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| 1 | 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 |
| 2 | 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 |
| 3 | Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray显示文摘The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s-1’and thrust coefficient of 0.56 in maximum are achieved in experiments. | Yueri Cai,Shusheng Bi,Licheng Zheng Robotics Institute,Beihang University,Beijing 100191,P.R.China | 2010 | Journal of Bionic Engineering2010，7，2： | 20 |
| 4 | The relation of Banach-Alaoglu theorem and Banach-Bourbaki-Kakutani-mulian theorem in complete random normed modules to stratification structure显示文摘Let (Ω,A,μ) be a probability space, K the scalar field R of real numbers or C of complex numbers,and (S,X) a random normed space over K with base (Ω,A,μ). Denote the support of (S,X) by E, namely E is the essential supremum of the set {A ∈ A : there exists an element p in S such that Xp(ω) > 0 for almost all ω in A}. In this paper, Banach-Alaoglu theorem in a random normed space is first established as follows: The random closed unit ball S*(1) = {f ∈ S* : Xf* 1} of the random conjugate space (S*,X*) of (S,X) is compact under the random weak star topology on (S*,X*) iff E∩A=: {E∩A | A ∈ A} is essentially purely μ-atomic (namely, there exists a disjoint family {An : n ∈ N} of at most countably many μ-atoms from E∩A such that E =∪n∞=1 An and for each element F in E∩A, there is an H in the σ-algebra generated by {An : n ∈ N} satisfying μ(F △H) = 0), whose proof forces us to provide a key topological skill, and thus is much more involved than the corresponding classical case. Further, Banach-Bourbaki-Kakutani-mulian (briefly, BBKS) theorem in a complete random normed module is established as follows: If (S,X) is a complete random normed module, then the random closed unit ball S(1) = {p ∈ S : Xp 1} of (S,X) is compact under the random weak topology on (S,X) iff both (S,X) is random reflexive and E∩A is essentially purely μ-atomic. Our recent work shows that the famous classical James theorem still holds for an arbitrary complete random normed module, namely a complete random normed module is random reflexive iff the random norm of an arbitrary almost surely bounded random linear functional on it is attainable on its random closed unit ball, but this paper shows that the classical Banach-Alaoglu theorem and BBKS theorem do not hold universally for complete random normed modules unless they possess extremely simple stratification structure, namely their supports are essentially purely μ-atomic. Combining the James theorem and BBKS theorem in complete random normed modules leads directly to an interesting phenomenum: there exist many famous classical propositions that are mutually equivalent in the case of Banach spaces, some of which remain to be mutually equivalent in the context of arbitrary complete random normed modules, whereas the other of which are no longer equivalent to another in the context of arbitrary complete random normed modules unless the random normed modules in question possess extremely simple stratification structure. Such a phenomenum is, for the first time, discovered in the course of the development of random metric theory. | GUO TieXin Key Laboratory of Information Mathematics and Behavior of Ministry of Education, Department of Mathemat-ics, Beihang University, Beijing 100083, China | 2008 | Science China Mathematics2008，51，9： | 18 |
| 5 | A tetrahedral data model for unstructured data management显示文摘This paper proposes a tetrahedral data model for unstructured data management. The model defines the four components of unstructured data including: basic attributes, semantic characteristics, low-level features and raw data on its four facets, and the relations between these components. The internal implementation structure of the model and the data query language are designed and briefly introduced. This model provides a unified, integrated and associated description for different kinds of unstructured data, and supports intelligent data services such as associated retrieval and data mining. An example is given to demonstrate how to use the model for describing and manipulating data from a sample video base. | LI Wei & LANG Bo State Key Laboratory of Software Development Environment, Beihang University, Beijing 100191, China | 2010 | Science China(Information Sciences)2010，53，8： | 13 |
| 6 | 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 |
| 7 | A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm显示文摘This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests. | Xusheng Lei,Yuhu Du School of the Instrumentation Science and Opto-Electronic Engineering,Beihang University,Beijing 100191,P.R.China | 2010 | Journal of Bionic Engineering2010，7，2： | 12 |
| 8 | New exact solutions for free vibrations of rectangular thin plates by symplectic dual method显示文摘The separation of variables is employed to solveHamiltonian dual form of eigenvalue problem for transversefree vibrations of thin plates,and formulation of the naturalmode in closed form is performed.The closed-form natu-ral mode satisfies the governing equation of the eigenvalueproblem of thin plate exactly and is applicable for any typesof boundary conditions.With all combinations of simply-supported(S)and clamped(C)boundary conditions appliedto the natural mode,the mode shapes are obtained uniquelyand two eigenvalue equations are derived with respect to twospatial coordinates,with the aid of which the normal modesand frequencies are solved exactly.It was believed that theexact eigensolutions for cases SSCC,SCCC and CCCC wereunable to be obtained,however,they are successfully foundin this paper.Comparisons between the present results andthe FEM results validate the present exact solutions,whichcan thus be taken as the benchmark for verifying differentapproximate approaches. | Y. Xing B. Liu The Solid Mechanics Research Center, Beihang University, 100083 Beijing, China | 2009 | Acta Mechanica Sinica2009，25，2： | 11 |
