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| 1 | New development thoughts on the bio-inspired intelligence based control for unmanned combat aerial vehicle显示文摘Bio-inspired intelligence is in the spotlight in the field of international artificial intelligence,and unmanned combat aerial vehicle(UCAV),owing to its potential to perform dangerous,repetitive tasks in remote and hazardous,is very promising for the technological leadership of the nation and essential for improving the security of society.On the basis of introduction of bioinspired intelligence and UCAV,a series of new development thoughts on UCAV control are proposed,including artificial brain based high-level autonomous control for UCAV,swarm intelligence based cooperative control for multiple UCAVs,hy-brid swarm intelligence and Bayesian network based situation assessment under complicated combating environments, bio-inspired hardware based high-level autonomous control for UCAV,and meta-heuristic intelligence based heterogeneous cooperative control for multiple UCAVs and unmanned combat ground vehicles(UCGVs).The exact realization of the proposed new development thoughts can enhance the effectiveness of combat,while provide a series of novel breakthroughs for the intelligence,integration and advancement of future UCAV systems. | DUAN HaiBin 1 ,SHAO Shan 2 ,SU BingWei 3 &ZHANG Lei 41 State Key Laboratory of Science and Technology on Holistic Flight Control,School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics,Beijing 100191,China 2 Flight Control Department,Shenyang Aircraft Design and Research Institute,Shenyang 110035,China 3 Beijing Institute of Near Space Vehicle’s System Engineering,Beijing 100076,China 4Integration and Project Section,Air Force Equipment Academy,Beijing 100085,China | 2010 | Science China(Technological Sciences)2010，53，8： | 32 |
| 2 | Max-Min Adaptive Ant Colony Optimization Approach to Multi-UAVs Coordinated Trajectory Replanning in Dynamic and Uncertain Environments显示文摘Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicatedglobal optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVscoordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinatedfunction and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented indetail. In view of the characteristics of multi-UAVs coordinated trajectory replanning in dynamic and uncertain environments,the minimum and maximum pheromone trails in ACO are set to enhance the searching capability, and the point pheromone isadopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrivaland the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocityof each UAV are determined. Simulation experiments are performed under the complicated combating environment containingsome static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach. | Hai-bin Duan,Xiang-yin Zhang,Jiang Wu,Guan-jun MaSchool of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,P.R.China | 2009 | Journal of Bionic Engineering2009，6，2： | 33 |
| 3 | A New Discipline of Science-The Study of Open Complex Giant System and Its Methodology显示文摘This paper introduces the conception of open complex giant system and the methodology for dealing with the system, with stress on its profound significance in development of science and technology. The authors conclude that the reductionism underlying the exact science is not suitable to open complex giant system, and the only feasible alternative is the meta-synthetic engineering from the qualitative to the quantitative. | Qian XuesenChina Association for Science and Technology, Beijing 100863, ChinaYu JingyuanBeijing Institute of Information and Control, P.O.Box 824, Beijing 100037, ChinaDai RuweiInstitute of Automation, Chinese Academy of Sciences, Beijing 100080, China | 1993 | Journal of Systems Engineering and Electronics1993，4，2： | 28 |
| 4 | The Simulation of Grinding Wheels and Ground Surface Roughness Based on Virtual Reality Technology显示文摘The paper describes the feasibility and method of the application of virtual reality technology to grinding process, and introduces the modeling method of object entity in the environment of virtual reality. The simulation process of grinding wheels and ground surface roughness is discussed, and the computation program system of numerical simulation is compiled with Visual C++ programming language. At the same time, the three-dimensional simulation models of grinding wheels and ground surface roughness are made with OpenGL tool. The choice of grinding wheels, the forecast of ground surface quality and some simulation results can be realized by interactively inputting grinding parameters. The paper applies virtual reality technology to grinding process,makes the model of virtual grinding wheel and simulates the grinding process. The roughness of ground surface is showed in three-dimensional images, and therefore the grinding technology is studied. Computer simulation can not only be used as a shortcut to analyze and