Riba:
- Fahimtar matsayi da iyakokin AI a cikin dokokin sarrafa jirgin, nazarin kwanciyar hankali da tsarin gine-ginen mai cin gashin kansa
- Ikon yin bayani tare da misalan yadda ake amfani da koyo na ƙarfafawa da sarrafa abin ƙira a cikin 'yancin kai na jirgin sama
- Ikon tabbatar da abubuwan sarrafawa cikin sharuddan ambulaf ɗin jirgin, gefen kwanciyar hankali da rashin aminci
Jirgin sama ba ya tashi tsaye a cikin iska da kansa; Kullum yana sake daidaita ma'auni wanda ke damun kullun. Haɓaka motsi shine kimiyyar wannan ma'auni: yana nazarin yadda jirgin ke motsawa ƙarƙashin ƙarfi da lokuta, ko yana murmurewa daga iska mai ƙarfi (kwanciyar hankali), da yadda yake amsa umarni daga matukin jirgi ko kwamfuta. Tsarin sarrafawa shine kwakwalwar da ke lanƙwasa wannan ƙarfin hali zuwa halin da ake so: dokokin sarrafa jirgin (algorithms waɗanda ke ɗaukar ma'auni na firikwensin da samar da umarni zuwa wuraren sarrafawa) yana kiyaye jirgin ya tsayayye da sarrafawa a kowane lokaci.
Hankali na wucin gadi (AI) yana taka rawa a wannan fanni, duka a kan aikin injiniya na gargajiya da kuma bangaren cin gashin kai. A gefen na al'ada, yana haɓaka bincike na kwanciyar hankali, ƙirar mai sarrafawa da saitin kwaikwayo. A gefen 'yancin kai, hanyoyin kamar ƙarfafa koyo (halayen ilmantarwa na wakili dangane da siginar sakamako ta hanyar gwaji da kuskure) suna samar da manufofi a cikin ayyuka masu rikitarwa. Amma sarrafa jirgin filin ne inda kuskure ke nan da nan kuma ba za a iya juyawa ba: dokar sarrafawa mara ƙarfi na iya rasa jirgin cikin daƙiƙa. Sabili da haka, ba a sami riba ko manufofin da aka samar da AI a cikin jirgin ba tare da an tabbatar da su ba dangane da ambulaf ɗin jirgin, gefen kwanciyar hankali, da halayen rashin aminci.
Ra'ayoyi: ambulaf ɗin tashi: Iyakance-sauri-nauyin kaya wanda jirgin zai iya tashi lafiya. Margin kwanciyar hankali: Riba gefe da gefen lokaci; Ma'auni na yadda nisa madauki na sarrafawa daga rashin kwanciyar hankali. Rashin-lafiya: Tsarin yana shiga yanayi mai aminci lokacin da wani abu ya gaza. PID: Daidaitaccen-haɗin-haɓaka; Mafi na kowa tsarin kulawa na gargajiya.
Kwanciyar hankali, Dokar Kulawa da Matsayin AI
Tushen ƙirar sarrafawa shine fahimtar haɓakar madauki mai buɗewa da kawo rufaffiyar madauki zuwa halin da ake so. Injiniyan yana daidaita ma'auni na motsi na jirgin sama, yana samun ayyukan canja wuri, kuma yana ƙirƙira mai sarrafawa (misali tare da bayanin PID ko jihar). AI tana tunawa da matakan tsaka-tsaki na algebra a cikin wannan tsari, yana taimakawa cikin fassarar tushen wuri, yana rubuta rubutun tare da ɗakunan karatu na sarrafa MATLAB/Python, kuma yana samar da lambar da ke ƙididdige ƙimar kwanciyar hankali na saitin biya.
