Laser anti-drone technology is entering the sequence of actual combat,and it is necessary to consider the vulnerability of typical functional parts of UAVs.Since the concept of"vulnerability"was proposed,a v...Laser anti-drone technology is entering the sequence of actual combat,and it is necessary to consider the vulnerability of typical functional parts of UAVs.Since the concept of"vulnerability"was proposed,a variety of analysis programs for battlefield targets to traditional weapons have been developed,but a comprehensive assessment methodology for targets'vulnerability to laser is still missing.Based on the shotline method,this paper proposes a method that equates laser beam to shotline array,an efficient vulnerability analysis program of target to laser is established by this method,and the program includes the circuit board and the wire into the vulnerability analysis category,which improves the precision of the vulnerability analysis.Taking the UAV engine part as the target of vulnerability analysis,combine with the"life-death unit method"to calculate the laser penetration rate of various materials of the UAV,and the influence of laser weapon system parameters and striking orientation on the killing probability is quantified after introducing the penetration rate into the vulnerability analysis program.The quantitative analysis method proposed in this paper has certain general expansibility,which can provide a fresh idea for the vulnerability analysis of other targets to laser.展开更多
Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metavers...Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.展开更多
This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premi...This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.展开更多
Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying obs...Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.展开更多
Heat transfer and temperature evolution in overburden fracture and ground fissures are one of the essential topics for the identification of ground fissures via unmanned aerial vehicle(UAV) infrared imager. In this st...Heat transfer and temperature evolution in overburden fracture and ground fissures are one of the essential topics for the identification of ground fissures via unmanned aerial vehicle(UAV) infrared imager. In this study, discrete element software UDEC was employed to investigate the overburden fracture field under different mining conditions. Multiphysics software COMSOL were employed to investigate heat transfer and temperature evolution of overburden fracture and ground fissures under the influence of mining condition, fissure depth, fissure width, and month alternation. The UAV infrared field measurements also provided a calibration for numerical simulation. The results showed that for ground fissures connected to underground goaf(Fissure Ⅰ), the temperature difference increased with larger mining height and shallow buried depth. In addition, Fissure Ⅰ located in the boundary of the goaf have a greater temperature difference and is easier to be identified than fissures located above the mining goaf. For ground fissures having no connection to underground goaf(Fissure Ⅱ), the heat transfer is affected by the internal resistance of the overlying strata fracture when the depth of Fissure Ⅱ is greater than10 m, the temperature of Fissure Ⅱ gradually equals to the ground temperature as the fissures’ depth increases, and the fissures are difficult to be identified. The identification effect is most obvious for fissures larger than 16 cm under the same depth. In spring and summer, UAV infrared identification of mining fissures should be carried out during nighttime. This study provides the basis for the optimal time and season for the UAV infrared identification of different types of mining ground fissures.展开更多
Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. Howe...Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.展开更多
UAV marine monitoring plays an essential role in marine environmental protection because of its flexibility and convenience,low cost and convenient maintenance.In marine environmental monitoring,the similarity between...UAV marine monitoring plays an essential role in marine environmental protection because of its flexibility and convenience,low cost and convenient maintenance.In marine environmental monitoring,the similarity between objects such as oil spill and sea surface,Spartina alterniflora and algae is high,and the effect of the general segmentation algorithm is poor,which brings new challenges to the segmentation of UAV marine images.Panoramic segmentation can do object detection and semantic segmentation at the same time,which can well solve the polymorphism problem of objects in UAV ocean images.Currently,there are few studies on UAV marine image recognition with panoptic segmentation.In addition,there are no publicly available panoptic segmentation datasets for UAV images.In this work,we collect and annotate UAV images to form a panoptic segmentation UAV dataset named UAV-OUC-SEG and propose a panoptic segmentation method named PanopticUAV.First,to deal with the large intraclass variability in scale,deformable convolution and CBAM attention mechanism are employed in the backbone to obtain more accurate features.Second,due to the complexity and diversity of marine images,boundary masks by the Laplacian operator equation from the ground truth are merged into feature maps to improve boundary segmentation precision.Experiments demonstrate the advantages of PanopticUAV beyond the most other advanced approaches on the UAV-OUC-SEG dataset.展开更多
Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research pr...Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.展开更多
Transformer-based models have facilitated significant advances in object detection.However,their extensive computational consumption and suboptimal detection of dense small objects curtail their applicability in unman...Transformer-based models have facilitated significant advances in object detection.However,their extensive computational consumption and suboptimal detection of dense small objects curtail their applicability in unmanned aerial vehicle(UAV)imagery.Addressing these limitations,we propose a hybrid transformer-based detector,H-DETR,and enhance it for dense small objects,leading to an accurate and efficient model.Firstly,we introduce a hybrid transformer encoder,which integrates a convolutional neural network-based cross-scale fusion module with the original encoder to handle multi-scale feature sequences more efficiently.Furthermore,we propose two novel strategies to enhance detection performance without incurring additional inference computation.Query filter is designed to cope with the dense clustering inherent in drone-captured images by counteracting similar queries with a training-aware non-maximum suppression.Adversarial denoising learning is a novel enhancement method inspired by adversarial learning,which improves the detection of numerous small targets by counteracting the effects of artificial spatial and semantic noise.Extensive experiments on the VisDrone and UAVDT datasets substantiate the effectiveness of our approach,achieving a significant improvement in accuracy with a reduction in computational complexity.Our method achieves 31.9%and 21.1%AP on the VisDrone and UAVDT datasets,respectively,and has a faster inference speed,making it a competitive model in UAV image object detection.展开更多
To improve the anti-jamming and interference mitigation ability of the UAV-aided communication systems, this paper investigates the channel selection optimization problem in face of both internal mutual interference a...To improve the anti-jamming and interference mitigation ability of the UAV-aided communication systems, this paper investigates the channel selection optimization problem in face of both internal mutual interference and external malicious jamming. A cooperative anti-jamming and interference mitigation method based on local altruistic is proposed to optimize UAVs’ channel selection. Specifically, a Stackelberg game is modeled to formulate the confrontation relationship between UAVs and the jammer. A local altruistic game is modeled with each UAV considering the utilities of both itself and other UAVs. A distributed cooperative anti-jamming and interference mitigation algorithm is proposed to obtain the Stackelberg equilibrium. Finally, the convergence of the proposed algorithm and the impact of the transmission power on the system loss value are analyzed, and the anti-jamming performance of the proposed algorithm can be improved by around 64% compared with the existing algorithms.展开更多
The utilization of mobile edge computing(MEC)for unmanned aerial vehicle(UAV)communication presents a viable solution for achieving high reliability and low latency communication.This study explores the potential of e...The utilization of mobile edge computing(MEC)for unmanned aerial vehicle(UAV)communication presents a viable solution for achieving high reliability and low latency communication.This study explores the potential of employing intelligent reflective surfaces(IRS)andUAVs as relay nodes to efficiently offload user computing tasks to theMEC server system model.Specifically,the user node accesses the primary user spectrum,while adhering to the constraint of satisfying the primary user peak interference power.Furthermore,the UAV acquires energy without interrupting the primary user’s regular communication by employing two energy harvesting schemes,namely time switching(TS)and power splitting(PS).The selection of the optimal UAV is based on the maximization of the instantaneous signal-to-noise ratio.Subsequently,the analytical expression for the outage probability of the system in Rayleigh channels is derived and analyzed.The study investigates the impact of various system parameters,including the number of UAVs,peak interference power,TS,and PS factors,on the system’s outage performance through simulation.The proposed system is also compared to two conventional benchmark schemes:the optimal UAV link transmission and the IRS link transmission.The simulation results validate the theoretical derivation and demonstrate the superiority of the proposed scheme over the benchmark schemes.展开更多
