UAV cooperative control has been applied in many complex UAV communication networks. It remains challenging to develop UAV cooperative coverage and UAV energy-efficient communication technology. In this paper, we inve...UAV cooperative control has been applied in many complex UAV communication networks. It remains challenging to develop UAV cooperative coverage and UAV energy-efficient communication technology. In this paper, we investigate current works about UAV coverage problem and propose a multi-UAV coverage model based on energy-efficient communication. The proposed model is decomposed into two steps: coverage maximization and power control, both are proved to be exact potential games(EPG) and have Nash equilibrium(NE) points. Then the multi-UAV energy-efficient coverage deployment algorithm based on spatial adaptive play(MUECD-SAP) is adopted to perform coverage maximization and power control, which guarantees optimal energy-efficient coverage deployment. Finally, simulation results show the effectiveness of our proposed approach, and confirm the reliability of proposed model.展开更多
In view of the many scenes of unmanned aerial vehicle(UAV)detection,a third-party signal source is used to design a receiver to monitor the UAV.It is of great significance to understand the reflection of the signal il...In view of the many scenes of unmanned aerial vehicle(UAV)detection,a third-party signal source is used to design a receiver to monitor the UAV.It is of great significance to understand the reflection of the signal illuminating the UAV.Taking the communication base station(BS)signal as the third-party signal source,and considering the complete transmission link,reflection changes and loss fading of the communication signal,this study conducts model fitting for irregular UAV targets,simplifying complex targets into a combination of simple targets.Furthermore,the influence of the dielectric constant of the target surface and the signal irradiation angle on the signal reflection is analyzed.The analysis shows that the simulation results of this model fitting method are consistent with the results of other literature,which provides theoretical support for the detection of low and slow small targets such as UAVs.展开更多
This paper investigates subcarrier and power allocation in a multi-UAV OFDM system.The study considers a practical scenario,where certain subcarriers are unavailable for dynamic subcarrier allocation,on account of pre...This paper investigates subcarrier and power allocation in a multi-UAV OFDM system.The study considers a practical scenario,where certain subcarriers are unavailable for dynamic subcarrier allocation,on account of pre-allocation for burst transmissions.We first propose a novel iterative algorithm to jointly optimize subcarrier and power allocation,so as to maximize the sum rate of the uplink transmission in the multiUAV OFDM system.The key idea behind our solution is converting the nontrivial allocation problem into a weighted mean square error(MSE) problem.By this means,the allocation problem can be solved by the alternating optimization method.Besides,aiming at a lower-complexity solution,we propose a heuristic allocation scheme,where subcarrier allocation and transmit power allocation are separately optimized.In the heuristic scheme,closedform solution can be obtained for power allocation.Simulation results demonstrate that in the presence of stretched subcarrier resource,the proposed iterative joint optimization algorithm can significantly outperform the heuristic scheme,offering a higher sum rate.展开更多
In the diagnosis of rotor crack based on wavelet analysis, it is a painful task to find out an adaptive mother wavelet as many of them can be chosen and the analytic results of different mother wavelets are yet not th...In the diagnosis of rotor crack based on wavelet analysis, it is a painful task to find out an adaptive mother wavelet as many of them can be chosen and the analytic results of different mother wavelets are yet not the same. For this limitation of wavelet analysis, a novel diagnostic approach of rotor crack based on multi-scale singular-spectrum analysis (MS-SSA) is proposed. Firstly, a Jeffcott model of a cracked rotor is developed and the forth-order Runge-Kutta method is used to solve the motion equations of this rotor to obtain its time response (signals). Secondly, a comparatively simple approach of MS-SSA is presented and the empirical orthogonal functions of different orders in various scales are regarded as analyzing functions. At last, the signals of the cracked rotor and an uncracked rotor are analyzed using the proposed approach of MS-SSA, and the simulative results are compared. The results show that, the data-adaptive analyzing functions can capture many features of signals and the rotor crack can be identified and diagnosed effectively by comparing the analytic results of signals of the cracked rotor with those of the uncracked rotor using the analyzing functions of different orders.展开更多
Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic mode...Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. 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 is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.展开更多