| 9 | Late Mesozoic-Cenozoic Exhumation of the Northern Hexi Corridor:Constrained by Apatite Fission Track Ages of the Longshoushan显示文摘The apatite fission track(AFT) ages and thermal modeling of the Longshoushan and deformation along the northern Hexi Corridor on the northern side of the Qinghai-Tibetan Plateau show that the Longshoushan along the northern corridor had experienced important multi-stage exhumations during the Late Mesozoic and Cenozoic. The AFT ages of 7 samples range from 31.9 Ma to 111.8 Ma.Thermal modeling of the AFT ages of the samples shows that the Longshoushan experienced significant exhumation during the Late Cretaceous to the Early Cenozoic(-130-25 Ma). The Late Cretaceous exhumation of the Longshoushan may have resulted from the continuous compression between the Lhasa and Qiangtang blocks and the flat slab subduction of the Neo-Tethys oceanic plate, which affected wide regions across the Qinghai-Tibetan Plateau. During the Early Cenozoic, the Longshoushan still experienced exhumation, but this process was caused by the Indian-Eurasian collision. Since this time,the Longshoushan was in a stable stage for approximately 20 Ma and experienced erosion. Since ~5 Ma,obvious tectonic deformation occurred along the entire northern Hexi Corridor, which has also been reported from the peripheral regions of the Qinghai-Tibetan Plateau, especially in the Qilianshan and northeastern margin of the plateau. The AFT ages and the Late Cenozoic deformation of the northern Hexi Corridor all indicate that the present northern boundary of the Qinghai-Tibetan Plateau is situated along the northern Hexi Corridor. | ZHANG Beihang ZHANG Jin WANG Yannan ZHAO Heng LI Yanfeng | 2017 | Acta Geologica Sinica(English Edition)2017，91，5： | 11 |
| 10 | Adaptive neuro fuzzy inference system for classification of water quality status显示文摘An adaptive neuro fuzzy inference system was used for classifying water quality status of river.It applied several physical and inorganic chemical indicators including dissolved oxygen,chemical oxygen demand,and ammonia-nitrogen.A data set (nine weeks,total 845 observations) was collected from 100 monitoring stations in all major river basins in China and used for training and validating the model.Up to 89.59% of the data could be correctly classified using this model.Such performance was more competitive when compared with artificial neural networks.It is applicable in evaluation and classification of water quality status. | Han Yan,Zhihong Zou,Huiwen Wang School of Economics and Management,Beihang University,Beijing 100191,China | 2010 | Journal of Environmental Sciences2010，22，12： | 9 |
| 11 | Magnetic moments of ^(33)Mg in the time-odd relativistic mean field approach显示文摘The configuration-fixed deformation constrained relativistic mean field approach with time-odd component has been applied to investigate the ground state properties of 33Mg with effective interaction PK1.The ground state of 33Mg has been found to be prolate deformed,β2=0.23,with the odd neutron in 1/2[330] orbital and the energy -251.85 MeV which is close to the data -252.06 MeV.The magnetic moment -0.9134 μN is obtained with the effective electromagnetic current which well reproduces the data -0.7456 μN self-consistently without introducing any parameter.The energy splittings of time reversal conjugate states,the neutron current,the energy contribution from the nuclear magnetic potential,and the effect of core polarization are discussed in detail. | LI Jian1,ZHANG Ying1,YAO JiangMing1 & MENG Jie1,2 1 School of Physics,State Key Laboratory of Nuclear Physics and Technology,Peking University,Beijing 100871,China 2 School of Physics and Nuclear Energy Engineering,Beihang University,Beijing 100191,China | 2009 | Science China(Physics,Mechanics & Astronomy)2009，52，10： | 9 |
| 12 | Review of prediction for thermal contact resistance显示文摘Theoretical prediction research on thermal contact resistance is reviewed in this paper. In general, modeling or simulating the thermal contact resistance involves several aspects, including the descriptions of surface topography, the analysis of micro mechanical deformation, and the thermal models. Some key problems are proposed for accurately predicting the thermal resistance of two solid contact surfaces. We provide a perspective on further promising research, which would be beneficial to understanding mechanisms and engineering applications of the thermal contact resistance in heat transport phenomena. | WANG AnLiang1 & ZHAO JianFeng2 1 School of Astronautics, Beihang University, Beijing 100191, China China Academy of Space Technology, Beijing 100094, China | 2010 | Science China(Technological Sciences)2010，53，7： | 9 |