research the grinding process, but also increase the research scope and content. The virtual reality technology used in the paper is an advanced visualized simulation with interaction. The surface roughness Ra on simulated ground workpiece can be calculated by the arithmetic average of contour warp absolute value in sampling length of simulated ground workpiece. The parameters of virtual wheel and simulated grinding process can be changed by interaction input, so the simulated results in the desired grinding condition are gained. The effect of each parameter to ground surface can be analyzed by comparing the grinding results in different condition. | GONG Ya-dong, WANG Bin, WANG Wan-Shan (School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China) | 2002 | 厦门大学学报(自然科学版)2002，41，S1： | 25 |
| 5 | Research on the mechanics of underwater supersonic gas jets显示文摘An experimental research was carried out to study the fluid mechanics of underwater supersonic gas jets. High pressure air was injected into a water tank through converging-diverging nozzles (Laval nozzles). The jets were operated at different conditions of over-, full- and under-expansions. The jet sequences were visualized using a CCD camera. It was found that the injection of supersonic air jets into water is always accompanied by strong flow oscillation, which is related to the phenomenon of shock waves feedback in the gas phase. The shock wave feedback is different from the acoustic feedback when a supersonic gas jet discharges into open air, which causes screech tone. It is a process that the shock waves enclosed in the gas pocket induce a periodic pressure with large amplitude variation in the gas jet. Consequently, the periodic pressure causes the jet oscillation including the large amplitude expansion. Detailed pressure measurements were also conducted to verify the shock wave feedback phenomenon. Three kinds of measuring methods were used, i.e., pressure probe submerged in water, pressure measurements from the side and front walls of the nozzle devices respectively. The results measured by these methods are in a good agreement. They show that every oscillation of the jets causes a sudden increase of pressure and the average frequency of the shock wave feedback is about 5–10 Hz. | SHI HongHui1, WANG BoYi2 & DAI ZhenQing2 1 College of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China 2 State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, China | 2010 | Science China(Physics,Mechanics & Astronomy)2010，53，3： | 22 |
| 6 | On the new results of global attractive set and positive invariant set of the Lorenz chaotic system and the applications to chaos control and synchronization显示文摘Constructing a family of generalized Lyapunov functions, a new method is proposed to obtain new global attractive set and positive invariant set of the Lorenz chaotic system. The method we proposed greatly simplifies the complex proofs of the two famous estimations presented by the Russian scholar Leonov. Our uniform formula can derive a series of the new estimations. Employing the idea of intersection in set theory, we extract a new Leonov formula-like estimation from the family of the estimations. With our method and the new estimation, one can confirm that there are no equilibrium, periodic solutions, almost periodic motions, wandering motions or other chaotic attractors outside the global attractive set. The Lorenz butterfly-like singular attractors are located in the global attractive set only. This result is applied to the chaos control and chaos synchronization. Some feedback control laws are obtained to guarantee that all the trajectories of the Lorenz systems track a periodic solution, or globally stabilize an unstable (or locally stable but not globally asymptotically stable) equilibrium. Further, some new global exponential chaos synchronization results are presented. Our new method and the new results are expected to be applied in real secure communication systems. | LIAO Xiaoxin 1, 2, 3 , FU Yuli 4 & XIE Shengli 4 1. Department of Control Science & Control Engineering, Huazhong University of Science & Technology, Wuhan 430074, China 2. School of Automation, Wuhan University of Science & Technology, Wuhan 430070, China 3. School of Information, Central South University of Economy, Politics and Law, Wuhan 430064, China 4. School of Electronics & Information Engineering, South China University of Technology, Guangzhou 510640, China Correspondence should be addressed to Liao Xiaoxin (email: xiaoxin_liao@hotmail.com) | 2005 | Science in China(Series F)2005，48，3： | 23 |