Modelica-based object-orient method is proved to be rapid, accurate and easy to modify, which is suitable for prototype modeling and simulation of rotor system, whose parameters need to be modified frequently. Classic...Modelica-based object-orient method is proved to be rapid, accurate and easy to modify, which is suitable for prototype modeling and simulation of rotor system, whose parameters need to be modified frequently. Classical non-object-orient method appears to be inefficient because the code is difficult to modify and reuse. An adequate library for object-orient modeling of rotor system with multi-faults is established, a comparison with non-object-orient method on Jeffcott rotor system and a case study on turbo expander with multi-faults are implemented. The relative tolerance between object-orient method and non-object-orient is less than 0.03%, which proves that these two methods are as accurate as each other. Object-orient modeling and simulation is implemented on turbo expander with crack, rub-impact, pedestal looseness and multi-faults simultaneously. It can be conclude from the case study that when acting on compress side of turbo expander separately, expand wheel is not influenced greatly by crack fault, the existence of rub-impact fault forces expand wheel into quasi-periodic motion and the orbit of expand wheel is deformed and enhanced almost 1.5 times due to pedestal looseness. When acting simultaneously, multi-faults cannot be totally decomposed but can be diagnosed from the feature of vibration. Object-orient method can enhance the efficiency of modeling and simulation of rotor system with multi-faults, which provides an efficient method on prototype modeling and simulation.展开更多
A coalition formation algorithm is presented with limited communication ranges and delays in unknown environment,for the performance of multiple heterogeneous unmanned aerial vehicles(UAVs)in cooperative search and at...A coalition formation algorithm is presented with limited communication ranges and delays in unknown environment,for the performance of multiple heterogeneous unmanned aerial vehicles(UAVs)in cooperative search and attack missions.The mathematic model of coalition formation is built on basis of the minimum attacking time and the minimum coalition size with satisfying resources and simultaneous strikes requirements.A communication protocol based on maximum number of hops is developed to determine the potential coalition members in dynamic network.A multistage sub-optimal coalition formation algorithm(MSOCFA)with polynomial time is established.The performances of MSOCFA and particle swarm optimization(PSO)algorithms are compared in terms of complexity,mission performance and computational time.A complex scenario is deployed to illustrate how the coalitions are formed and validate the feasibility of the MSOCFA.The effect of communication constraints(hop delay and max-hops)on mission performance is studied.The results show that it is beneficial to determine potential coalition members in a wide and deep range over the network in the presence of less delay.However,when the delays are significant,it is more advantageous to determine coalitions from among the immediate neighbors.展开更多
The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematic...The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively.Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.展开更多
Abstract: There is a high demand for unmanned aerial vehicle (UAV) flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controllin...Abstract: There is a high demand for unmanned aerial vehicle (UAV) flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph (PH) curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.展开更多
Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust ada...Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests.展开更多
[Objective] The paper was to explore chemical control of Ceratovacuna lanigera Zehntner with multi-rotor unmanned aerial vehicle. [Method] According to the outbreak characteristics of C. lanigera,multi-rotor unmanned ...[Objective] The paper was to explore chemical control of Ceratovacuna lanigera Zehntner with multi-rotor unmanned aerial vehicle. [Method] According to the outbreak characteristics of C. lanigera,multi-rotor unmanned aerial vehicle was applied for flying control test. Referred to the spraying characteristics of multi-rotor unmanned aerial vehicle,two kinds of microcapsule pesticides,ALV-1501 and ALV-1502,and two kinds of spraying additives,SPA-01 and SPA-02,were designed to control C. lanigera. [Result] The control effect of ALV-1501 at the dose of 2. 25 L/hm;was 60. 02% at 1 d post administration and 54. 14%at 5 d post administration; the control effects of ALV-1502 at the dose of 2. 1 L/hm2 were 76. 35% and 81. 35% at 1 and 5 d post administration,respectively.Compared to individual pesticide,the control effects of ALV-1501 were improved 1. 42-1. 47 times and 1. 16-1. 14 times by adding 0. 6 L/hm;SPA-01 and SPA-02 in pesticide liquid,respectively. The control effects of ALV-1502 were improved 1. 23-1. 25 times and 1. 15-1. 16 times by adding 0. 6 L/hm2 SPA-01 and SPA-02,respectively. The control effects against C. lanigera at three flying speeds of 3,5 and 8 m/s were 99. 72%-99. 97%,81. 6%-99. 81% and63. 52%-68. 77%,respectively. [Conclusion]The results will provide a reference for application of multi-rotor unmanned aerial vehicle in prevention and control of C. lanigera in sugarcane field.展开更多
