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              生物集群能量高效利用機制研究綜述

              吳曉陽 鄒堯 付強 賀威

              吳曉陽, 鄒堯, 付強, 賀威. 生物集群能量高效利用機制研究綜述. 自動化學報, 2024, 50(3): 431?449 doi: 10.16383/j.aas.c230161
              引用本文: 吳曉陽, 鄒堯, 付強, 賀威. 生物集群能量高效利用機制研究綜述. 自動化學報, 2024, 50(3): 431?449 doi: 10.16383/j.aas.c230161
              Wu Xiao-Yang, Zou Yao, Fu Qiang, He Wei. An overview of energy efficient utilization mechanism of biological colonies. Acta Automatica Sinica, 2024, 50(3): 431?449 doi: 10.16383/j.aas.c230161
              Citation: Wu Xiao-Yang, Zou Yao, Fu Qiang, He Wei. An overview of energy efficient utilization mechanism of biological colonies. Acta Automatica Sinica, 2024, 50(3): 431?449 doi: 10.16383/j.aas.c230161

              生物集群能量高效利用機制研究綜述

              doi: 10.16383/j.aas.c230161
              基金項目: 國家自然科學基金(62225304, 61933001, 62073028, 62173031), 中央高?;究蒲袠I務費專項資金(FRF-TP-22-003C2) 資助
              詳細信息
                作者簡介:

                吳曉陽:北京科技大學智能科學與技術學院博士研究生. 2017年獲得河北工業大學學士學位. 2020年獲得北京科技大學碩士學位. 主要研究方向為撲翼飛行機器人和飛行器控制. E-mail: wxy1995_jz@163.com

                鄒堯:北京科技大學智能科學與技術學院教授. 2010年獲得大連理工大學學士學位, 2016年獲得北京航空航天大學博士學位. 主要研究方向為飛行器控制, 多智能體系統. E-mail: zouyao@ustb.edu.cn

                付強:北京科技大學智能科學與技術學院副教授. 2009年獲得北京交通大學學士學位, 2016年獲得北京航空航天大學博士學位. 主要研究方向為視覺導航, 視覺伺服和撲翼飛行機器人. 本文通信作者. E-mail: fuqiang@ustb.edu.cn

                賀威:北京科技大學智能科學與技術學院教授. 2006年獲得華南理工大學自動化學院學士學位, 2011年獲得新加坡國立大學電氣工程與計算機科學系博士學位. 主要研究方向為仿生撲翼飛行機器人, 智能無人系統和智能控制. E-mail: weihe@ieee.org

              An Overview of Energy Efficient Utilization Mechanism of Biological Colonies

              Funds: Supported by National Natural Science Foundation of China (62225304, 61933001, 62073028, 62173031) and Fundamental Research Funds for the Central Universities (FRF-TP-22-003C2)
              More Information
                Author Bio:

                WU Xiao-Yang Ph.D. candidate at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree from Hebei University of Technology in 2017, and his master degree from University of Science and Technology Beijing in 2020. His research interest covers flapping-wing aerial vehicles and control of air vehicles

                ZOU Yao Professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree from Dalian University of Technology in 2010, and his Ph.D. degree from Beihang University in 2016. His research interest covers control of air vehicles and multi-agent system

                FU Qiang Associate professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree from Beijing Jiaotong University in 2009, and his Ph.D. degree from Beihang University in 2016. His research interest covers vision-based navigation, visual servoing, and flapping-wing aerial vehicles. Corresponding author of this paper

                HE Wei Professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree from College of Automation Science and Engineering, South China University of Technology (SCUT) in 2006, and his Ph.D. degree from Department of Electrical and Computer Engineering, National University of Singapore (NUS), Singapore in 2011. His research interest covers flapping-wing aerial vehicles, intelligent unmanned system, and intelligent control

              • 摘要: 近年來, 智能體集群的能量高效利用(Energy efficient utilization, EEU)機制已經成為多智能體系統領域的熱點問題, 如何使用有限的能量資源實現系統性能最優是該問題的核心研究內容. 考慮到智能體集群與生物族群的相似性, 探究生物族群的能量高效利用機制對提升智能體集群節能性能有著重要的研究價值. 為此, 首先介紹不同生物族群中蘊含的能量利用機制, 并根據節能方式的差異分成3類, 流體優勢利用機制、流體阻礙克服機制和熱量交換與擴散機制; 然后對這些機制進行總結與分析, 并提出一種具有一般性的能量高效利用模型; 最后, 探討能量高效利用機制在多智能體系統應用中面臨的挑戰和發展趨勢.
                1)  11 本文中流體是指生物族群長期生存的液體(海水)和氣體(空氣).
              • 圖  1  遷徙鳥群的線性編隊方式

                Fig.  1  Line formation of migratory birds

                圖  2  鳥群編隊的誘導阻力比率[27]