Mahimmin batu shine wannan: kyakkyawan aiki ba yana nufin kyakkyawan kwanciyar hankali ba. Ƙimar riba mai ƙarfi da AI ta ba da shawara na iya ba da amsa mai sauri da kaifi a cikin simintin, amma yana iya rage riba zuwa 2 dB da gefen lokaci zuwa digiri 15. A cikin jirgin sama, mafi ƙarancin ribar 6 dB da 45 margin lokaci yawanci ana niyya; saboda a cikin jirgin sama na gaske, hayaniyar firikwensin, jinkirin mai kunnawa da kurakurai na ƙirar ƙira suna lissafin wannan gefe. Mai sarrafawa wanda baya barin isasshiyar ɗakin kai na iya bayyana cikakke a cikin siminti amma yana iya haƙiƙa ya rikiɗe zuwa rashin kwanciyar hankali (iyakantaccen zagayowar zagayowar ko rarrabuwa).
Tsanaki: Martanin "tsabta" mai sarrafawa a cikin kwaikwayo ba garanti ba ne ga ainihin duniya. Simulation gabaɗaya yana ɗaukar ingantacciyar mai kunnawa, firikwensin mara jinkiri, da cikakken samfuri. Matsakaicin kwanciyar hankali shine madaidaicin kariyar ku akan waɗannan sabawa daga manufa; Ayyukan da ke sadaukar da shi ya kasance a kan takarda.
Ikon Kai da Sarrafa xaliban: Iyakoki
A cikin tsare-tsare masu cin gashin kansu, AI yana shiga cikin wasa sosai: ana amfani da manufofin koyo a cikin ayyuka kamar tsara hanya, gujewa cikas, saukowa, daidaitawar garken. Ƙarfafa ilmantarwa na iya samun kyakkyawar manufar ɗabi'a ta hanyar yin miliyoyin gwaji a cikin yanayin kwaikwayo. Koyaya, sarrafa koyo yana da manyan ƙalubale guda biyu a cikin jirgin sama: bayyanawa da tabbaci. Me yasa manufofin hanyar sadarwar jijiya ke ba da umarni waɗanda ba za a iya tabbatar da su cikin sauƙi ba, kuma ba za a iya ba da garantin lissafi ba don yin aiki cikin aminci a duk sararin shigarwa.
Shi ya sa aka saba jera kayan gine-gine masu amfani: bangaren ilmantarwa yana aiki a saman Layer na waje (tsari, shawarwari), amma a ƙasan Layer akwai na gargajiya, mai tantancewa kuma mai iya tabbatarwa "ambulan aminci" ko mai saka idanu mai tsaro. Wannan mai sarrafa yana tace umarnin matakin koyo tare da ambulaf ɗin jirgin da ka'idojin aminci; Idan ya ga keta iyaka, yana canzawa zuwa ɗabi'a mai aminci. Wannan shine yadda aka haɗa kerawa na AI tare da tabbacin kulawar gargajiya.
kusanci
Amfani
Frontier a cikin jirgin sama
PID / classic
Ana iya yin nazari, tabbatar da kwanciyar hankali
Rashin isa ga ayyuka masu rikitarwa
Ikon Hasashen Model (MPC)
A bayyane yana magance ƙuntatawa
Nauyin lissafi, dogaro da samfur
ƙarfafa ilmantarwa
Manufa mai ƙarfi a cikin ɗawainiya mai rikitarwa
Garanti/bayani yana da rauni, tazarar sim-gaskiya
Layi (mai koyo + ambulan aminci)
Ƙirƙira + tabbaci
Zane ambulan da farashin tabbatarwa
Tukwici: Lokacin kimanta manufar ilmantarwa, tambaya game da “mafi munin hali,” ba “matsakaicin aiki ba.” Idan wakili na RL ya yi fice a cikin 9,990 daga cikin 10,000 yanayi kuma ya fitar da jirgin daga cikin ambulaf a cikin 10, waɗannan yanayin 10 ba su da karbuwa a cikin jirgin sama. Ana auna aminci ta mafi munin yanayi, ba matsakaici ba.
Rauni mai ƙarfi / Ƙarfi mai ƙarfi
Rawanin faɗakarwa:
Ba da riba mai kyau na PID don wannan drone.
