Effect of attack angle on the electromagnetic wave transmission characteristics in the hypersonic plasma sheath of a re-entry vehicle

The attack angle may greatly affect the hypersonic plasma sheaths around the re-entry vehicle,thereby affecting the transmission characteristics of electromagnetic(EM)waves in the sheaths.In this paper,we propose an integrated three-dimensional(3D)model with various attack angles and realistic flying conditions of radio attenuation measurement C-II(RAM C-II)re-entry tasks for analyzing the effect of the attack angle on the transmission characteristics of EM waves in the sheaths.It is shown that the electron density and collision frequency of the sheath on the windward side can be increased by an order of magnitude with the increase of the attack angle.Meanwhile,the thickness of the sheath on the leeward side is increased where the electron density and collision frequency are reduced.The EM waves are mainly reflected on the windward plasma sheath due to the cutoff effect,and the radio-frequency(RF)blackout is mitigated if the antenna is positioned on the leeward side.Thus,by planning the trajectory properly and installing the antenna accordingly during the re-entry,it is possible to provide an approach for mitigation of the RF blackout problem to an extent.

A new robust fuzzy method for unmanned flying vehicle control

A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.

Intelligent Greedy Perimeter Stateless Routing Scheme for Unmanned Aerial Vehicles

The dynamic behavior,rapid mobility,abrupt changes in network topology,and numerous other flying constraints in unmanned aerial vehicle(UAV)networks make the design of a routing protocol a challenging task.The data routing for communication between UAVs faces numerous challenges,such as low link quality,data loss,and routing path failure.This work proposes greedy perimeter stateless routing(GPSR)based design and implementation of a new adaptive communication routing protocol technique for UAVs,allowing multiple UAVs to communicate more effectively with each other in a group.Close imitation of the real environment is accomplished by considering UAVs’three-dimensional(3D)mobility in the simulations.The performance of the proposed intelligent greedy perimeter stateless routing(IGPSR)scheme has been evaluated based on end-to-end(E2E)delay,network throughput,and data loss ratio.The adapted scheme displayed on average 40%better results.The scenario has been implemented holistically on the network simulator software NS-3.

Transonic Rudder Buzz on Tailless Flying Wing UAV

Transonic rudder buzz responses based on the computational fluid dynamics or computational structural dynamics(CFD/CSD)loosely method are analyzed for a tailless flying wing unmanned aerial vehicle(UAV).The Reynolds-averaged Navier-Stokes(RANS)equations and finite element methods based on the detailed aerodynamic and structural model are established,in which the aerodynamic dynamic meshes adopt the unstructured dynamic meshes based on the combination of spring-based smoothing and local remeshing methods,and the lower-upper symmetric-Gauss-Seidel(LU-SGS)iteration and Harten-Lax-van Leer-Einfeldt-Wada(HLLEW)space discrete methods based on the shear stress transport(SST)turbulence model are used to calculate the aerodynamic force.The constraints of the rudder motions are fixed at the end of structural model of the flying wing UAV,and the structural geometric nonlinearities are also considered in the flying wing UAV with a high aspect ratio.The interfaces between structural and aerodynamic models are built with an exact match surface where load transferring is performed based on 3Dinterpolation.The flying wing UAV transonic buzz responses based on the aerodynamic structural coupling method are studied,and the rudder buzz responses and aileron,elevator and flap vibration responses caused by rudder motion are also investigated.The effects of attack,height,rotating angular frequency and Mach number under transonic conditions on the flying wing UAV rudder buzz responses are discussed.The results can be regarded as a reference for the flying wing UAV engineering vibration analysis.

Adaptive 3D Routing Protocol for Flying Ad Hoc Networks Based on Prediction-Driven Q-Learning

The routing protocols are paramount to guarantee the Quality of Service(QoS)for Flying Ad Hoc Networks(FANETs).However,they still face several challenges owing to high mobility and dynamic topology.This paper mainly focuses on the adaptive routing protocol and proposes a Three Dimensional Q-Learning(3DQ)based routing protocol to guarantee the packet delivery ratio and improve the QoS.In 3DQ routing,we propose a Q-Learning based routing decision scheme,which contains a link-state prediction module and routing decision module.The link-state prediction module allows each Unmanned Aerial Vehicle(UAV)to predict the link-state of Neighboring UAVs(NUs),considering their Three Dimensional mobility and packet arrival.Then,UAV can produce routing decisions with the help of the routing decision module considering the link-state.We evaluate the various performance of 3DQ routing,and simulation results demonstrate that 3DQ can improve packet delivery ratio,goodput and delay of baseline protocol at most 71.36%,89.32%and 83.54%in FANETs over a variety of communication scenarios.

