This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars...This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative trans...How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.展开更多
Technological trends in the automotive industry toward a software-defined and autonomous vehicle require a reassessment of today’s vehicle development process.The validation process soaringly shapes after starting wi...Technological trends in the automotive industry toward a software-defined and autonomous vehicle require a reassessment of today’s vehicle development process.The validation process soaringly shapes after starting with hardware-in-the-loop testing of control units and reproducing real-world maneuvers and physical interaction chains.Here,the road-to-rig approach offers a vast potential to reduce validation time and costs significantly.The present research study investigates the maneuver reproduction of drivability phenomena at a powertrain test bed.Although drivability phenomena occur in the frequency range of most up to 30∙Hz,the design and characteristics substantially impact the test setup’s validity.By utilization of modal analysis,the influence of the test bed on the mechanical characteristic is shown.Furthermore,the sensitivity of the natural modes of each component,from either specimen or test bed site,is determined.In contrast,the uncertainty of the deployed measurement equipment also affects the validity.Instead of an accuracy class indication,we apply the ISO/IEC Guide 98 to the measurement equipment and the test bed setup to increase the fidelity of the validation task.In conclusion,the present paper contributes to a traceable validity determination of the road-to-rig approach by providing objective metrics and methods.展开更多
With the aim of reducing the cost of developing internal combustion engines,while at the same time investigating different geometries,layouts and fuels,3D-CFD-CHT simulations represent an indispensable part for the de...With the aim of reducing the cost of developing internal combustion engines,while at the same time investigating different geometries,layouts and fuels,3D-CFD-CHT simulations represent an indispensable part for the development of new technologies.These tools are increasingly used by manufacturers,as a screening process before building the first prototype.This paper presents an innovative methodology for virtual engine development.The 3D-CFD tool QuickSim,developed at FKFS,allows both a significant reduction in computation time and an extension of the simulated domain for complete engine systems.This is possible thanks to a combination of coarse meshes and self-developed internal combustion engine models,which simultaneously ensure high predictability.The present work demonstrates the capabilities of this innovative methodology for the design and optimization of different engines and fuels with the goal of achieving the highest possible combustion efficiencies and pollutant reductions.The analysis focuses on the influence of different fuels such as hydrogen,methanol,synthetic gasolines and methane on different engine geometries,in combination with suitable injection and ignition systems,including passive and active pre-chambers.Lean operations as well as knock reduction are discussed,particularly for methane and hydrogen injection.Finally,it is shown how depending on the chosen fuel,an appropriate ad-hoc engine layout can be designed to increase the indicated efficiency of the respective engines.展开更多
The impact sensitivity assessment of spacecraft is to obtain the probability of spacecraft encountering the OD/M(orbital debris or meteoroid),which is a prerequisite for survivability assessment of on-orbit spacecraft...The impact sensitivity assessment of spacecraft is to obtain the probability of spacecraft encountering the OD/M(orbital debris or meteoroid),which is a prerequisite for survivability assessment of on-orbit spacecraft.An impact sensitivity assessment method of spacecraft based on virtual exterior wall was proposed to improve the computational efficiency.This method eliminates determination of the outermost surface elements of the spacecraft before generating the debris rays,which are assumed to originate from a non-concave virtual wall that completely wraps the spacecraft.The Dist Mesh method was adopted for the generating of the virtual wall to ensure its mesh quality.The influences of the sizes,mesh densities,shapes of the virtual wall on the efficiency and accuracy were considered to obtain the best combination of the size and mesh density of the wall and spacecraft.The results of this method were compared with those of S3DE(Survivability of Spacecraft in Space Debris Environment),BUMPER,MDPANTO,ESABASE2/Debris to verify the feasibility of the method.The PCHIP(Piecewise Cubic Hermite Interpolating Polynomial)was used to fit the size vs.flux relationship of the space debris to acquire the impact probability of OD/M with arbitrary size on the spacecraft.展开更多
Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dyna...Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.展开更多
The evolution of airborne tactical networks(ATNs)is impeded by the network ossification problem.As a solution,network virtualization(NV)can provide a flexible and scalable architecture where virtual network embedding(...The evolution of airborne tactical networks(ATNs)is impeded by the network ossification problem.As a solution,network virtualization(NV)can provide a flexible and scalable architecture where virtual network embedding(VNE)is a key part.However,existing VNE algorithms cannot be optimally adopted in the virtualization of ATN due to the complex interference in aircombat field.In this context,a highly reliable VNE algorithm based on the transmission rate for ATN virtualization(TR-ATVNE)is proposed to adapt well to the specific electromagnetic environment of ATN.Our algorithm coordinates node and link mapping.In the node mapping,transmission-rate resource is firstly defined to effectively evaluate the ranking value of substrate nodes under the interference of both environmental noises and enemy attacks.Meanwhile,a feasible splitting rule is proposed for path splitting in the link mapping,considering the interference between wireless links.Simulation results reveal that our algorithm is able to improve the acceptance ratio of virtual network requests while maintaining a high revenue-to-cost ratio under the complex electromagnetic interference.展开更多
