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2017 IEEE National Aerospace and Electronics Conference (NAECON)最新文献

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Dynamic modeling and nonlinear model predictive control of hybrid actuator systems 混合动力作动器系统的动态建模与非线性模型预测控制
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268756
Seyed Ata Raziei, Zhenhua Jiang
Hybrid actuators can provide better performances than hydraulic or electromechanical actuators alone; however, control of these hybrid systems is more challenging. This paper presents the application of model predictive control (MPC) on a hybrid actuator system to coordinate multiple control objectives. MPC has advantages over traditional controllers such as a PID in controlling non-linear multi-input, multi-output systems. MPC proactively updates the control inputs in a specific time interval by observing the current state of the system, predicting the future behavior, and solving an optimization problem repeatedly with consideration of pre-defined control objectives. In this paper, a high-fidelity dynamic model of the hybrid actuator system will be developed and a simplified, reduced-order model will be derived for use in the MPC formulation process. The detailed process of designing an MPC controller, which may consist of mathematical formulation of an optimization problem and numerical methods to find the optimal solution, will be discussed in detail. Simulation results will be presented to compare the performances of the MPC with PID controllers, and the effects of different controller parameters on the system performances will be discussed.
混合执行机构比单独的液压或机电执行机构提供更好的性能;然而,这些混合系统的控制更具挑战性。本文介绍了模型预测控制在混合作动器系统中的应用,以协调多个控制目标。MPC在控制非线性多输入、多输出系统方面比传统的PID等控制器有优势。MPC通过观察系统的当前状态,预测未来行为,并在考虑预定义的控制目标的情况下反复解决优化问题,从而在特定的时间间隔内主动更新控制输入。本文将建立一个高保真的混合动力作动器系统动力学模型,并推导出一个简化的降阶模型,用于MPC的制定过程。本文将详细讨论MPC控制器的设计过程,包括优化问题的数学公式和求最优解的数值方法。仿真结果将比较MPC与PID控制器的性能,并讨论不同控制器参数对系统性能的影响。
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引用次数: 2
Convolutional neural networks on small unmanned aerial systems 卷积神经网络在小型无人机系统中的应用
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268760
Joshua M. Kaster, James Patrick, H S Clouse
In the revolutionary field of deep learning many difficult computer vision challenges of today are being impressively overcome by the application of these cutting edge technologies. The challenge of detecting vehicular objects from aerial imagery is a long-standing interest in computer vision. Performing this accurately in real-time while utilizing the payload bay of a small unmanned aerial system (SUAS) is even more desirable and challenging. In this work, these challenges are successfully surmounted with the use of Faster R-CNN [1], a highly cultivated aerial image dataset, supercomputers, and a dedicated team of SUAS experts. By first training Faster R-CNN on a customized dataset of electro-optical (EO) annotated aerial imagery then empirically testing on supercomputers across hundreds of hyperparameters, the resulting optimized network was successfully integrated into established SUAS operations. This combination of cutting edge technologies lead to strong performance while requiring a fraction of the development time and meeting strict in-flight SWaP requirements.
在深度学习这一革命性的领域,当今许多困难的计算机视觉挑战正在通过这些前沿技术的应用得到令人印象深刻的克服。从航空图像中检测车辆目标的挑战是计算机视觉的长期兴趣。在利用小型无人机系统(SUAS)的有效载荷舱的同时,实时准确地执行这一任务更加可取和具有挑战性。在这项工作中,通过使用Faster R-CNN[1],高度培养的航空图像数据集,超级计算机和专门的SUAS专家团队,成功克服了这些挑战。通过首先在定制的光电(EO)注释航空图像数据集上训练Faster R-CNN,然后在超级计算机上对数百个超参数进行经验测试,最终优化的网络成功集成到已建立的SUAS操作中。这种尖端技术的结合带来了强大的性能,同时只需要一小部分开发时间,并满足严格的飞行SWaP要求。
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引用次数: 6
A new model for simulation of scattered EM fields from a conducting cylinder in rotation and translation using static data 用静态数据模拟导电圆柱旋转和平移散射电磁场的新模型
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268775
Esmail M. M. Abuhdima, R. Penno
Simulation of the rotation and translation of a very good conducting cylinder upon the backscattered field of an incident plane wave (H-wave) is investigated using the Franklin transformation and the Lorentz transformation. It is seen that both phase and magnitude of the backscattered field are affected during the movement (rotation and translation) of the very good conducting cylinder. FEKO is used to generate static backscattered field data of the complex object, and then this data is inserted into the proposed model to demonstrate simulation of rotation and translation. Also, this result is compared with the analytical method.