Ƙarfi mai ƙarfi:
Matsayi: Kai injiniyan tsarin sarrafa jirgin ne; bi ka'idodin aminci-mahimmanci.Tsarin (wakili): Tsarin layi na layi (aikin canja wuri ko taro / bayanai) don hawan hawan ƙananan ƙananan ƙananan multicopter.Task: 1) Ba da shawarar saiti na farko na PID da kuma bayyana ma'anar zaɓin. (> = 6 dB, > = 45 °); Ta yaya zan daidaita ribar idan gefe bai isa ba? Ƙuntatawa: Tuna da ni cewa jinkirin mai kunnawa da hayaniyar firikwensin za su ci cikin gefe; Kar a ce "mafi kyawun daidai", jaddada buƙatar tabbatarwa a cikin kwaikwaiyo da kayan aiki.
Samfuran Sauƙaƙen Kwafi
Samfura 1 - Rubutun ƙididdige iyaka:
Tare da python-control don aikin buɗaɗɗen madauki mai zuwa: (a) Zana zanen jiki; (b) ƙididdige ƙididdige ƙimar riba da margin lokaci; (c) samar da fitarwa da ke kwatanta waɗannan zuwa maƙasudin jirgin sama (> = 6 dB,> = 45°). Bari code a yi sharhi; Bayyana abin da kowane mataki yake yi. Canja wurin aikin: [num/den]
Samfura 2 - Ƙirar mai sarrafa ambulan jirgin sama:
Taimaka min tsara dabarun sa ido kan tsaro don jirgin sama mai cin gashin kansa: umarnin mai tsarawa a shigarwa, takurawa[gudu, tsayi, ma'aunin nauyi, iyakokin farar]. Ta yaya mai sarrafawa zai tace umarnin, wane hali lafiya ya kamata ya canza zuwa idan an keta iyaka? Rubuta wannan a cikin lambar ƙirƙira kuma ba da dalilan kowane yanke shawara.
Samfura 3 - Tsarin kimanta manufofin RL:
Kafin tura manufofin koyo na ƙarfafawa a cikin jirgin sama, kafa tsarin kimantawa: (a) wane gefe da mafi munin yanayi zan gwada; (b) ta yaya zan auna sim-to-realgap; (c) yadda nake bayar da rahoton tsaro mafi muni, ba matsakaici ba; (d) a cikin abin da ya kamata a kunna mai kula da aminci. Bari sakamakon ya zama jerin abubuwan dubawa.
Samfura 4 - Yanayin gazawa da gazawar bincike mai aminci:
Jera hanyoyin gazawar don tsarin sarrafawa mai zuwa [masu firikwensin, masu kunnawa, sashin lissafin kuɗi] kuma suna ba da shawarar halayen rashin aminci ga kowannensu: gazawar firikwensin, mannewa mai kunnawa, jinkirin lissafin kuɗi, asarar sadarwa. Rubuta hanyar ganowa da amintacciyar dabarar canji ta jiha don kowace gazawa. Musamman alama maki guda na gazawa.
Mini Cases
Case 1 - Cin abinci mai tsananin ƙarfi. Ƙungiya tana karɓar fa'ida mai fa'ida daga AI don sake zagayowar farar UAV; Lokacin tashi a cikin simintin yana da ban sha'awa a 0.4 s. Lokacin da aka ƙididdige gefen da AI ya ba da shawarar, ƙimar riba shine 3.2 dB kuma ƙimar lokaci shine digiri 22; ƙasa da manufofin jirgin sama (6 dB, 45°). A cikin ainihin jirgin, lokacin da aka ƙara jinkirin mai kunnawa 50 ms, iyakar tsarin zagayowar yana motsawa. An rage riba ta 40% kuma an jawo rabon zuwa ga manufa, lokacin haɓaka yana ƙaruwa zuwa 0.7 s, amma tsarin ya kasance mai ƙarfi. Darasi: daidaita aiki tare da rabo; Kwaikwayo baya bada garantin gaskiya.
Case na 2 - Tsarin gine-ginen da aka shimfida yana ceton jirgin. Manufar RL da aka horar don saukowa mai cin gashin kai ta yi nasara a kashi 99.7% na saukowa da aka kwaikwayi 5,000. A cikin binciken da ya yi muni, ƙungiyar gwajin ta gano cewa a cikin yanayi 14 inda iskar iska ta wuce wani kofa, manufar tana jagorantar jirgin daga titin jirgin. Ambulaf ɗin aminci mai sauƙi wanda aka sanya a ƙarƙashin ƙirar koyo yana ba da umarnin zagayawa idan akwai keta haddi da ketare iyaka; Dukkan al'amura 14 suna yin sakamako lafiya. Darasi: Layer na koyo dole ne ya kasance tare da babban hanyar tsaro.
