Relative navigation method for unmanned aerial vehicles formation using consensus unscented Kalman filter 基于一致无嗅卡尔曼滤波的无人机编队相对导航方法
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164423
Zhixing Zhuang, Baichun Gong, Xiucai Ding, Mingrui Hao, Linxiu Chen
{"title":"Relative navigation method for unmanned aerial vehicles formation using consensus unscented Kalman filter","authors":"Zhixing Zhuang, Baichun Gong, Xiucai Ding, Mingrui Hao, Linxiu Chen","doi":"10.1109/ISAS59543.2023.10164423","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164423","url":null,"abstract":"A relative navigation method in which the measurement information between aircraft only has distance or angle was proposed to achieve accurate relative navigation between aircraft formations in the global navigation satellite system (GNSS) Denied Environment. In addition, four relative measurement schemes are analyzed. An augmented state is introduced in the relative navigation system model, and the observability analysis of the navigation system is carried out relying on the Lie derivative theory, which gives the limitation of motion: the relative position and velocity of the aircraft cannot be parallel or zero, and a single aircraft cannot keep flying straight. A consensus unscented Kalman filter (CUKF) algorithm is established using the geometric characteristics in flight. The observability of the system state is improved after using the additional constraint. Finally, a standard Monte Carlo simulation system is established, and the system simulation is carried out, which shows that the Observability analysis is verified to be correct, and the algorithm demonstrates high accuracy.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129105180","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
An AC Contactor Remaining Useful Life Prediction Method based on Degradation Event Analysis 基于退化事件分析的交流接触器剩余使用寿命预测方法
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164499
Yiran Ren, Jianhua Lyu, Mejed Jebali, Baili Zhang
{"title":"An AC Contactor Remaining Useful Life Prediction Method based on Degradation Event Analysis","authors":"Yiran Ren, Jianhua Lyu, Mejed Jebali, Baili Zhang","doi":"10.1109/ISAS59543.2023.10164499","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164499","url":null,"abstract":"Predicting the remaining useful life of equipment is crucial to ensure safe operations and is widely used in various industries. Data-driven methods for remaining useful life prediction are efficient and scalable, and have garnered significant attention from researchers. However, existing studies often lack comprehensive analysis of equipment degradation data, resulting in low accuracy and reliance on large sample sizes. AC contactors are extensively used in power systems and industrial settings, but their complex structure and operation make traditional maintenance methods impractical. To address these challenges, we propose a novel method for predicting the remaining useful life of AC contactor equipment. Our approach estimates remaining useful life by assessing the impact of degradation events on equipment’s life loss value. By constructing a degradation index, extracting relevant degradation events, matching them to reference events, and estimating remaining useful life, we accurately predict the remaining life of AC contactors. Extensive comparative experiments demonstrate the effectiveness of our proposed method.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128795014","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
A blockchain based industrial internet of things enterprise supervision method 一种基于区块链的工业物联网企业监管方法
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164568
Wang Chang, Weifeng Zhai, Xiangyu Han, Zhou Meng
{"title":"A blockchain based industrial internet of things enterprise supervision method","authors":"Wang Chang, Weifeng Zhai, Xiangyu Han, Zhou Meng","doi":"10.1109/ISAS59543.2023.10164568","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164568","url":null,"abstract":"Aiming at the lack of a feasible and efficient regulatory mechanism between the users, suppliers and the government of smart devices in the context of Industry 4.0, this paper proposes a new regulatory technology for industrial internet of things enterprises based on blockchain technology. Under the Hyperledger Fabric architecture, a big data regulatory system for industrial Internet of Things enterprises is constructed, which can deepen the reform of the data transmission and governance mode among manufacturers and improve the intelligent supervision of the industrial internet of things.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129965377","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
Distribute consensus control for underactuated AUVs system based on disturbance observer 基于扰动观测器的欠驱动auv系统分布一致控制
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164551
Haoqian Huang, Ruitong Liu, Yunfei Jin, Mengdie Zhang
{"title":"Distribute consensus control for underactuated AUVs system based on disturbance observer","authors":"Haoqian Huang, Ruitong Liu, Yunfei Jin, Mengdie Zhang","doi":"10.1109/ISAS59543.2023.10164551","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164551","url":null,"abstract":"The underactuated autonomous underwater vehicles (AUVs) distribute consensus control problem with external disturbances is addressed in this paper. Inspired by previous works, we first reconstruct the underactuated AUV model by choosing the hand position rather than pivot point as the output of system. The new model of underactuated AUV can simplify the controller design, and the tracking errors in three degrees of freedom can be stabilized with two torques easily. Then, a novel fixed-time disturbance observer (DO) which can achieve zero estimation error in the settling time is proposed for each vehicle to determine the external disturbance. Based on the DO, a distributed consensus control for underactuated AUVs is proposed by combining the backstepping and fixed-time techniques. Ultimately, one simulation example is provided to validate the performance of controller.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126073003","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
Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator 自由漂浮空间机械臂的定时终端滑模控制
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164509
M. Hu, Xuebo Yang, Hanlin Dong, Yimu Jiang