利用富兰克林变换和洛伦兹变换,研究了在入射平面波(h波)后向散射场作用下导体圆柱体的旋转和平移。可见,在极导电性圆柱的运动(旋转和平移)过程中,后向散射场的相位和大小都受到影响。利用FEKO生成复杂目标的静态后向散射场数据,然后将这些数据插入到所提出的模型中进行旋转和平移的仿真。并将所得结果与解析法进行了比较。
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引用次数: 3
Optimal sensor geometry for tomographic below ground imaging of objects in a region of interest 对感兴趣区域的物体进行层析成像的最佳传感器几何形状
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268788
Abdulhakim Daluom, M. Wicks, H. Abdelbagi, Abdunaser Abdusamad, Muftah Akroush, Turki M. Alanazi
In this paper, we present a unique Ground Penetrating Radar (GPR) technique currently under development to image deeply buried targets over relatively small areas of regard. This GPR computes the optimal sensor geometry for a given bistatic and multi-static radar distribution of transmitters and receivers operating in the microwave band of frequencies. There are M receivers, and they can be arranged arbitrarily. In addition to that, we have N transmitters that we can also arrange in the same way. Each receiver can process all frequencies from the multiple transmitters. The transmitters are deployed above ground, while the receivers are in the space between the surface of the ground and the multitude of transmitters. Radio frequency (RF) tomography is developed using Green's functions and Maxwell's equations to develop an algorithm for imaging underground targets. The targets are assumed to be inside a region of interest (ROI). The design includes different transmitter (Tx) and receiver (Rx) geometries, such as concentric circles and concentric squares. Based on these different geometries we determine which distribution is best for imaging depths of shallow buried targets. Also, the development of the optimal sensor geometry is investigated in order to provide the best configurations and increase overall tomographic imagery. Simulation results show excellent performance in the absence of significant unknown disturbances.
在本文中,我们提出了一种目前正在开发的独特的探地雷达(GPR)技术,用于在相对较小的区域内对深埋目标进行成像。该GPR计算在微波频段工作的发射器和接收器的给定双基地和多基地雷达分布的最佳传感器几何形状。接收器有M个,可以任意排列。除此之外,我们还有N个发射器,我们也可以以同样的方式排列。每个接收器可以处理来自多个发射器的所有频率。发射机部署在地面上,而接收机则位于地面表面和众多发射机之间的空间中。射频层析成像是利用格林函数和麦克斯韦方程开发的一种地下目标成像算法。假设目标位于感兴趣区域(ROI)内。该设计包括不同的发射器(Tx)和接收器(Rx)几何形状,如同心圆和同心圆正方形。基于这些不同的几何形状,我们确定哪种分布最适合浅埋目标的成像深度。此外,为了提供最佳配置和提高整体层析成像,研究了最佳传感器几何形状的发展。仿真结果表明,在没有明显未知干扰的情况下,该算法具有良好的性能。
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引用次数: 3
Differential flatness based hybrid PID/LQR flight controller for complex trajectory tracking in quadcopter UAVs 基于差分平坦度的PID/LQR混合飞行控制器在四轴无人机复杂轨迹跟踪中的应用
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268755
Rumit Kumar, Matthew Dechering, Abhishek Pai, Austin Ottaway, Mohammadreza Radmanesh, Manish Kumar
In this paper, we present a differential flatness based hybrid flight controller for the quadcopter UAV. The combination of conventional PID based controller with the full state feedback based LQR controller results in the proposed hybrid controller. The performance of the resulting controller is further enhanced by using differential flatness based feedforward control. The UAV with a hybrid flight controller is considered as the balance between stability and maneuverability, which makes it suitable for complex trajectory following applications. The dynamic model and the flight controller has been verified by means of numerical simulations for flight conditions involving complex maneuvers.