Immersive virtual product development is a new desi gn , developing and evaluation method of integrated product and processing tragedie s, which using VR, multi-discipline simulation and scientific visualization tec h...Immersive virtual product development is a new desi gn , developing and evaluation method of integrated product and processing tragedie s, which using VR, multi-discipline simulation and scientific visualization tec hnologies. Users may have the experiences of being part of a cyberspace environm ent with the ability to navigate and manipulate objects which have properties an d behaviors that correspond to those of the real world objects. We present a fra mework and prototype system of an immerse VPD (IVPD) which enables users to navi gate and interact with 3D peripherals with the display system. The framework of IVPD which we have defined can meet these requirements. In the immersive virtual environment, design will include four main parts: 3D CAD/modeler, multidiscipli ne simulations, CAM and discrete system simulation. 3D CAD/modeler can create 3D geometric objects and import models from other commercial softwares such as UG, CATIA etc. It can also store all kinds of models into databases with hierarchy which will provide geometric models with simulations and evaluations in later pr ocedures. Multidiscipline simulations can integrate many simulations such as FEA , CFD, Noisy and etc. Each kind of these simulation softwares will reflect a cer tain aspect of product or component’s performances. CAM, as a successor of prod uct development, mainly simulates the manufacturing procedures in the computer. Discrete system simulation will able to see the layout problems for a factory. I t is very useful for production management. Participants may actively view the v irtual world revolving around them while others control navigation and simul ations, and may interact with other members such as pass an object from one embo died manikin to another.展开更多
基金supported by the National Key Research and Development Program of China(2022YFA1004703)the National Natural Science Foundation of China(62088101).
文摘This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
基金supported by the National Natural Science Foundation of China(6237338661973327).
文摘How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.
文摘Technological trends in the automotive industry toward a software-defined and autonomous vehicle require a reassessment of today’s vehicle development process.The validation process soaringly shapes after starting with hardware-in-the-loop testing of control units and reproducing real-world maneuvers and physical interaction chains.Here,the road-to-rig approach offers a vast potential to reduce validation time and costs significantly.The present research study investigates the maneuver reproduction of drivability phenomena at a powertrain test bed.Although drivability phenomena occur in the frequency range of most up to 30∙Hz,the design and characteristics substantially impact the test setup’s validity.By utilization of modal analysis,the influence of the test bed on the mechanical characteristic is shown.Furthermore,the sensitivity of the natural modes of each component,from either specimen or test bed site,is determined.In contrast,the uncertainty of the deployed measurement equipment also affects the validity.Instead of an accuracy class indication,we apply the ISO/IEC Guide 98 to the measurement equipment and the test bed setup to increase the fidelity of the validation task.In conclusion,the present paper contributes to a traceable validity determination of the road-to-rig approach by providing objective metrics and methods.
文摘With the aim of reducing the cost of developing internal combustion engines,while at the same time investigating different geometries,layouts and fuels,3D-CFD-CHT simulations represent an indispensable part for the development of new technologies.These tools are increasingly used by manufacturers,as a screening process before building the first prototype.This paper presents an innovative methodology for virtual engine development.The 3D-CFD tool QuickSim,developed at FKFS,allows both a significant reduction in computation time and an extension of the simulated domain for complete engine systems.This is possible thanks to a combination of coarse meshes and self-developed internal combustion engine models,which simultaneously ensure high predictability.The present work demonstrates the capabilities of this innovative methodology for the design and optimization of different engines and fuels with the goal of achieving the highest possible combustion efficiencies and pollutant reductions.The analysis focuses on the influence of different fuels such as hydrogen,methanol,synthetic gasolines and methane on different engine geometries,in combination with suitable injection and ignition systems,including passive and active pre-chambers.Lean operations as well as knock reduction are discussed,particularly for methane and hydrogen injection.Finally,it is shown how depending on the chosen fuel,an appropriate ad-hoc engine layout can be designed to increase the indicated efficiency of the respective engines.