| 13 | Efficient visualization techniques for high resolution remotely sensed data in a network environment显示文摘There are three major research hotspots in efficient visualization techniques of high resolution remotely sensed data in network environment: the data organiza-tion and access in disk storage,the image data stitching and fitting methods,and the network transfers and access. In this paper a new method of 'Big File' organi-zation for improving the storage access efficiency of high resolution remote data is presented; a 'virtual data source' concept is introduced to solve the stitching problem of remotely sensed data from different sources with different resolutions; a remotely sensed data access engine design based on ATL technique is discussed to process the network transfers and access of remotely sensed data. All these techniques have been adopted in a prototype of digital China named 'ChinaStar'. | WENG JingNong1,WU Lun2,HUANG Jian1,XIA YuBin3 & CAI Heng1 1 College of Software,Beihang University,Beijing 100083,China 2 Institute of Geographical Information System and Remote Sensing,Peking University,Beijing 100871,China 3 College of Computer,Beihang University,Beijing 100083,China | 2008 | Science China(Technological Sciences)2008，51，S1： | 8 |
| 14 | The Lightweight Design of Low RCS Pylon Based on Structural Bionics显示文摘A concept of Specific Structure Efficiency (SSE) was proposed that can be used in the lightweight effect evaluation ofstructures.The main procedures of bionic structure design were introduced systematically.The parameter relationship betweenhollow stem of plant and the minimum weight was deduced in detail.In order to improve SSE of pylons, the structural characteristicsof hollow stem were investigated and extracted.Bionic pylon was designed based on analogous biological structuralcharacteristics.Using finite element method based simulation, the displacements and stresses in the bionic pylon were comparedwith those of the conventional pylon.Results show that the SSE of bionic pylon is improved obviously.Static, dynamic andelectromagnetism tests were carried out on conventional and bionic pylons.The weight, stress, displacement and Radar CrossSection (RCS) of both pylons were measured.Experimental results illustrate that the SSE of bionic pylon is markedly improvedthat specific strength efficiency and specific stiffness efficiency of bionic pylon are increased by 52.9% and 43.6% respectively.The RCS of bionic pylon is reduced significantly. | Hongjie Jiao,Yidu Zhang,Wuyi Chen Mechanical Engineering Design Centre,Beihang University,Beijing 100191,P.R.China | 2010 | Journal of Bionic Engineering2010，7，2： | 8 |
| 15 | A heuristic path-estimating algorithm for large-scale real-time traffic information calculating显示文摘As the original Global Position System (GPS) data in Floating Car Data have the accuracy problem,this paper proposes a heuristic path-estimating algorithm for large-scale real-time traffic information calculating. It uses the heuristic search method,imports the restriction with geometric operation,and makes comparison between the vectors composed of the vehicular GPS points and the special road network model to search the set of vehicular traveling route candidates. Finally,it chooses the most optimal one according to weight. Experimental results indicate that the algorithm has considerable efficiency in accuracy (over 92.7%) and com-putational speed (max 8000 GPS records per second) when handling the GPS tracking data whose sampling rate is larger than 1 min even under complex road network conditions. | L WeiFeng1,ZHU TongYu1,WU DongDong2,DAI Hong3 & HUANG Jian1 1 State Key Laboratory for Software Development Environment,Beihang University,Beijing 100083,China 2 Beijing Transportation Information Center,Beijing 100055,China 3 College of Arts & Science,Beijing Union University,Beijing 100083,China | 2008 | Science China(Technological Sciences)2008，51，S1： | 7 |
| 16 | Oxidation of gaseous elemental mercury in a high voltage discharge reactor显示文摘Effects of the voltage waveform, discharge tooth wheel number and CO2/NO/SO2 concentration in the simulated flue gas on Hg0 oxidation were investigated using a link tooth wheel-cylinder reactor energized by different high voltage power supplies. Negative DC discharge induced more ozone production and a higher Hg0 oxidation efficiency than positive DC discharge and 12 kHz AC discharge. The discharge tooth wheel number had almost no effect on the maximum Hg0 oxidation efficiency. The allowable supplied voltage decreased with the increase of discharge tooth wheel number. CO2 could stabilize the discharge process and increase the maximum voltage for a stable discharge. It has also been found that NO consumed O3 induced by high voltage discharge, thereby decreased Hg0 oxidation efficiency; while SO2 had a slight promoting effect on Hg0 oxidation. | WANG Meiyan, ZHU Tianle, LUO Hongjing, TANG Ping, LI Huan School of Chemistry and Environment, Beihang University, Beijing 100191, China. | 2009 | Journal of Environmental Sciences2009，21，12： | 7 |