本文提出了一种基于差分平面度的四轴无人机混合飞行控制器。将传统的基于PID的控制器与基于全状态反馈的LQR控制器相结合,形成混合控制器。采用基于差分平面度的前馈控制进一步提高了控制器的性能。采用混合飞行控制器的无人机兼顾了稳定性和机动性,适用于复杂的轨迹跟踪应用。通过复杂机动飞行条件下的数值仿真,验证了动力学模型和飞行控制器的正确性。
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引用次数: 8
A wideband mmWave antenna element with an unbalanced feed 不平衡馈电的宽带毫米波天线元件
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268771
D. Landgren, Kevin R. Cook, D. Dykes, J. Perez, P. R. Bowden, K. Allen
In this article an ultra-wideband (UWB), millimeter wave (mmWave) fragmented antenna with a single feed point is presented. The conductor region of the antenna aperture is approximately 0.5 mm by 2.0 mm or 0.07 λ × 0.25 λ at the shortest wavelength of operation. The antenna was fabricated on a 1.97 mm thick Rogers 5880LZ substrate using standard etching processes. Prior to fabrication, the antenna design was simulated across two different full-wave electromagnetic (EM) solvers, HFSS and GTRI's in-house finite-difference time-domain (FDTD) code; the two codes were in close agreement. The antenna prototype was characterized for reflection coefficient, realized gain, and principle plane patterns. These measurements closely agree with EM predictions.
本文提出了一种单馈点的超宽带毫米波碎片天线。在最短工作波长下,天线孔径的导体区域约为0.5 mm × 2.0 mm或0.07 λ × 0.25 λ。采用标准蚀刻工艺在1.97 mm厚的Rogers 5880LZ衬底上制作天线。在制造之前,天线设计在两种不同的全波电磁(EM)求解器(HFSS和GTRI内部有限差分时域(FDTD)代码)上进行了模拟;这两种准则非常一致。对天线样机进行了反射系数、实现增益和主平面方向图的表征。这些测量结果与EM预测非常吻合。
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引用次数: 8
An efficient FPGA-based direct linear solver 一种高效的基于fpga的直接线性求解器
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268762
Zhenhua Jiang, Sayed Ata Raziei
This paper presents a novel method to finding the solution to a system of linear equations efficiently by using a reconfigurable hardware based real-time computational solver. The presented linear solver is to directly solve the system of linear equations through repetitively applying Gauss-Jordan elimination to each column of an augmented matrix in parallel on reconfigurable hardware, which can greatly accelerate the solution procedure. Backward substitution is not needed, so the computing latency can be further reduced. The main components of the hardware solver include parallel data processing modules, reusable memory blocks and flexible control logic units. By considering pivoting, this solver can avoid the potential problem of increasingly-large numbers after row operations. The salient feature is that the latency of this solver is really low through parallel processing, deep pipelining and flexible use of memory blocks. For instance, the total latency of this linear solver is controlled below 1000 clock cycles for a dense system of dimension 32. On a Xilinx Vertex 6 FPGA of 200MHz, which has a clock cycle of 5ns, the minimum latency can be as low as 5 microseconds. Applications of this hardware accelerated linear solver may include, but are not limited to, real-time least square estimation for sensor data, digital signal / video processing and real-time circuit simulation. It can also find wide applications in mathematical computing such as finding the inverse of a matrix, computing determinants or ranks of matrices, etc.
本文提出了一种利用可重构硬件实时计算求解器高效求解线性方程组的新方法。所提出的线性求解器是在可重构硬件上对增广矩阵的每列并行重复应用高斯-约当消元法直接求解线性方程组,大大加快了求解速度。不需要向后替换,因此可以进一步减少计算延迟。硬件求解器的主要组成部分包括并行数据处理模块、可重用存储模块和灵活的控制逻辑单元。通过考虑旋转,该求解器可以避免行运算后数字越来越大的潜在问题。突出的特点是,通过并行处理、深度流水线和灵活使用内存块,该求解器的延迟非常低。例如,对于32维的密集系统,这个线性求解器的总延迟被控制在1000个时钟周期以下。在200MHz的Xilinx Vertex 6 FPGA上,时钟周期为5ns,最小延迟可以低至5微秒。该硬件加速线性求解器的应用可能包括但不限于传感器数据的实时最小二乘估计,数字信号/视频处理和实时电路仿真。它也可以在数学计算中找到广泛的应用,例如求矩阵的逆,计算矩阵的行列式或秩等。
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引用次数: 9
Nonlinear adaptive control for lateral dynamics with fixed roll angle of hypersonic vehicles at subsonic speeds 高超声速飞行器亚声速下固定横摇角横向动力学非线性自适应控制
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268757
Turki Alsuwian, R. Ordóñez, L. Jacobsen
Hypersonic vehicles are complex nonlinear systems with uncertain dynamics. This work presents a robust nonlinear adaptive (NA) control system for the operation of these vehicles at subsonic speeds. The complexity of the dynamic system is considered in the design, in order to address robustness issues. In this work, we only consider lateral dynamics with a fixed roll angle (five degree of freedom, or 5-DOF). These dynamics are divided into subsystems for aircraft speed, flight-path angle, and yaw angle. A robust NA control design is implemented to provide asymptotic tracking regulation of these output quantities. Adaptation is employed in this study because of its robustness properties. The stability analysis is performed based on a Lyapunov function for the feedback closed-loop system. Simulations of the design indicates that it successfully provides flight control.