To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on...To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.展开更多
In this paper,we investigate the energy efficiency maximization for mobile edge computing(MEC)in intelligent reflecting surface(IRS)assisted unmanned aerial vehicle(UAV)communications.In particular,UAVcan collect the ...In this paper,we investigate the energy efficiency maximization for mobile edge computing(MEC)in intelligent reflecting surface(IRS)assisted unmanned aerial vehicle(UAV)communications.In particular,UAVcan collect the computing tasks of the terrestrial users and transmit the results back to them after computing.We jointly optimize the users’transmitted beamforming and uploading ratios,the phase shift matrix of IRS,and the UAV trajectory to improve the energy efficiency.The formulated optimization problem is highly non-convex and difficult to be solved directly.Therefore,we decompose the original problem into three sub-problems.We first propose the successive convex approximation(SCA)based method to design the beamforming of the users and the phase shift matrix of IRS,and apply the Lagrange dual method to obtain a closed-form expression of the uploading ratios.For the trajectory optimization,we propose a block coordinate descent(BCD)based method to obtain a local optimal solution.Finally,we propose the alternating optimization(AO)based overall algorithmand analyzed its complexity to be equivalent or lower than existing algorithms.Simulation results show the superiority of the proposedmethod compared with existing schemes in energy efficiency.展开更多
In this paper,we consider mobile edge computing(MEC)networks against proactive eavesdropping.To maximize the transmission rate,IRS assisted UAV communications are applied.We take the joint design of the trajectory of ...In this paper,we consider mobile edge computing(MEC)networks against proactive eavesdropping.To maximize the transmission rate,IRS assisted UAV communications are applied.We take the joint design of the trajectory of UAV,the transmitting beamforming of users,and the phase shift matrix of IRS.The original problem is strong non-convex and difficult to solve.We first propose two basic modes of the proactive eavesdropper,and obtain the closed-form solution for the boundary conditions of the two modes.Then we transform the original problem into an equivalent one and propose an alternating optimization(AO)based method to obtain a local optimal solution.The convergence of the algorithm is illustrated by numerical results.Further,we propose a zero forcing(ZF)based method as sub-optimal solution,and the simulation section shows that the proposed two schemes could obtain better performance compared with traditional schemes.展开更多
We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reco...We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reconfigurable intelligent surfaces(RISs) help to secure the UAV-target communication and improve the energy efficiency of the UAV.We formulate an optimization problem to minimize the energy consumption of the UAV,subject to the mobility constraint of the UAV and that the achievable secrecy rate at the target is over a given threshold.We present an online planning method following the framework of model predictive control(MPC) to jointly optimize the motion of the UAV and the configurations of the RISs.The effectiveness of the proposed method is validated via computer simulations.展开更多
基金National Natural Science Foundation of China(Grant Nos.62005276,62175234)the Scientific and Technological Development Program of Jilin,China(Grant No.20230508111RC)to provide fund for this research。
文摘Laser anti-drone technology is entering the sequence of actual combat,and it is necessary to consider the vulnerability of typical functional parts of UAVs.Since the concept of"vulnerability"was proposed,a variety of analysis programs for battlefield targets to traditional weapons have been developed,but a comprehensive assessment methodology for targets'vulnerability to laser is still missing.Based on the shotline method,this paper proposes a method that equates laser beam to shotline array,an efficient vulnerability analysis program of target to laser is established by this method,and the program includes the circuit board and the wire into the vulnerability analysis category,which improves the precision of the vulnerability analysis.Taking the UAV engine part as the target of vulnerability analysis,combine with the"life-death unit method"to calculate the laser penetration rate of various materials of the UAV,and the influence of laser weapon system parameters and striking orientation on the killing probability is quantified after introducing the penetration rate into the vulnerability analysis program.The quantitative analysis method proposed in this paper has certain general expansibility,which can provide a fresh idea for the vulnerability analysis of other targets to laser.