| 7 | Receding horizon control for multi-UAVs close formation control based on differential evolution显示文摘Close formation flight is one of the most complicated problems on multi-uninhabited aerial vehicles (UAVs) coordinated control. Based on the nonlinear model of multi-UAVs close formation, a novel type of control strategy of using hybrid receding horizon control (RHC) and differential evolution algorithm is proposed. The issue of multi-UAVs close formation is transformed into several on-line optimization problems at a series of receding horizons, while the differential evolution algorithm is adopted to optimize control sequences at each receding horizon. Then, based on the Markov chain model, the convergence of differential evolution is proved. The working process of RHC controller is presented in detail, and the stability of close formation controller is also analyzed. Finally, three simulation experiments are performed, and the simulation results show the feasibility and validity of our proposed control algorithm. | ZHANG XiangYin, DUAN HaiBin & YU YaXiang National Key Laboratory of Science and Technology on Holistic Control, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China | 2010 | Science China(Information Sciences)2010，53，2： | 22 |
| 8 | Chebyshev Fitting Way and Error Analysis for Propeller Atlas across Four Quadrants显示文摘A Chebyshev fitting way for a propeller atlas across four quadrants is discussed. As an example, Chebyshev polynomialfitting results and its error analysis are given. Because it’s difficult generally to get a propeller atlas across four quadrants,a wayis used to construct an alternative with higher accuracy based on the properties. As an application example, an alternative forthe propeller property of a Deep Submergence Vebicle across four quadrants is given practically and a simulation model of | LI Dian-pu, WANG Zong-yi, CHI Hai-hong College of Automation , Harbin Engineering University, Harbin 150001, China | 2002 | Journal of Marine Science and Application2002，1，1： | 20 |
| 9 | Evolutionary decision-makings for the dynamic weapon-target assignment problem显示文摘The dynamic weapon-target assignment (DWTA) problem is an important issue in the field of military command and control. An asset-based DWTA optimization model was proposed with four kinds of constraints considered, including capability constraints, strategy constraints, resource constraints and engagement feasibility constraints. A general 'virtual' representation of decisions was presented to facilitate the generation of feasible decisions. The representation is in essence the permutation of all assignment pairs. A construction procedure converts the permutations into real feasible decisions. In order to solve this problem, three evolutionary decision-making algorithms, including a genetic algorithm and two memetic algorithms, were developed. Experimental results show that the memetic algorithm based on greedy local search can generate obviously better DWTA decisions, especially for large-scale problems, than the genetic algorithm and the memetic algorithm based on steepest local search. | CHEN Jie1,2, XIN Bin1,2, PENG ZhiHong1,2, DOU LiHua1,2 & ZHANG Juan1,2 1 School of Automation, Beijing Institute of Technology, Beijing 100081, China 2 Key Laboratory of Complex System Intelligent Control and Decision, Ministry of Education, Beijing 100081, China | 2009 | Science in China(Series F)2009，52，11： | 19 |
| 10 | Developing Linux kernel space device driver显示文摘This thesis introduces how to develop kernel level device driver on Linux platform in detail. On the basis of comparing proc file system with dev file system, we choose PCI device and USB device as instances to introduce the method of writing device driver for char devices by using these two file systems. | Rockwell Automation Lab, Guangdong University of Technology, Guangzhou, China) Zheng,Wei Wang,Qinruo Wu,Naiyou | 2003 | 微计算机信息2003，19，12： | 18 |
| 11 | Unmanned air/ground vehicles heterogeneous cooperative techniques:Current status and prospects显示文摘Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue tasks.This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual applications.The main problems and future directions in this field were also analyzed in detail.These innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems. | DUAN HaiBin & LIU SenQi National Key Laboratory of Science and Technology on Holistic Flight Control,School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China | 2010 | Science China(Technological Sciences)2010，53，5： | 16 |
| 12 | An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals显示文摘When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a highdexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplishthe actuation tasks.This paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac-tuated mechanism and a forearm myocontrol EMG method.The AR hand Ⅲ has five fingers and 15 joints,and actuated by threeembedded motors.Underactuation can be found within each finger and between the rest three fingers (the middle finger,the ringfinger and the little finger) when the hand is grasping objects.For the EMG control,two specific methods are proposed:thethree-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on astatistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef-fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established basedon two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog-nition of the active modes.As a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delayless than 100 ms. | Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.China2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.China4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.China | 2009 | Journal of Bionic Engineering2009，6，3： | 16 |