高超声速飞行器是具有不确定动力学特性的复杂非线性系统。本文提出了一种鲁棒非线性自适应(NA)控制系统,用于这些飞行器在亚音速下的运行。为了解决鲁棒性问题,在设计中考虑了动态系统的复杂性。在这项工作中,我们只考虑具有固定滚转角(五自由度,或5-DOF)的横向动力学。这些动力学根据飞机速度、航迹角和偏航角划分为子系统。鲁棒神经网络控制设计实现了这些输出量的渐近跟踪调节。由于自适应具有鲁棒性,本研究采用了自适应。基于Lyapunov函数对反馈闭环系统进行了稳定性分析。仿真结果表明,该设计成功地提供了飞行控制。
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引用次数: 0
Cognitive domain ontologies in a memristor crossbar architecture 忆阻器交叉栅结构中的认知域本体
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268748
C. Yakopcic, Nayim Rahman, Tanvir Atahary, T. Taha, Scott Douglass
Cognitive agents are typically utilized in autonomous systems for automated decision making. These systems interact at real time with their environment and are generally heavily power constrained. Thus, there is a strong need for a real time agent running on a low power platform. This paper examines how some of the components of a cognitive agent can be executed in memristor crossbar circuits capable of highly parallel instruction execution. The agent examined is the Cognitively Enhanced Complex Event Processing (CECEP) architecture. This is an autonomous decision support tool that reasons like humans and enables enhanced agent-based decision-making. It has applications in a large variety of domains including autonomous systems, operations research, intelligence analysis, and data mining. One of the most time consuming and key components of CECEP is the mining of knowledge from a repository described as a Cognitive Domain Ontology (CDO). We show that CDOs can be implemented using memristor crossbars using two different approaches. The first is a lookup table approach that is stored in a high density memristor matching circuit. The second in a multilayer perceptron implementation that uses an ex-situ memristor based neuromorphic system. In each case, the example CDOs are implemented successfully.
认知代理通常用于自主系统中的自动决策。这些系统与环境实时交互,通常受到严重的功率限制。因此,非常需要在低功耗平台上运行实时代理。本文研究了如何在具有高度并行指令执行能力的忆阻交叉电路中执行认知代理的某些组件。所研究的主体是认知增强复杂事件处理(CECEP)架构。这是一个自主决策支持工具,可以像人类一样进行推理,并增强基于代理的决策。它在很多领域都有应用,包括自治系统、运筹学、智能分析和数据挖掘。CECEP最耗时和最关键的组成部分之一是从称为认知领域本体(CDO)的存储库中挖掘知识。我们展示了cdo可以使用两种不同的方法使用忆阻交叉棒来实现。第一种是存储在高密度忆阻器匹配电路中的查找表方法。第二种是多层感知器的实现,使用基于非原位记忆电阻的神经形态系统。在每种情况下,示例cdo都成功实现了。
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引用次数: 7
New high-extinction wire-grid polarizers for polarimetrie W-band radar 偏振w波段雷达用新型高消光线栅偏振器
Pub Date : 2017-06-01 DOI: 10.1109/NAECON.2017.8268797
W.-D. Zhang, A. Mingardi, E. R. B. Terahertz
In planar substrate-based wire grid polarizers, it has been found that high extinction ratio (∼60 dB) and low insertion loss (a few dB) can be achieved if the fill-factor (FF, ratio of metal strip width to period) exceeds 90%. In this research, we utilize these high FF wire-grid polarizers for a first implementation of polarimetric W-band radar.
在基于平面基板的线栅偏振器中,如果填充因子(FF,金属条宽度与周期的比率)超过90%,则可以实现高消光比(~ 60 dB)和低插入损耗(几dB)。在本研究中,我们利用这些高FF线栅偏振器首次实现偏振w波段雷达。
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引用次数: 2
期刊
2017 IEEE National Aerospace and Electronics Conference (NAECON)
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