基金supported in part by NSFC (62102099, U22A2054, 62101594)in part by the Pearl River Talent Recruitment Program (2021QN02S643)+9 种基金Guangzhou Basic Research Program (2023A04J1699)in part by the National Research Foundation, SingaporeInfocomm Media Development Authority under its Future Communications Research Development ProgrammeDSO National Laboratories under the AI Singapore Programme under AISG Award No AISG2-RP-2020-019Energy Research Test-Bed and Industry Partnership Funding Initiative, Energy Grid (EG) 2.0 programmeDesCartes and the Campus for Research Excellence and Technological Enterprise (CREATE) programmeMOE Tier 1 under Grant RG87/22in part by the Singapore University of Technology and Design (SUTD) (SRG-ISTD-2021- 165)in part by the SUTD-ZJU IDEA Grant SUTD-ZJU (VP) 202102in part by the Ministry of Education, Singapore, through its SUTD Kickstarter Initiative (SKI 20210204)。
文摘Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312,61922037,61873115,and 61803348in part by the National Major Scientific Instruments Development Project under Grant 61927807+6 种基金in part by the State Key Laboratory of Deep Buried Target Damage under Grant No.DXMBJJ2019-02in part by the Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi under Grant 2020L0266in part by the Shanxi Province Science Foundation for Youths under Grant No.201701D221123in part by the Youth Academic North University of China under Grant No.QX201803in part by the Program for the Innovative Talents of Higher Education Institutions of Shanxiin part by the Shanxi“1331Project”Key Subjects Construction under Grant 1331KSCin part by the Supported by Shanxi Province Science Foundation for Excellent Youths。
文摘This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.
基金National Natural Science Foundation of China(Grant Nos.61803348,62173312,51922009)Shanxi Province Key Laboratory of Quantum Sensing and Precision Measurement(Grant No.201905D121001).
文摘Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.
基金supported by the National Natural Science Foundation of China(Nos.52225402 and U1910206).
文摘Heat transfer and temperature evolution in overburden fracture and ground fissures are one of the essential topics for the identification of ground fissures via unmanned aerial vehicle(UAV) infrared imager. In this study, discrete element software UDEC was employed to investigate the overburden fracture field under different mining conditions. Multiphysics software COMSOL were employed to investigate heat transfer and temperature evolution of overburden fracture and ground fissures under the influence of mining condition, fissure depth, fissure width, and month alternation. The UAV infrared field measurements also provided a calibration for numerical simulation. The results showed that for ground fissures connected to underground goaf(Fissure Ⅰ), the temperature difference increased with larger mining height and shallow buried depth. In addition, Fissure Ⅰ located in the boundary of the goaf have a greater temperature difference and is easier to be identified than fissures located above the mining goaf. For ground fissures having no connection to underground goaf(Fissure Ⅱ), the heat transfer is affected by the internal resistance of the overlying strata fracture when the depth of Fissure Ⅱ is greater than10 m, the temperature of Fissure Ⅱ gradually equals to the ground temperature as the fissures’ depth increases, and the fissures are difficult to be identified. The identification effect is most obvious for fissures larger than 16 cm under the same depth. In spring and summer, UAV infrared identification of mining fissures should be carried out during nighttime. This study provides the basis for the optimal time and season for the UAV infrared identification of different types of mining ground fissures.
基金partly supported by Program for the National Natural Science Foundation of China (62373052, U1913203, 61903034)Youth Talent Promotion Project of China Association for Science and TechnologyBeijing Institute of Technology Research Fund Program for Young Scholars。
文摘Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few minutes.The benchmark and source code are released in https://github.com/inin-xingtian/multi-UAVs-path-planner.
基金This work was partially supported by the National Key Research and Development Program of China under Grant No.2018AAA0100400the Natural Science Foundation of Shandong Province under Grants Nos.ZR2020MF131 and ZR2021ZD19the Science and Technology Program of Qingdao under Grant No.21-1-4-ny-19-nsh.
文摘UAV marine monitoring plays an essential role in marine environmental protection because of its flexibility and convenience,low cost and convenient maintenance.In marine environmental monitoring,the similarity between objects such as oil spill and sea surface,Spartina alterniflora and algae is high,and the effect of the general segmentation algorithm is poor,which brings new challenges to the segmentation of UAV marine images.Panoramic segmentation can do object detection and semantic segmentation at the same time,which can well solve the polymorphism problem of objects in UAV ocean images.Currently,there are few studies on UAV marine image recognition with panoptic segmentation.In addition,there are no publicly available panoptic segmentation datasets for UAV images.In this work,we collect and annotate UAV images to form a panoptic segmentation UAV dataset named UAV-OUC-SEG and propose a panoptic segmentation method named PanopticUAV.First,to deal with the large intraclass variability in scale,deformable convolution and CBAM attention mechanism are employed in the backbone to obtain more accurate features.Second,due to the complexity and diversity of marine images,boundary masks by the Laplacian operator equation from the ground truth are merged into feature maps to improve boundary segmentation precision.Experiments demonstrate the advantages of PanopticUAV beyond the most other advanced approaches on the UAV-OUC-SEG dataset.