A Cyber–Physical Routing Protocol Exploiting Trajectory Dynamics for Mission-Oriented Flying Ad Hoc Networks

As a special type of mobile ad hoc network(MANET),the flying ad hoc network(FANET)has the potential to enable a variety of emerging applications in both civilian wireless communications(e.g.,5G and 6G)and the defense industry.The routing protocol plays a pivotal role in FANET.However,when designing the routing protocol for FANET,it is conventionally assumed that the aerial nodes move randomly.This is clearly inappropriate for a mission-oriented FANET(MO-FANET),in which the aerial nodes typically move toward a given destination from given departure point(s),possibly along a roughly deterministic flight path while maintaining a well-established formation,in order to carry out certain missions.In this paper,a novel cyber–physical routing protocol exploiting the particular mobility pattern of an MO-FANET is proposed based on cross-disciplinary integration,which makes full use of the missiondetermined trajectory dynamics to construct the time sequence of rejoining and separating,as well as the adjacency matrix for each node,as prior information.Compared with the existing representative routing protocols used in FANETs,our protocol achieves a higher packet-delivery ratio(PDR)at the cost of even lower overhead and lower average end-to-end latency,while maintaining a reasonably moderate and stable network jitter,as demonstrated by extensive ns-3-based simulations assuming realistic configurations in an MO-FANET.

LSTDA: Link Stability and Transmission Delay Aware Routing Mechanism for Flying Ad-Hoc Network (FANET)

The paper presents a new protocol called Link Stability and Transmission Delay Aware(LSTDA)for Flying Adhoc Network(FANET)with a focus on network corridors(NC).FANET consists of Unmanned Aerial Vehicles(UAVs)that face challenges in avoiding transmission loss and delay while ensuring stable communication.The proposed protocol introduces a novel link stability with network corridors priority node selection to check and ensure fair communication in the entire network.The protocol uses a Red-Black(R-B)tree to achieve maximum channel utilization and an advanced relay approach.The paper evaluates LSTDA in terms of End-to-End Delay(E2ED),Packet Delivery Ratio(PDR),Network Lifetime(NLT),and Transmission Loss(TL),and compares it with existing methods such as Link Stability Estimation-based Routing(LEPR),Distributed Priority Tree-based Routing(DPTR),and Delay and Link Stability Aware(DLSA)using MATLAB simulations.The results show that LSTDA outperforms the other protocols,with lower average delay,higher average PDR,longer average NLT,and comparable average TL.

Semi-global leader-following consensus-based formation flight of unmanned aerial vehicles

In this paper,we investigate a formation control problem of multi-agent systems(specifically a group of unmanned aerial vehicles)based on a semi-global leader-following consensus approach with both the leader and the followers subject to input saturation.Utilizing the low gain feedback design technique,a distributed static control protocol and a distributed adaptive control protocol are constructed.The former solves the problem under an assumption that the communication network is undirected,and it depends on the global information of the graph.For the latter,we relax the undirected graph to directed graph.Moreover,an adaptive updating gain is designed to avoid using the global information of the communication network.It is shown that the consensus protocols can solve the semi-global leader-following consensus problem if the leader agent is globally reachable.The results are verified successfully by both simulation and real flight tests.

Suggestions for flying qualities requirements of autonomous control unmanned combat aerial vehicles

There is a lack of quantitative flying qualities assessment requirements for unmanned combat aerial vehicles.The mission-oriented flying qualities evaluation approach can make up for the deficiencies of existing flying qualities specifications.Considering the control characteristics and mission requirements of autonomous control unmanned combat aerial vehicles,flying qualities assessment tasks are designed and performance standards are developed on the basis of manned aircraft flying qualities assessment tasks.Multiple sets of mathematical simulations are performed by varying the control law parameters to investigate the relationship between the control law parameter values,closed-loop aircraft system characteristics and flying qualities levels.The simulation results and closed-loop frequency domain analysis show that the existing flying qualities guidelines for manned aircraft are not fully applicable to the flying qualities assessment of autonomous control unmanned combat aerial vehicles.It is found that the combination of the bandwidth and the phase at the bandwidth frequency can define the flying qualities requirements of autonomous control unmanned aerial vehicles.The criterion boundaries of different levels are given,and the physical reasons for the formation of boundary are analysed.Our results can be applied to flying qualities assessment and design of flight control laws for autonomous control unmanned combat aerial vehicles.