Case na 3 - Laifin maki ɗaya ba a kula da shi. A cikin ƙira ɗaya, firikwensin saurin iska guda ɗaya yana ciyar da duka dokar sarrafawa da tsarin faɗakarwa. Binciken yanayin gazawar AI yana nuna cewa idan an toshe wannan firikwensin, duka sarrafawa da faɗakarwa za a yaudare su a lokaci guda, watau gazawar maki ɗaya. Ƙungiyar tana ƙara tushen saurin mai zaman kansa na biyu (misali saurin tushen GPS ko pitot na biyu) da gano rashin daidaituwa. Darasi: dogaro ga tushe guda ɗaya na shigarwar tsaro-mahimmancin rauni ne wanda dole ne a gano shi.
Kuskuren gama gari
- Ayyukan rikicewa tare da kwanciyar hankali. Amsa da sauri ba yana nufin ƙarfi ba; Rashin isashen gefe yana haifar da rashin kwanciyar hankali.
- Kuskure simulation na gaskiya. Simulation ɗin yana ɗaukar ingantacciyar mai kunnawa / firikwensin ya yi watsi da latti da hayaniya; Tabbatarwa a cikin kayan aiki yana da mahimmanci.
- Dogara ga matsakaicin aiki. Ana auna aminci ta mafi munin yanayi; ba kasafai amma masu haɗari al'amuran ba za a yarda da su ba.
- Amfani da manufar koyo ba tare da kulawa ba. Cibiyar sadarwa na jijiyar da ba za a iya lamuni ba ba za a sanya ta cikin jirgi ba tare da ambulaf ɗin aminci na gargajiya ba.
- Ketare hanyoyin gazawa. Idan an yi la'akari da gazawar maki guda da rashin aminci a ƙarshen ƙira maimakon a farkon, zai yi latti.
A takaice
Ikon tashin jirgin wuri ne inda kuskure ke nan da nan kuma ba za a iya juyawa ba. Yana haɓaka nazarin kwanciyar hankali na AI, ƙirar mai sarrafawa, saitin kwaikwayo, da manufofin cin gashin kai; Amma kyakkyawan aiki ba yana nufin kyakkyawan gefen kwanciyar hankali ba, kuma manufofin koyo suna da rauni dangane da garanti/bayani. Amintaccen aminci ya ta'allaka ne a cikin shimfidar gine-ginen da ke haɗa shimfidar koyo tare da ambulan aminci na gargajiya da kuma tabbatar da kowane mai sarrafawa dangane da ambulaf ɗin jirgin, gefen kwanciyar hankali, mafi munin yanayi da yanayin gazawa. Ana auna aminci ba ta matsakaici ba, amma ta mafi munin yanayi.
Aikin aikace-aikace
Ƙayyade samfurin wakilci don matsala mai sauƙi (misali madauki mai tsayi da yawa). Yin amfani da AI, (a) samar da saitin riba na farko da rubutun lissafin gefe, duba dabaru, (b) kwatanta zuwa gaɓar maƙasudi da daidaitawa idan bai isa ba, (c) samar da yanayin gazawa da rashin aminci ga tsarin. Ƙirƙirar dabarar ambulan aminci a cikin pseudocode kuma rubuta mafi munin yanayi.
jerin abubuwan dubawa
- [ ] Na ƙididdige riba mai sarrafawa da gefen lokaci kuma na kwatanta shi da maƙasudin jirgin sama.
- [ ] Na gwada sakamakon simintin a ƙarƙashin jinkirin mai kunnawa / hayaniyar firikwensin.
- [ ] Na kimanta aikin ta mafi munin hali, ba matsakaita ba.
- [ ] Na ayyana ambulan aminci na gargajiya don manufofin koyo.
- [ ] Na jera hanyoyin gazawar da halayen rashin aminci.
- [ ] Na yi alamar kurakuran maki guda kuma na ƙara 'yancin kai.