The principal objective of this work was to investigate the 3D flow field around a multi-bladed horizontal axis wind turbine (HAWT) rotor and to investigate its performance characteristics. The aerodynamic performance...The principal objective of this work was to investigate the 3D flow field around a multi-bladed horizontal axis wind turbine (HAWT) rotor and to investigate its performance characteristics. The aerodynamic performance of this novel rotor design was evaluated by means of a Computational Fluid Dynamics commercial package. The Reynolds Averaged Navier-Stokes (RANS) equations were selected to model the physics of the incompressible Newtonian fluid around the blades. The Shear Stress Transport (SST) <em>k</em>-<em>ω</em> turbulence model was chosen for the assessment of the 3D flow behavior as it had widely used in other HAWT studies. The pressure-based simulation was done on a model representing one-ninth of the rotor using a 40-degree periodicity in a single moving reference frame system. Analyzing the wake flow behavior over a wide range of wind speeds provided a clear vision of this novel rotor configuration. From the analysis, it was determined that the flow becomes accelerated in outer wake region downstream of the rotor and by placing a multi-bladed rotor with a larger diameter behind the forward rotor resulted in an acceleration of this wake flow which resulted in an increase the overall power output of the wind machine.展开更多
基金supported by the National Natural Science Foundation of China under Grant No. 61771488in part by the Natural Science Foundation for Distinguished Young Scholars of Jiangsu Province under Grant No. BK20160034+1 种基金 in part by the Open Research Foundation of Science and Technology on Communication Networks Laboratorythe Guang Xi Universities Key Laboratory Fund of Embedded Technology and Intelligent System (Guilin University of Technology)
文摘UAV cooperative control has been applied in many complex UAV communication networks. It remains challenging to develop UAV cooperative coverage and UAV energy-efficient communication technology. In this paper, we investigate current works about UAV coverage problem and propose a multi-UAV coverage model based on energy-efficient communication. The proposed model is decomposed into two steps: coverage maximization and power control, both are proved to be exact potential games(EPG) and have Nash equilibrium(NE) points. Then the multi-UAV energy-efficient coverage deployment algorithm based on spatial adaptive play(MUECD-SAP) is adopted to perform coverage maximization and power control, which guarantees optimal energy-efficient coverage deployment. Finally, simulation results show the effectiveness of our proposed approach, and confirm the reliability of proposed model.
基金supported by the State Major Research and Development Project(2018YFB1802004)the State Key Laboratory of Air Traffic Management System and Technology(SKLATM201807)。
文摘In view of the many scenes of unmanned aerial vehicle(UAV)detection,a third-party signal source is used to design a receiver to monitor the UAV.It is of great significance to understand the reflection of the signal illuminating the UAV.Taking the communication base station(BS)signal as the third-party signal source,and considering the complete transmission link,reflection changes and loss fading of the communication signal,this study conducts model fitting for irregular UAV targets,simplifying complex targets into a combination of simple targets.Furthermore,the influence of the dielectric constant of the target surface and the signal irradiation angle on the signal reflection is analyzed.The analysis shows that the simulation results of this model fitting method are consistent with the results of other literature,which provides theoretical support for the detection of low and slow small targets such as UAVs.
基金supported by China NSF Grants(61631020)the Fundamental Research Funds for the Central Universities(NP2018103,NE2017103,NC2017003)
文摘This paper investigates subcarrier and power allocation in a multi-UAV OFDM system.The study considers a practical scenario,where certain subcarriers are unavailable for dynamic subcarrier allocation,on account of pre-allocation for burst transmissions.We first propose a novel iterative algorithm to jointly optimize subcarrier and power allocation,so as to maximize the sum rate of the uplink transmission in the multiUAV OFDM system.The key idea behind our solution is converting the nontrivial allocation problem into a weighted mean square error(MSE) problem.By this means,the allocation problem can be solved by the alternating optimization method.Besides,aiming at a lower-complexity solution,we propose a heuristic allocation scheme,where subcarrier allocation and transmit power allocation are separately optimized.In the heuristic scheme,closedform solution can be obtained for power allocation.Simulation results demonstrate that in the presence of stretched subcarrier resource,the proposed iterative joint optimization algorithm can significantly outperform the heuristic scheme,offering a higher sum rate.