基金the support of the National Natural Science Foundation of China(Grant No.62076204)the Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University(Grant No.CX2020019)in part by the China Postdoctoral Science Foundation(Grants No.2021M700337)。
文摘Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.
基金This research was funded by the Natural Science Foundation of Hebei Province(F2021506004).
文摘Transformer-based models have facilitated significant advances in object detection.However,their extensive computational consumption and suboptimal detection of dense small objects curtail their applicability in unmanned aerial vehicle(UAV)imagery.Addressing these limitations,we propose a hybrid transformer-based detector,H-DETR,and enhance it for dense small objects,leading to an accurate and efficient model.Firstly,we introduce a hybrid transformer encoder,which integrates a convolutional neural network-based cross-scale fusion module with the original encoder to handle multi-scale feature sequences more efficiently.Furthermore,we propose two novel strategies to enhance detection performance without incurring additional inference computation.Query filter is designed to cope with the dense clustering inherent in drone-captured images by counteracting similar queries with a training-aware non-maximum suppression.Adversarial denoising learning is a novel enhancement method inspired by adversarial learning,which improves the detection of numerous small targets by counteracting the effects of artificial spatial and semantic noise.Extensive experiments on the VisDrone and UAVDT datasets substantiate the effectiveness of our approach,achieving a significant improvement in accuracy with a reduction in computational complexity.Our method achieves 31.9%and 21.1%AP on the VisDrone and UAVDT datasets,respectively,and has a faster inference speed,making it a competitive model in UAV image object detection.
基金supported in part by the National Natural Science Foundation of China (No.62271253,61901523,62001381)Fundamental Research Funds for the Central Universities (No.NS2023018)+2 种基金the National Aerospace Science Foundation of China under Grant 2023Z021052002the open research fund of National Mobile Communications Research Laboratory,Southeast University (No.2023D09)Postgraduate Research & Practice Innovation Program of NUAA (No.xcxjh20220402)。
文摘To improve the anti-jamming and interference mitigation ability of the UAV-aided communication systems, this paper investigates the channel selection optimization problem in face of both internal mutual interference and external malicious jamming. A cooperative anti-jamming and interference mitigation method based on local altruistic is proposed to optimize UAVs’ channel selection. Specifically, a Stackelberg game is modeled to formulate the confrontation relationship between UAVs and the jammer. A local altruistic game is modeled with each UAV considering the utilities of both itself and other UAVs. A distributed cooperative anti-jamming and interference mitigation algorithm is proposed to obtain the Stackelberg equilibrium. Finally, the convergence of the proposed algorithm and the impact of the transmission power on the system loss value are analyzed, and the anti-jamming performance of the proposed algorithm can be improved by around 64% compared with the existing algorithms.
基金the National Natural Science Foundation of China(62271192)Henan Provincial Scientists Studio(GZS2022015)+10 种基金Central Plains Talents Plan(ZYYCYU202012173)NationalKeyR&DProgramofChina(2020YFB2008400)the Program ofCEMEE(2022Z00202B)LAGEO of Chinese Academy of Sciences(LAGEO-2019-2)Program for Science&Technology Innovation Talents in the University of Henan Province(20HASTIT022)Natural Science Foundation of Henan under Grant 202300410126Program for Innovative Research Team in University of Henan Province(21IRTSTHN015)Equipment Pre-Research Joint Research Program of Ministry of Education(8091B032129)Training Program for Young Scholar of Henan Province for Colleges and Universities(2020GGJS172)Program for Science&Technology Innovation Talents in Universities of Henan Province under Grand(22HASTIT020)Henan Province Science Fund for Distinguished Young Scholars(222300420006).