| 13 | THE M/M/c QUEUE WITH PH SYNCHRONOUS VACATIONS显示文摘1.IntroductionRecently,singleserverqueueswithvacationshavebeenstudiedextensivelyfromtheirowntheoreticalinterestaswellastheirapplicationstomanyengineeringsystemssuchascomputers,communicationnetworksandmanufacturingsystems.FOrtheM/G/lqueueingsystemswit... | TIAN Nai shuo (Department of Mathematics, Yanshan University, Qinhuangdao 066004,China) LI Quan lin (National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China) | 2000 | Systems Science and Mathematical Sciences2000，13，1： | 13 |
| 14 | Study on Quenching and Tempering Process of Q960 High Strength Steel for Construction Machinery显示文摘To develop the Q960 high-strength quenched and tempered steel plates for construction machinery,the effects of quenching and tempering treating regime on the microstructures and mechanical properties were investigated.The results show that the perfect austenization and fine grain size can be achieved by the optimum quenching process that is quenching temperature 900℃ and holding time 20min.Considering performance and production efficiency,the optimum tempering process parameters are found that tempering temperature 600℃ and holding time 40min.The excellent overall properties of specimens with tempered sorbite microstructure can be ultimately obtained.The yield strength is 1030MPa,tensile strength 1080MPa,percentage elongation 16.8% and the Charpy impact energy 144J at-40℃.All these indexes come up to the National Standard GB/T 16270-2009. | WANG Zhao-dong 1,KANG Jian 1,LU Feng 1,2,DENG Xiang-tao 1,WANG Chao 1,WANG Guo-dong 1 (1.State Key Lab of Rolling and Automation,Northeastern University,Shenyang 110004,Liaoning,China 2.Wide Heavy Plate Project Department of Tangshan Iron and Steel Corporation,Tangshan 063000,Hebei,China) | 2011 | Journal of Iron and Steel Research(International)2011，18，S1： | 13 |
| 15 | Tension and Thickness Control Strategy Analysis of Two Stands Reversible Cold Rolling Mill显示文摘In order to lucubrate the rolling characteristic of the two stands reversible cold rolling mill and establish the tension and thickness control strategy, the steady-state characteristic simulating program was established using the steady-state continuous rolling theory. The influences of each factor on exit thickness under different tension control methods were analyzed. The results show that, the influence of the entry stand gap on exit thickness is significant and it changes little with different tension control methods. As a result, the entry stand gap can be used as the main control method of exit thickness, whereas rolling speed of any stand and roll gap of the exit stand can be used to adjust the inter-stand tension. The results are beneficial for thickness and tension control of the two stands reversible cold rolling mill. | LIU Guang-ming1, DI Hong-shuang2, ZHOU Cun-long1, LI Hong-cui3, LIU Jiang3 (1. College of Materials Science and Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, Shanxi, China 2. State Key Laboratory of Rolling and Automation, Northeastern University, Shenyang 110819, Liaoning, China 3. Cold Rolling Plant, Jinan Iron and Steel Group Co Ltd, Jinan 250101, Shandong, China) | 2012 | Journal of Iron and Steel Research(International)2012，19，10： | 12 |
| 16 | Synchronization of the four identical unbalanced rotors in a vibrating system of plane motion显示文摘A new mechanism is proposed to implement the synchronization of the four unbalanced rotors in a vibrating system, which consists of a main rigid frame (MRF) and two accessorial rigid frames (ARF). An analytical approach is developed to study the coupling dynamic characteristics of the four unbalanced rotors, which converts the problem of synchronization of the four unbalanced rotors into the existence and the stability of zero solutions for the non-dimensional differential equations of the angular velocity disturbance parameters (NDDEDP). The stability of zero solutions of the NDDEDP is decomposed into that of its generalized system and a system of the three first order differential equations for the disturbance parameters of the phase differences. The coupling dynamic characteristic of the four unbalanced rotors includes the inertia coupling, the stiffness coupling of angular velocity and the load torque coupling. The non-dimensional inertia coupling matrix is symmetric, the non dimensional matrix of the stiffness coupling of angular velocity is antisymmetric and its diagonal elements are all negative. Hence, the general system of the