集群多机器人系统建模研究的发展与展望

凭借高效、鲁棒、应用广泛的特性,集群多机器人系统已经成为当今研究的热点课题之一,具有重要的实用价值.首先简述了自顶而下和自底而上两种多机器人系统研究思路的当前研究概况.然后从拟生物集群系统模型引入,进而引出一致性系统模型,针对低阶、高阶、异质、时延等一致性模型进行分析总结,单独阐述了多智能体强化学习系统模型的研究情况,...     

Transfer learning: A new aerodynamic force identification network based on adaptive EMD and soft thresholding in hypersonic wind tunnel

The aerodynamic test in the pulse combustion wind tunnel is very important for the design, evaluation and optimization of aerodynamic characteristics of the hypersonic aircraft. The test accuracy even affects the success or failure of hypersonic aircraft development. In the aerodynamic test of pulse combustion wind tunnel, the aerodynamic signal is disturbed by the inertial force signal, which seriously affects the test accuracy of aerodynamic force. Aiming at the above problems, this paper innovatively proposes an aerodynamic intelligent identification method, that is the transfer learning network based on adaptive Empirical Modal Decomposition (EMD) and Soft Thresholding (TLN-AE&ST). Compared with the existing aerodynamic intelligent identification model based on deep learning technology, this study introduces the transfer learning idea into the aerodynamic intelligent identification model for the first time. The TLN-AE&ST effectively alleviates the problem of scarcity of training samples for intelligent models due to the high cost of wind tunnel tests, and provides a new idea for further implementation of deep learning technology in the field of wind tunnel aerodynamic testing. And this study designed residual attention block with soft threshold and dense block with adaptive EMD in TLN-AE&ST model. Residual attention block with soft threshold module can more effectively suppress the influence of instrument noise signal on model training effect. Dense block with adaptive EMD makes the deep learning model no longer a black box to a certain extent, and has certain physical significance. Finally, a series of wind tunnel tests were carried out in the Φ = 2.4 m pulse combustion wind tunnel of China Aerodynamic Research and Development Center to verify the effectiveness of TLN-AE&ST.     

基于深度强化学习的复杂地形适应机器人设计与实验

针对行星表面轻量化自主探测任务，基于仿生思想设计了一种仿海胆结构的十二足球形机器人，其具备自主改变构型以贴合复杂地形的能力，可实现无倾覆、高容错的全向运动；基于数据驱动方法，对该机器人设计了一种数据高效的无模型强化学习运动策略，可实现无先验知识的从0到1步态训练以及步态的实物样机快速部署。通过在平面地形和非结构化地形中对其进行仿真实验，验证了经过训练的机器人具备自主运动、适应非结构地形等能力；通过与常用基准策略进行对比，证实了本文提出的运动策略具有训练高效、鲁棒性好的优势；最后通过开发原理样机，开展实物实验验证了仿真环境中所生成的步态在真实物理环境中的动力学可行性。     

Reinforcement learning based dynamic distributed routing scheme for mega LEO satellite networks

Recently, mega Low Earth Orbit (LEO) Satellite Network (LSN) systems have gained more and more attention due to low latency, broadband communications and global coverage for ground users. One of the primary challenges for LSN systems with inter-satellite links is the routing strategy calculation and maintenance, due to LSN constellation scale and dynamic network topology feature. In order to seek an efficient routing strategy, a Q-learning-based dynamic distributed Routing scheme for LSNs (QRLSN) is proposed in this paper. To achieve low end-to-end delay and low network traffic overhead load in LSNs, QRLSN adopts a multi-objective optimization method to find the optimal next hop for forwarding data packets. Experimental results demonstrate that the proposed scheme can effectively discover the initial routing strategy and provide long-term Quality of Service (QoS) optimization during the routing maintenance process. In addition, comparison results demonstrate that QRLSN is superior to the virtual-topology-based shortest path routing algorithm.     

A policy iteration method for improving robot assembly trajectory efficiency

Bolt assembly by robots is a vital and difficult task for replacing astronauts in extra-vehicular activities (EVA), but the trajectory efficiency still needs to be improved during the wrench insertion into hex hole of bolt. In this paper, a policy iteration method based on reinforcement learning (RL) is proposed, by which the problem of trajectory efficiency improvement is constructed as an issue of RL-based objective optimization. Firstly, the projection relation between raw data and state-action space is established, and then a policy iteration initialization method is designed based on the projection to provide the initialization policy for iteration. Policy iteration based on the protective policy is applied to continuously evaluating and optimizing the action-value function of all state-action pairs till the convergence is obtained. To verify the feasibility and effectiveness of the proposed method, a noncontact demonstration experiment with human supervision is performed. Experimental results show that the initialization policy and the generated policy can be obtained by the policy iteration method in a limited number of demonstrations. A comparison between the experiments with two different assembly tolerances shows that the convergent generated policy possesses higher trajectory efficiency than the conservative one. In addition, this method can ensure safety during the training process and improve utilization efficiency of demonstration data.     