文摘The utilization of mobile edge computing(MEC)for unmanned aerial vehicle(UAV)communication presents a viable solution for achieving high reliability and low latency communication.This study explores the potential of employing intelligent reflective surfaces(IRS)andUAVs as relay nodes to efficiently offload user computing tasks to theMEC server system model.Specifically,the user node accesses the primary user spectrum,while adhering to the constraint of satisfying the primary user peak interference power.Furthermore,the UAV acquires energy without interrupting the primary user’s regular communication by employing two energy harvesting schemes,namely time switching(TS)and power splitting(PS).The selection of the optimal UAV is based on the maximization of the instantaneous signal-to-noise ratio.Subsequently,the analytical expression for the outage probability of the system in Rayleigh channels is derived and analyzed.The study investigates the impact of various system parameters,including the number of UAVs,peak interference power,TS,and PS factors,on the system’s outage performance through simulation.The proposed system is also compared to two conventional benchmark schemes:the optimal UAV link transmission and the IRS link transmission.The simulation results validate the theoretical derivation and demonstrate the superiority of the proposed scheme over the benchmark schemes.
基金supported by the Natural Science Basic Research Prog ram of Shaanxi(2022JQ-593)。
文摘To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.
基金the Key Scientific and Technological Project of Henan Province(Grant Number 222102210212)Doctoral Research Start Project of Henan Institute of Technology(Grant Number KQ2005)+1 种基金Doctoral Research Start Project of Henan Institute of Technology(Grant Number KQ2110)Key Research Projects of Colleges and Universities in Henan Province(Grant Number 23B510006).
文摘In this paper,we investigate the energy efficiency maximization for mobile edge computing(MEC)in intelligent reflecting surface(IRS)assisted unmanned aerial vehicle(UAV)communications.In particular,UAVcan collect the computing tasks of the terrestrial users and transmit the results back to them after computing.We jointly optimize the users’transmitted beamforming and uploading ratios,the phase shift matrix of IRS,and the UAV trajectory to improve the energy efficiency.The formulated optimization problem is highly non-convex and difficult to be solved directly.Therefore,we decompose the original problem into three sub-problems.We first propose the successive convex approximation(SCA)based method to design the beamforming of the users and the phase shift matrix of IRS,and apply the Lagrange dual method to obtain a closed-form expression of the uploading ratios.For the trajectory optimization,we propose a block coordinate descent(BCD)based method to obtain a local optimal solution.Finally,we propose the alternating optimization(AO)based overall algorithmand analyzed its complexity to be equivalent or lower than existing algorithms.Simulation results show the superiority of the proposedmethod compared with existing schemes in energy efficiency.
基金This work was supported by the Key Scientific and Technological Project of Henan Province(Grant Number 222102210212)Doctoral Research Start Project of Henan Institute of Technology(Grant Number KQ2005)Key Research Projects of Colleges and Universities in Henan Province(Grant Number 23B510006).
文摘In this paper,we consider mobile edge computing(MEC)networks against proactive eavesdropping.To maximize the transmission rate,IRS assisted UAV communications are applied.We take the joint design of the trajectory of UAV,the transmitting beamforming of users,and the phase shift matrix of IRS.The original problem is strong non-convex and difficult to solve.We first propose two basic modes of the proactive eavesdropper,and obtain the closed-form solution for the boundary conditions of the two modes.Then we transform the original problem into an equivalent one and propose an alternating optimization(AO)based method to obtain a local optimal solution.The convergence of the algorithm is illustrated by numerical results.Further,we propose a zero forcing(ZF)based method as sub-optimal solution,and the simulation section shows that the proposed two schemes could obtain better performance compared with traditional schemes.
基金funding from the Australian Government,via grant AUSMURIB000001 associated with ONR MURI Grant N00014-19-1-2571。
文摘We consider a scenario where an unmanned aerial vehicle(UAV),a typical unmanned aerial system(UAS),transmits confidential data to a moving ground target in the presence of multiple eavesdroppers.Multiple friendly reconfigurable intelligent surfaces(RISs) help to secure the UAV-target communication and improve the energy efficiency of the UAV.We formulate an optimization problem to minimize the energy consumption of the UAV,subject to the mobility constraint of the UAV and that the achievable secrecy rate at the target is over a given threshold.We present an online planning method following the framework of model predictive control(MPC) to jointly optimize the motion of the UAV and the configurations of the RISs.The effectiveness of the proposed method is validated via computer simulations.