基金This project is supported by National Fundamental Research and Development Project Foundation of China(No.G1998020321).
文摘In the diagnosis of rotor crack based on wavelet analysis, it is a painful task to find out an adaptive mother wavelet as many of them can be chosen and the analytic results of different mother wavelets are yet not the same. For this limitation of wavelet analysis, a novel diagnostic approach of rotor crack based on multi-scale singular-spectrum analysis (MS-SSA) is proposed. Firstly, a Jeffcott model of a cracked rotor is developed and the forth-order Runge-Kutta method is used to solve the motion equations of this rotor to obtain its time response (signals). Secondly, a comparatively simple approach of MS-SSA is presented and the empirical orthogonal functions of different orders in various scales are regarded as analyzing functions. At last, the signals of the cracked rotor and an uncracked rotor are analyzed using the proposed approach of MS-SSA, and the simulative results are compared. The results show that, the data-adaptive analyzing functions can capture many features of signals and the rotor crack can be identified and diagnosed effectively by comparing the analytic results of signals of the cracked rotor with those of the uncracked rotor using the analyzing functions of different orders.
基金supported by the Natural Science Foundation of China (Grant no.60604009)Aeronautical Science Foundation of China (Grant no.2006ZC51039,Beijing NOVA Program Foundation of China (Grant no.2007A017)+1 种基金Open Fund of the Provincial Key Laboratory for Information Processing Technology,Suzhou University (Grant no KJS0821)"New Scientific Star in Blue Sky"Talent Program of Beihang University of China
文摘Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. 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 is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.
基金supported by National Basic Research Program of China(973 Program,Grant No.2011CB706502)
文摘Modelica-based object-orient method is proved to be rapid, accurate and easy to modify, which is suitable for prototype modeling and simulation of rotor system, whose parameters need to be modified frequently. Classical non-object-orient method appears to be inefficient because the code is difficult to modify and reuse. An adequate library for object-orient modeling of rotor system with multi-faults is established, a comparison with non-object-orient method on Jeffcott rotor system and a case study on turbo expander with multi-faults are implemented. The relative tolerance between object-orient method and non-object-orient is less than 0.03%, which proves that these two methods are as accurate as each other. Object-orient modeling and simulation is implemented on turbo expander with crack, rub-impact, pedestal looseness and multi-faults simultaneously. It can be conclude from the case study that when acting on compress side of turbo expander separately, expand wheel is not influenced greatly by crack fault, the existence of rub-impact fault forces expand wheel into quasi-periodic motion and the orbit of expand wheel is deformed and enhanced almost 1.5 times due to pedestal looseness. When acting simultaneously, multi-faults cannot be totally decomposed but can be diagnosed from the feature of vibration. Object-orient method can enhance the efficiency of modeling and simulation of rotor system with multi-faults, which provides an efficient method on prototype modeling and simulation.
基金partially sponsored by the Fundamental Research Funds for the Central Universities(No.3102015ZY092)
文摘A coalition formation algorithm is presented with limited communication ranges and delays in unknown environment,for the performance of multiple heterogeneous unmanned aerial vehicles(UAVs)in cooperative search and attack missions.The mathematic model of coalition formation is built on basis of the minimum attacking time and the minimum coalition size with satisfying resources and simultaneous strikes requirements.A communication protocol based on maximum number of hops is developed to determine the potential coalition members in dynamic network.A multistage sub-optimal coalition formation algorithm(MSOCFA)with polynomial time is established.The performances of MSOCFA and particle swarm optimization(PSO)algorithms are compared in terms of complexity,mission performance and computational time.A complex scenario is deployed to illustrate how the coalitions are formed and validate the feasibility of the MSOCFA.The effect of communication constraints(hop delay and max-hops)on mission performance is studied.The results show that it is beneficial to determine potential coalition members in a wide and deep range over the network in the presence of less delay.However,when the delays are significant,it is more advantageous to determine coalitions from among the immediate neighbors.