文摘The impact sensitivity assessment of spacecraft is to obtain the probability of spacecraft encountering the OD/M(orbital debris or meteoroid),which is a prerequisite for survivability assessment of on-orbit spacecraft.An impact sensitivity assessment method of spacecraft based on virtual exterior wall was proposed to improve the computational efficiency.This method eliminates determination of the outermost surface elements of the spacecraft before generating the debris rays,which are assumed to originate from a non-concave virtual wall that completely wraps the spacecraft.The Dist Mesh method was adopted for the generating of the virtual wall to ensure its mesh quality.The influences of the sizes,mesh densities,shapes of the virtual wall on the efficiency and accuracy were considered to obtain the best combination of the size and mesh density of the wall and spacecraft.The results of this method were compared with those of S3DE(Survivability of Spacecraft in Space Debris Environment),BUMPER,MDPANTO,ESABASE2/Debris to verify the feasibility of the method.The PCHIP(Piecewise Cubic Hermite Interpolating Polynomial)was used to fit the size vs.flux relationship of the space debris to acquire the impact probability of OD/M with arbitrary size on the spacecraft.
基金Project(2023JBZY030)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(U1834208)supported by the National Natural Science Foundation of China。
文摘Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.
基金supported by the National Natural Science Foundation of China(61701521)the Shaanxi Provincial Natural Science Foundation(2018JQ6074)。
文摘The evolution of airborne tactical networks(ATNs)is impeded by the network ossification problem.As a solution,network virtualization(NV)can provide a flexible and scalable architecture where virtual network embedding(VNE)is a key part.However,existing VNE algorithms cannot be optimally adopted in the virtualization of ATN due to the complex interference in aircombat field.In this context,a highly reliable VNE algorithm based on the transmission rate for ATN virtualization(TR-ATVNE)is proposed to adapt well to the specific electromagnetic environment of ATN.Our algorithm coordinates node and link mapping.In the node mapping,transmission-rate resource is firstly defined to effectively evaluate the ranking value of substrate nodes under the interference of both environmental noises and enemy attacks.Meanwhile,a feasible splitting rule is proposed for path splitting in the link mapping,considering the interference between wireless links.Simulation results reveal that our algorithm is able to improve the acceptance ratio of virtual network requests while maintaining a high revenue-to-cost ratio under the complex electromagnetic interference.
文摘Immersive virtual product development is a new desi gn , developing and evaluation method of integrated product and processing tragedie s, which using VR, multi-discipline simulation and scientific visualization tec hnologies. Users may have the experiences of being part of a cyberspace environm ent with the ability to navigate and manipulate objects which have properties an d behaviors that correspond to those of the real world objects. We present a fra mework and prototype system of an immerse VPD (IVPD) which enables users to navi gate and interact with 3D peripherals with the display system. The framework of IVPD which we have defined can meet these requirements. In the immersive virtual environment, design will include four main parts: 3D CAD/modeler, multidiscipli ne simulations, CAM and discrete system simulation. 3D CAD/modeler can create 3D geometric objects and import models from other commercial softwares such as UG, CATIA etc. It can also store all kinds of models into databases with hierarchy which will provide geometric models with simulations and evaluations in later pr ocedures. Multidiscipline simulations can integrate many simulations such as FEA , CFD, Noisy and etc. Each kind of these simulation softwares will reflect a cer tain aspect of product or component’s performances. CAM, as a successor of prod uct development, mainly simulates the manufacturing procedures in the computer. Discrete system simulation will able to see the layout problems for a factory. I t is very useful for production management. Participants may actively view the v irtual world revolving around them while others control navigation and simul ations, and may interact with other members such as pass an object from one embo died manikin to another.