{"title":"Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator","authors":"M. Hu, Xuebo Yang, Hanlin Dong, Yimu Jiang","doi":"10.1109/ISAS59543.2023.10164509","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164509","url":null,"abstract":"This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where the sliding surface is supposed to be reachable and the irrelevance between convergence time and system states’ initial value is proved. Meanwhile, the uncertainties during modeling are well suppressed through the proposed robust control algorithm. At last, the Lyapunov stability theory is adopted to verify the fixed-time convergence of the closed-loop FFSM system. Simulation experiments taking a 6-DOF FFSM validate the effectiveness of the proposed control scheme.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130899591","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
Adaptive output feedback control for nonlinear multi-agent systems with actuator failures 具有执行器故障的非线性多智能体系统的自适应输出反馈控制
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164397
Fei Zhu, Yue Wang, Xiandong Chen
{"title":"Adaptive output feedback control for nonlinear multi-agent systems with actuator failures","authors":"Fei Zhu, Yue Wang, Xiandong Chen","doi":"10.1109/ISAS59543.2023.10164397","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164397","url":null,"abstract":"In this paper, the adaptive output feedback control is applied to investigate the global leader-follower consensus problem for a kind of nonlinear multi-agent systems subject to actuator failures. Firstly, introducing the first coordinate transformation to convert the unknown coefficient of the failures about the actuator into the unknown constant Lipschitz conditions of the multi-agent systems. Secondly, using the second coordinate transformation to make the consensus problem of the considered system into a stability problem. Immediately, the concemed system is turned into a system that is easy to find Lyapunov function after the third coordinate transformations. Finally, a series of adaptive output feedback controllers are constructed, which can address the problem of global leader-follower consensus and realize the ability to regulate the following error of each follower’s output signal. Additionally, the simplicity and effectiveness of the presented technique are verified by mathematical simulation results.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"44 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134640023","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
Challenges of Autonomous Navigation and Perception Technology for Unmanned Special Vehicles in Underground Mine 地下矿山无人专用车辆自主导航与感知技术的挑战
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164322
Xiaowei Xu, L. Li, Wenhua Jiao, Qing Zhang
{"title":"Challenges of Autonomous Navigation and Perception Technology for Unmanned Special Vehicles in Underground Mine","authors":"Xiaowei Xu, L. Li, Wenhua Jiao, Qing Zhang","doi":"10.1109/ISAS59543.2023.10164322","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164322","url":null,"abstract":"Autonomous navigation and perception technology in underground mine is an important basis for the development of “digital mine”. Traditional vehicle navigation and positioning methods have some problems, such as simple model, poor environmental adaptability and single information source, which cannot meet the requirements of high-precision autonomous navigation index in harsh environment in underground mine. By introducing the development history of navigation technology, this paper summarizes the development background of underground navigation and challenges faced by underground navigation at present. In this paper, the key points and difficulties faced by underground navigation are analyzed. The problems and development trend of underground navigation are discussed in combination with the sensors commonly used in autonomous high-precision navigation.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134479243","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
Trajectory Optimization of Two-phase Mars Aerocapture Using the hp-Adaptive Pseudospectral Method 基于hp-自适应伪谱法的两相火星大气捕获轨迹优化
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164349
Feng Xiangdong, Han Hongwei, Chen Jilin
{"title":"Trajectory Optimization of Two-phase Mars Aerocapture Using the hp-Adaptive Pseudospectral Method","authors":"Feng Xiangdong, Han Hongwei, Chen Jilin","doi":"10.1109/ISAS59543.2023.10164349","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164349","url":null,"abstract":"The research on aerocapture and aeromaneuver for the Mars mission has long been studied due to its fuel advantage. In this paper, a two-phase aerocapture insertion scheme is proposed, which consists of two atmospheric flights and two Kepler orbital flights. On this basis, the optimal control problem of two phases is constructed with the bank angle, the impulse at the apoapsis and the insertion impulse as the control variables. The detailed derivation of the complex interior point constraint and the endpoint constraint is given. After that, the optimization problem is solved using pseudospectral method numerically. Compared with the traditional single-phase aerocapture scheme, it is found that the two-phase aerocapture has lower peaks of heating rate, dynamic pressure, and load factor, which means lower protection cost and fuel consumption cost for Mars mission.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132480715","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
Weapon Launch Decision-Making of Armed Helicopters Based on Improved RWS-WOA Algorithm 基于改进RWS-WOA算法的武装直升机武器发射决策
2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI: 10.1109/ISAS59543.2023.10164293
Zeyu Zhou, Yuhui Wang, Qingxian Wu, Mou Chen, Tongle Zhou
{"title":"Weapon Launch Decision-Making of Armed Helicopters Based on Improved RWS-WOA Algorithm","authors":"Zeyu Zhou, Yuhui Wang, Qingxian Wu, Mou Chen, Tongle Zhou","doi":"10.1109/ISAS59543.2023.10164293","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164293","url":null,"abstract":"To meet the aiming attack requirement in the high maneuvering flight of armed helicopters, a weapon launch decision-making scheme for armed helicopters is proposed in this paper based on an improved roulette wheel selection whale optimization algorithm (RWS-WOA). The weapon launch decision-making is to obtain the best weapon launch envelope and the best attack point on the guide trajectory. Based on an integrated fire/flight control system and the air-ground combat situation assessment, a priority function of the weapon launch envelope is established. The weapon launch envelope is the prior range on the guide trajectory. Then, according to the requirement of quickness and accuracy, an improved RWS-WOA is introduced, which is efficient to explore potential envelopes and converge to the optimal solution. Finally, the effectiveness of the proposed method is verified by a simulation example.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123336246","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
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