Pose matters: Pose guided graph attention network for person re-identification

Person re-Identification (reID), aiming at retrieving a person across different cameras, has been playing a more and more important role in the construction of smart city and social security. For deep-learning-based reID methods, it has been proved that using local feature together with global feature could help to give robust representation for person retrieval. Human pose information can provide the locations of human skeleton to effectively guide the network to pay more attention to these key areas, and can also help to reduce the noise distractions from background or occlusions. Based on human pose, a Pose Guided Graph Attention (PGGA) network is proposed in this paper, which is a multi-branch architecture consisting of one branch for global feature and two branches for local key-point features. A graph attention convolution layer is carefully designed to re-assign the contribution weight of each extracted local feature by modeling the similarity relations. The experimental results demonstrate the effectiveness of our approach on discriminative feature learning. Our model achieves the state-of-the-art performance on several mainstream evaluation datasets. A plenty of ablation studies and different kinds of comparison experiments are conducted to prove the effectiveness of this work, including the tests on occluded datasets and cross-domain datasets. Moreover, we further design supplementary tests in practical scenario to indicate the advantage of our work in real-word applications.     

Time resolved study of laser triggered electric discharge spark in atmosphere: Machine learning approach

In this paper we analyze the possibilities of using machine learning algorithms for analysis of optical spectra of electric discharge spark in atmosphere. Breakdown in air can be initiated by intense laser pulse, making plasma which has a significant electrical conductivity. The formed plasma can be further maintained by electric current obtained from capacitor discharge. In such a case the capacitor voltage can be much lower than the striking voltage (the voltage needed to initiate the electric breakdown in air). Present setup has timing precision and low jitter of fast laser and arbitrary high energies corresponding to capacitance and voltage to which the capacitor is charged. We have used a streak camera equipped with a spectrograph to analyze optical emission of plasma obtained in this way. Q-switched Nd:Yag laser was used to achieve the initial breakdown in air. Machine learning methods were used in order to classify optical spectra of plasmas with different electron temperatures obtained with different excitation energies. We have shown that, instead of using the usual way of identifying the spectral peaks and calculating their intensity ratio, it is possible to train the computer software to recognize the spectra corresponding to different electron temperatures. Principal component analysis was used to reduce the dimensionality of problem. We present possibilities of plasma electron temperature estimation based on several clustering algorithms.     

遥感场景分类的批处理协方差神经网络方法

针对卫星遥感图像场景分类数据集中存在的局部区域特征异常问题，提出一种采用批处理协方差层的神经网络(CovNN)模型进行遥感场景分类的方法。该方法通过计算全输入通道的局部区域均值实现一种3D批处理协方差算法，能够有效消除局部区域均值的影响，从而更好地处理局部光照过强和局部区域存在无关特征的问题。将其应用于存在局部光照异常和局部无关特征问题的卫星采集AID数据集和NWPU RESISC45数据集中，实验表明CovNN在两个数据集上均取得了超过现有卷积神经网络(CNN)的召回率，可有效降低图像局部区域特征异常的不利影响。     

基于机器学习的二次电子发射唯象模型

基于机器学习和深度人工神经网络（artificial neural network，ANN）提出一种二次电子发射唯象模型。利用Vaughan模型生成先验数据集，用于训练生成描述二次电子发射一般规律的先验知识ANN模型，并在不同参数条件下验证了先验知识ANN模型的正确性。然后，分别利用银和铝合金材料的二次电子发射系数实验数据修正先验知识ANN模型，分别得到了描述两种材料的特异ANN模型。测试结果表明，特异ANN模型计算结果与实验结果相比的平均绝对误差较Vaughan模型和Furman模型降低了30%以上，与复合唯象模型精度相当或更高。在小样本条件下测试了二次电子发射ANN模型的正确性，验证了分步训练方式的有效性和二次电子发射ANN模型对于小样本集的适应性。提出的基于机器学习的二次电子发射唯象模型能够避免复杂的参数修正过程，能够基于先验知识提升模型对于小样本的适应性，能够实现二次电子发射系数的连续插值，适于在数值模拟软件中使用。     

基于天基边缘计算的在轨智能技术

针对低轨互联网星座的发展以及天基应用不断拓展对计算能力的需求,开展基于天基边缘计算的在轨智能技术研究,这对提升星地带宽利用率和实时决策效率具有重要意义.提出了以低轨卫星为核心的天基边缘计算架构,在此基础上,进一步提出了一种基于深度模仿学习的智能计算卸载模型,以及该模型的在轨分布式联邦学习训练方案.基于空天地海一体化网络...