| 17 | Aeroelastic optimization design for wing with maneuver load uncertainties显示文摘An aeroelastic optimization design methodology for air vehicle considering the uncertainties in maneuver load conditions is presented and applied to a structural design process of low-aspect-ratio wing. An aerodynamic load correction model is developed and used to predict the critical load conditions with the perturbations of theoretical linear aerodynamic forces and experimental aerodynamic forces from wind-tunnel test, when concerning the uncertainties in use of theoretical linear and experimental aerodynamic forces. Three objective functions of critical loads are defined. The load evaluations for three wing sections are investigated in four characteristic maneuvers, and the most critical load conditions are confirmed by using the sequential quadratic programming method. On this basis, the aeroelastic optimization design employing the genetic-gradient hybrid algorithm is conducted, in which the objective is to minimize structural mass subject to the constraints of stress, deformation and flutter speed. The resulting optimal structure is heavier than the one simply based on the theoretical linear or experimental aerodynamic forces. However, it is more robust when encountering the critical load conditions in actual flight due to the consideration of uncertainties in aerodynamic forces in the early design phase, thereby, the risk of structural redesign can be reduced. | YANG Chao, XIAO ZhiPeng*, WAN ZhiQiang, YAN De & DAI YuTing School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China | 2010 | Science China(Technological Sciences)2010，53，11： | 6 |
| 18 | Gust response modeling and alleviation scheme design for an elastic aircraft显示文摘Time-domain approaches are presented for analysis of the dynamic response of aeroservoelastic systems to atmospheric gust excitations. The continuous and discrete gust inputs are defined in the time domain. The time-domain approach to continuous gust response uses a state-space formulation that requires the frequency-dependent aerodynamic coefficients to be approximated with the rational function of a Laplace variable. A hybrid method which combines the Fourier transform and time-domain approaches is used to calculate discrete gust response. The purpose of this approach is to obtain a time-domain state-space model without using rational function approximation of the gust columns. Three control schemes are designed for gust alleviation on an elastic aircraft, and three control surfaces are used: aileron, elevator and spoiler. The signals from the rate of pitch angle gyroscope or angle of attack sensor are sent to the elevator while the signals from accelerometers at the wing tip and center of gravity of the aircraft are sent to the aileron and spoiler, respectively. All the control laws are based on classical control theory. The results show that acceleration at the center of gravity of the aircraft and bending-moment at the wing-root section are mainly excited by rigid modes of the aircraft and the accelerations at the wing-tip are mainly excited by elastic modes of the aircraft. All the three control schemes can be used to alleviate the wing-root moments and the accelerations. The gust response can be alleviated using control scheme 3, in which the spoiler is used as a control surface, but the effects are not as good as those of control schemes 1 and 2. | WU ZhiGang1, CHEN Lei1*, YANG Chao1 & TANG ChangHong2 1 School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China 2 The First Institute, Aviation Industry Corporation of China, Xi’an 710089, China | 2010 | Science China(Technological Sciences)2010，53，11： | 6 |
| 19 | Impact of Modal Parameters on Milling Process Chatter Stability Lobes显示文摘Modals of the machine/tool and machine/part system are the principal factors affecting the stability of a milling process. Based on the modeling of chatter stability of milling process,the influence of modal parameters on chatter stability lobes independently or jointly has been analyzed by simulation. Peak-to-valley specific value,lobe coefficient and the corresponding calculation formula have been put forward. General laws and steps of modal simplification for multimodality system have been summarized. | LI Zhongqun,LIU Qiang (School of Mechanical Engineering and Automation,BeiHang University,Beijing 100083,China) | 2006 | 武汉理工大学学报2006，28，S1： | 6 |
| 20 | A numerical simulation on the infrared radiation of hot exhausting nozzles with a coupled flow and heat transfer model显示文摘A coupled model among flow field,solid temperature,species concentration and gas radiation,which was based on statistical narrow-band correlated-k model,was employed to predict the infrared radiations from hot exhausting nozzles. The parameters of narrow-band model were deduced from HITEMP line-by-line database. Several methods to increase computational efficiency and to save computational resources were employed,thus all the complicated computations could be operated on a personal computer. The predictions for three cases have been conducted to validate the accuracy of the methods mentioned above,including the temperature distribution of a water-cooling nozzle in rocket engines,the carbon dioxide absorptivity at the wavelength of 4.3 micron and the infrared radiation of a cylindrical furnace. Finally,the aerothermodynamic and infrared characteristics of two nozzles were predicted. It was shown that the infrared radiation intensity of chevron ejecting nozzle were obviously smaller than that of common axisymmetric convergent-divergent nozzle. | HU HaiYang1 & WANG Qiang2 1 China Academy of Aerospace Aerodynamics, Beijing 100074, China 2 School of Jet Propulsion, Beihang University, Beijing 100191, China | 2010 | Science China(Technological Sciences)2010，53，10： | 6 |
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