                Fig.  2  Induced power ratio of different formation flight[27]

                圖  3  相鄰鳥類間的“翼尖間距”、“深度”和“撲翼相位差”定義

                Fig.  3  Definitions of “wing tip spacing”, “depth” and “flapping wing phase difference”

                圖  4  鳥群“V型”編隊示意圖

                Fig.  4  Bird flock with V-configuration formation

                圖  5  鳥群能量利用機制與集群規模$ n $和翼尖間距$ s $的關系

                Fig.  5  Relationship between EEU of bird flock and the size $ n $ and wing tip spacing $ s $

                圖  6  有鰭魚類的“菱形”編隊

                Fig.  6  Diamond formation of finfishs

                圖  7  魚群節能區域及節能效果圖

                Fig.  7  Energy saving zone and energy saving effect of fish school

                圖  8  “菱形”編隊參數示意圖

                Fig.  8  Schematic diagram of diamond formation parameters

                圖  9  鰻魚游動方式和有鰭魚類游動方式[28]

                Fig.  9  Swimming method of eel and finfishs[28]

                圖  10  “菱形”編隊示意圖

                Fig.  10  Diamond formation of diagram

                圖  11  EEU實驗結果

                Fig.  11  Results of EEU experiment

                圖  12  南極磷蝦集群 ((a)不同規模生物群體在聚集和分散情況下的能耗情況[104]; (b)磷蝦運動時流體擾動的影響[108]; (c)磷蝦群中不同的編隊方式[109])

                Fig.  12  Krill swarm ((a) Energy consumption of different group in non-swarming and swarming condition[104]; (b) Hydrodynamic disturbance from the motion of krill[108]; (c) Different formation method of krill swarm (Focal krill, FK)[109])

                圖  13  不同規模的棘刺龍蝦隊列[120]

                Fig.  13  Different sizes of migrating lobsters[120]

                圖  14  三葉蟲集群((a)首尾相連的三葉蟲隊列[128]; (b)線性的三葉蟲隊列130]; (c)非線性的三葉蟲集群[130])

                Fig.  14  Trilobite clusters ((a) Queue with most individuals oriented head-under-tail[128]; (b) Linear autochthonous trilobite clusters[130]; (c) Nonlinear trilobite clusters[130])

                圖  15  帝企鵝群的溫度分布[116]

                Fig.  15  Temperature distribution of penguins[116]

                圖  16  擁擠團體EEU隨團體半徑$ r $的變化趨勢

                Fig.  16  Relationship between EEU of huddling and radius $ r $

                表  1  多圓柱體阻力表

                Table  1  Drag coefficients of multi circle cylinders

                位置序號 阻力系數
                1 1.2158
                2 0.4212
                3 0.2191
                4 0.1069
                5 0.0861
                6 0.0991
                下載: 導出CSV

                表  2  多種生物族群的能量高效利用機制總結

                Table  2  Summary of energy efficient utilization mechanism in multiple biological clusters

                族群種類能量高效利用機制實驗數據集群規模EEU模型估計節能效果參考文獻
                加拿大鵝流體優勢利用機制能耗降低36.0%559.4% ~ 45.3% (根據編隊參數的差異)[57]
                粉紅足雁流體優勢利用機制能耗降低14.0%549.4% ~ 47.4% (根據編隊參數的差異)[59]
                白鵜鶘流體優勢利用機制能耗降低11.4% ~ 14.0%87.4% ~ 28.9% (根據編隊參數的差異)[62]
                鯖魚流體優勢利用機制擺動頻率15.0% ~ 29.0%14.4% ~ 23.0% (根據編隊間距的差異)[82]
                海鱸魚流體優勢利用機制擺動頻率9.0% ~ 14.0%914.4% ~ 23.0% (根據編隊間距的差異)[83]
                歐洲擬鯉流體優勢利用機制擺動頻率7.3% ~ 11.6%814.4% ~ 23.0% (根據編隊間距的差異)[54]
                鯔魚流體優勢利用機制擺動頻率10.5% ~ 27.0%814.4% ~ 23.0% (根據編隊間距的差異)[87]
                鰻魚流體優勢利用機制耗氧量30.0%714.4% ~ 23.0% (根據編隊間距的差異)[96]
                南極磷蝦流體優勢利用機制耗氧量小7.2倍[104]
                棘刺龍蝦流體阻礙克服機制65.0%阻力減免1970.6% (6只組成的隊列)[117]
                三葉蟲流體阻礙克服機制330.6% (2只組成的隊列)[129]
                帝企鵝熱量交換與擴散機制能耗降低51.0%最大節能效率不超過55.0%[138]
                嚙齒類動物幼崽熱量交換與擴散機制100最大節能效率不超過55.0%[148?149]
                下載: 導出CSV
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                        • 錄用日期:  2023-07-27
                        • 網絡出版日期:  2023-12-28
                        • 刊出日期:  2024-03-29

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