基于局部搜索的逆向物流车辆最短路径优化

降低运输成本的关键是车辆最短路径优化,为此研究基于局部搜索的逆向物流车辆最短路径优化,提升车辆最短路径优化效果,降低运输成本与CO_(2)排放量。以车辆最短路径为目标函数,以车辆容量、车辆服务回收点的次数与时间为约束条件,构建逆向物流车辆短路径优化模型;通过结合局部搜素与果蝇算法求解该模型,利用果蝇算法生成果蝇路径飞行方案,通过局部搜索策略获取最优飞行方案,利用最优飞行方案更新最短路径的轨迹强度,获取最优解,完成最短路径优化。仿真结果表明,上述模型引入局部搜索策略可有效缩短最短路径总长度,提高最优解质量;上述模型优化的最短路径显著短于原始最短路径,且求解过程中收敛速度较快;应用上述模型后可有效降低运输成本与CO_(2)排放量。

The stability of rolling motion of hypersonic vehicles with slender configuration under pitching maneuvering

The configurations of near space hypersonic flying vehicles are considerably different from those of conventional aircrafts.Their configurations are relatively slender;hence their moment of inertia around the longitudinal axis is much smaller than those around the other two axes,resulting in strong coupling of rotations around the three axes.Thus,the stability analysis of rolling motion for such flying vehicles is more complicated than those for conventional aircrafts,and there is no available result of stability analysis which can readily be applied to such cases.This paper is mainly concerned with the stated problem.Considering the practical situation,our investigation is targeted a slightly simpler problem,namely the rolling stability of flying vehicle under known pitching motion.The stability criterion of rolling motion is obtained with and without lateral motions.We also conducted numerical simulation for the pitching-rolling coupled motions of flying vehicles by solving Navier-Stokes equations coupled with dynamic equations of flight.The results of simulation agree well with those of theoretical analysis and experiments.

Routing Protocol for Heterogeneous FANETs with Mobility Prediction

In recent years,with the growth in Unmanned Aerial Vehicles(UAVs),UAV-based systems have become popular in both military and civil applications.In these scenarios,the lack of reliable communication infrastructure has motivated UAVs to establish a network as flying nodes,also known as Flying Ad Hoc Networks(FANETs).However,in FANETs,the high mobility degree of flying and terrestrial users may be responsible for constant changes in the network topology,making end-to-end connections in FANETs challenging.Mobility estimation and prediction of UAVs can address the challenge mentioned above since it can provide better routing planning and improve overall FANET performance in terms of continuous service availability.We thus develop a Software Defined Network(SDN)-based heterogeneous architecture for reliable communication in FANETs.In this architecture,we apply an Extended Kalman Filter(EKF)for accurate mobility estimation and prediction of UAVs.In particular,we formulate the routing problem in SDN-based Heterogeneous FANETs as a graph decision problem.As the problem is NP-hard,we further propose a Directional Particle Swarming Optimization(DPSO)approach to solve it.The extensive simulation results demonstrate that the proposed DPSO routing can exhibit superior performance in improving the goodput,packet delivery ratio,and delay.

A path planning algorithm for autonomous flying vehicles in cross-countryenvironments with a novel TF-RRT^(*) method

Autonomous flying vehicles(AFVs)are promising future vehicles,which have high obstacle avoidance ability.To plan a feasible path in a wide range of cross-country environments for the AFV,a triggered forward optimal rapidly-exploring random tree(TF-RRT^(*))method is proposed.Firstly,an improved sampling and tree growth mechanism is built.Sampling and tree growth are allowed only in the forward region close to the target point,which significantly improves the planning speed;Secondly,the driving modes(ground-driving mode or air-driving mode)of the AFV are added to the sampling process as a planned state for uniform planning the driving path and driving mode;Thirdly,according to the dynamics and energy consumption models of the AFV,comprehensive indicators with energy consumption and efficiency are established for path optimal procedures,so as to select driving mode and plan driving path reasonably according to the demand.The proposed method is verified by simulations with an actual cross-country environment.Results show that the computation time is decreased by 71.08%compared with Informed-RRT^(*)algorithm,and the path length of the proposed method decreased by 13.01%compared with RRT^(*)-Connect algorithm.

Performance of unique and secure routing protocol(USRP)in flying Adhoc Networks for healthcare applications

Nowadays,Flying Adhoc Networks play a vital role due to its high efficiency in fast communication.Unmanned aerial vehicles transmit data much faster than other networks and are useful in all aspects of communication.In healthcare applications,wireless body area network transmits the data,whereas the security,which is the most important concern to be focused in a flying adhoc network is not satisfactory.Many intruders tamper the network,degrading the overall network performance.To avoid security issues,a unique and secure routing protocol that provides a single solution for five different types of attacks such as,black hole attacks,grey hole attacks,yoyo attacks,conjoint attack and jamming attacks,is proposed.The simulation results analyses the network performance by using the proposed routing table.In comparison to the other solutions rendered to resolve the affected network,this proposed routing protocol has a higher throughput,higher delivery rate,and lower delay.The Unique and Secure Routing Protocol(USRP)provides an integrated solution for an efficient and secure communication in a flying adhoc network.

HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters

Inspired by large and medium-sized birds,two kinds of flapping-wing flying robots with wingspans beyond 2 meters were developed.They have the appearance of a hawk and a phoenix respectively,so they are called HIT-Hawk and HIT-Phoenix.In this paper,the bionic concept,theoretical analysis,design and manufacturing are introduced in detail.Firstly,the flight principle and characteristics of large and medium-sized birds were summarized.Then,the aerodynamics was modeled based on the thin airfoil theory,and the main design basis was established.Secondly,the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight performance.Moreover,an autonomous flight control method was proposed and realized in highly integrated on-onboard controller;it satisfies the strict restrictions on mass,size,power and shape.Finally,the prototypes were fabricated and verified through practical flight experiments.The wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively,the take-off weights are 1.15 kg and 0.86 kg,and the maximum stable endurance is 65 min(with battery of 3S LiPo,4300 mAh)and 8 min(with battery of 3S LiPo,800 mAh).Their wind resistance can both reach level 4.Compared with the small and micro flapping-wing aerial vehicles that mimic insects or small birds,they both have strong load capacity,strong wind resistance and long endurance.

Energy management of hybrid electric propulsion system: Recent progress and a flying car perspective under three-dimensional transportation networks

The hybrid electric propulsion system(HEPS)holds clear potential to support the goal of sustainability in the automobile and aviation industry.As an important part of the three-dimensional transportation network,vehicles and aircraft using HEPSs have the advantages of high fuel economy,low emission,and low noise.To fulfill these advantages,the design of their energy management strategies(EMSs)is essential.This paper presents an in-depth review of EMSs for hybrid electric vehicles(HEVs)and hybrid electric aircraft.First,in view of the main challenges of current EMSs of HEVs,the referenced research is reviewed according to the solutions facing real-time implementation problems,variable driving conditions adaptability problems,and multi-objective optimization problems,respectively.Second,the existing research on the EMSs for hybrid electric aircraft is summarized according to the hybrid electric propulsion architectures.In addition,with the advance in propulsion technology and mechanical manufacturing in recent years,flying cars have gradually become a reality,further enriching the composition of the three-dimensional transportation network.And EMSs also play an essential role in the efficient operation of flying cars driven by HEPSs.Therefore,in the last part of this paper,the development status of flying cars and their future prospects are elaborated.By comprehensively summarizing the EMSs of HEPS for vehicles and aircraft,this review aims to provide guidance for the research on the EMSs for flying cars driven by HEPS and serve as the basis for knowledge transfer of relevant researchers.

Surrogate-assisted differential evolution using manifold learning-based sampling for highdimensional expensive constrained optimization problems

To address the challenges of high-dimensional constrained optimization problems with expensive simulation models,a Surrogate-Assisted Differential Evolution using Manifold Learning-based Sampling(SADE-MLS)is proposed.In SADE-MLS,differential evolution operators are executed to generate numerous high-dimensional candidate points.To alleviate the curse of dimensionality,a Manifold Learning-based Sampling(MLS)mechanism is developed to explore the high-dimensional design space effectively.In MLS,the intrinsic dimensionality of the candidate points is determined by a maximum likelihood estimator.Then,the candidate points are mapped into a low-dimensional space using the dimensionality reduction technique,which can avoid significant information loss during dimensionality reduction.Thus,Kriging surrogates are constructed in the low-dimensional space to predict the responses of the mapped candidate points.The candidate points with high constrained expected improvement values are selected for global exploration.Moreover,the local search process assisted by radial basis function and differential evolution is performed to exploit the design space efficiently.Several numerical benchmarks are tested to compare SADE-MLS with other algorithms.Finally,SADE-MLS is successfully applied to a solid rocket motor multidisciplinary optimization problem and a re-entry vehicle aerodynamic optimization problem,with the total impulse and lift to drag ratio being increased by 32.7%and 35.5%,respec-tively.The optimization results demonstrate the practicality and effectiveness of the proposed method in real engineering practices.

Mixed H_2/H_∞ Control Using a Fuzzy Singularly Perturbed Model with Multiple Perturbation Parameters for Gust Load Alleviation

This paper presents a mixed H21H∞ control using fuzzy singularly perturbed model （FSPM） with multiple perturbation parameters. Since FSPM with multiple perturbation parameters is an extension of models with a single perturbation parameter, the theoretical results are applicable to a larger class of systems described by multiple time scale nonlinear models, such as flying aircraft and flexible space robots. The parameter-independent solution of the mixed H21H∞ controller was obtained in the form of linear matrix inequalities （LMIs）. The application of this approach to gust load alleviation of a flying vehicle verifies its effectiveness and flexibility.