NDDEDP automatically satisfies the generalized Lyapunov equations when the non-dimensional inertia coupling matrix is positive definite and its elements are all positive. Using Routh-Hurwitz criterion the condition of stability of differential equations for the disturbance parameters of the phase differences is obtained. The load torque coupling makes the vibrating system have the dynamic characteristic of selecting motions and self-synchronization of the four unbalanced rotors arises from the dynamic characteristic of selecting motion of the vibrating system. When the two coefficients of coupling cosine effect of phase angles are all greater than 0 and the three indexes of synchronization are all far greater than 1, the vibrating system can implement an elliptical motion of the main rigid frame required in engineering. Numeric results show that the structural parameters of the proposed mechanism can guarantee the non-dimensional inertia matrix to be always positive definite. Computer simulation is carried out to verify the results of the theoretical investigation. | ZHAO ChunYu, WEN BangChun & ZHANG XueLiang School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China | 2010 | Science China(Technological Sciences)2010，53，2： | 12 |
| 17 | Crank conditions and rotatability of 3-RRR planar parallel mechanisms显示文摘This paper investigates the rotatability of planar parallel mechanisms by revealing the crank conditions that relate to link parameters.The paper extends the theorem of assemblability and the rotatability criterion and applies these criteria to parallel mechanisms in investigating the crank conditions of a parallel mechanism,leading to classification of three types of crank existing conditions including three-crank’s,six-crank’s and nine-crank’s of 3-RRR planar parallel mechanisms.The results are summarized as constraint conditions in relation with link parameters with a concluding table and case studies. | LI RuiQin 1 &DAI Jian S 2 1 College of Mechanical Engineering and Automation,North University of China,Taiyuan 030051,China 2 Department of Mechanical Engineering,King’s College London,University of London,WC2R 2LS,UK | 2009 | Science China(Technological Sciences)2009，52，12： | 12 |
| 18 | Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins显示文摘Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms. | ZHOU Han, HU TianJiang*, XIE HaiBin, ZHANG DaiBing & SHEN LinCheng College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China | 2010 | Science China(Technological Sciences)2010，53，11： | 12 |
| 19 | Large field of view computed laminography with the asymmetric rotational scanning geometry显示文摘X-ray computed laminography(CL)is used in the fields of industrial inspection and medical imaging.It can provide the internal structure three-dimensional(3D)information of a region of the objects nondestructively.It is important to the clinical diagnosis and the quality control of flat objects like printed circuit boards,aircraft wings and satellite solar panels.With the restriction that the imaging region must be within the X-ray beam formed by the X-ray source and the detector,the imaging field of view of CL is limited by the size of detector.A new CL method with an asymmetric rotational cone-beam scanning geometry,called large field of view CL,is presented to overcome the existing disadvantage.It can extend the imaging region when the imaging spatial resolution keeps the same as that of the conventional CL.It can also improve the imaging spatial resolution when the imaging region keeps the same as that of the conventional CL.The asymmetric configuration can be achieved by offsetting the detector from the conventional symmetric configuration.It does not,however,require new detectors and X-ray source nor alter the scanning mechanical system.The filtered back-projection(FBP)reconstruction algorithm and the data truncation smoothing functions have been deduced to reconstruct the images directly from the data acquired with this asymmetric configuration.We performed numerical studies and experiments to demonstrate and validate the proposed approach. Results in these studies and experiments confirm that the proposed method can enlarge the imaging region and improve the spatial resolution.The proposed approach may find applications in the CL system with the rotational scanning geometry. | FU Jian 1,2 ,JIANG BaiHong&LI Bin 1 School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China 2 Research Center of Digital Radiation Imaging and Biomedical Imaging,Beihang University,Beijing 100191,China | 2010 | Science China(Technological Sciences)2010，53，8： | 12 |
| 20 | STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM显示文摘A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods. | Tan Dalong, Qiu Zhicheng, Han Jianda (Shenyang Institute of Automation, Chinese Academy of Sciences) | 2000 | Chinese Journal of Mechanical Engineering2000，13，3： | 12 |
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