基金Supported by the National Natural Science Foundation of China(No.11372309,61304017)Science and Technology Development Plan Key Project of Jilin Province(No.20150204074GX)the Science and Technology Special Fund Project of Provincial Academy Cooperation(No.2017SYHZ00024)
文摘The robust attitude control for a novel coaxial twelve-rotor UAV which has much greater payload capacity,higher drive capability and damage tolerance than a quad-rotor UAV is studied. Firstly,a dynamical and kinematical model for the coaxial twelve-rotor UAV is designed. Considering model uncertainties and external disturbances,a robust backstepping sliding mode control( BSMC) with self recurrent wavelet neural network( SRWNN) method is proposed as the attitude controller for the coaxial twelve-rotor. A combinative algorithm of backstepping control and sliding mode control has simplified design procedures with much stronger robustness benefiting from advantages of both controllers. SRWNN as the uncertainty observer is able to estimate the lumped uncertainties effectively.Then the uniformly ultimate stability of the twelve-rotor system is proved by Lyapunov stability theorem. Finally,the validity of the proposed robust control method adopted in the twelve-rotor UAV under model uncertainties and external disturbances are demonstrated via numerical simulations and twelve-rotor prototype experiments.
文摘Abstract: There is a high demand for unmanned aerial vehicle (UAV) flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph (PH) curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.
基金Supported by the National Natural Science Foundation of China(No.11372309,61304017)Youth Innovation Promotion Association(No.2014192)+1 种基金the Provincial Special Funds Project of Science and Technology Cooperation(No.2017SYHZ0024)the Key Technology Development Project of Jilin Province(No.20150204074GX)
文摘Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests.
基金Supported by Transformational Fund of Central Agricultural Scientific and Technological Achievements in China(2014GB2E000042)Special Fund of China Agricultural Industry Research System(CARS-20-2-1)
文摘[Objective] The paper was to explore chemical control of Ceratovacuna lanigera Zehntner with multi-rotor unmanned aerial vehicle. [Method] According to the outbreak characteristics of C. lanigera,multi-rotor unmanned aerial vehicle was applied for flying control test. Referred to the spraying characteristics of multi-rotor unmanned aerial vehicle,two kinds of microcapsule pesticides,ALV-1501 and ALV-1502,and two kinds of spraying additives,SPA-01 and SPA-02,were designed to control C. lanigera. [Result] The control effect of ALV-1501 at the dose of 2. 25 L/hm;was 60. 02% at 1 d post administration and 54. 14%at 5 d post administration; the control effects of ALV-1502 at the dose of 2. 1 L/hm2 were 76. 35% and 81. 35% at 1 and 5 d post administration,respectively.Compared to individual pesticide,the control effects of ALV-1501 were improved 1. 42-1. 47 times and 1. 16-1. 14 times by adding 0. 6 L/hm;SPA-01 and SPA-02 in pesticide liquid,respectively. The control effects of ALV-1502 were improved 1. 23-1. 25 times and 1. 15-1. 16 times by adding 0. 6 L/hm2 SPA-01 and SPA-02,respectively. The control effects against C. lanigera at three flying speeds of 3,5 and 8 m/s were 99. 72%-99. 97%,81. 6%-99. 81% and63. 52%-68. 77%,respectively. [Conclusion]The results will provide a reference for application of multi-rotor unmanned aerial vehicle in prevention and control of C. lanigera in sugarcane field.
文摘The principal objective of this work was to investigate the 3D flow field around a multi-bladed horizontal axis wind turbine (HAWT) rotor and to investigate its performance characteristics. The aerodynamic performance of this novel rotor design was evaluated by means of a Computational Fluid Dynamics commercial package. The Reynolds Averaged Navier-Stokes (RANS) equations were selected to model the physics of the incompressible Newtonian fluid around the blades. The Shear Stress Transport (SST) <em>k</em>-<em>ω</em> turbulence model was chosen for the assessment of the 3D flow behavior as it had widely used in other HAWT studies. The pressure-based simulation was done on a model representing one-ninth of the rotor using a 40-degree periodicity in a single moving reference frame system. Analyzing the wake flow behavior over a wide range of wind speeds provided a clear vision of this novel rotor configuration. From the analysis, it was determined that the flow becomes accelerated in outer wake region downstream of the rotor and by placing a multi-bladed rotor with a larger diameter behind the forward rotor resulted in an acceleration of this wake flow which resulted in an increase the overall power output of the wind machine.