Rolling control and dynamics model of two section articulated-wing ornithopter

This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter supposed to go left now go right instead. This research gives a qualitative dynamics model which explains this new phenomenon. Because of wing folding, the differential rotation of outer-section wing (analogues to aileron in plane, left aileron up and right aileron down make left turn) around pitch axis becomes common mode rotation around yaw axis,leading its rotating torque changing from left-handed rotation (using left-handed as example, right-handed is the same) around roll axis to a common mode force pointing to front-right (northeast, NE) direction from first player's view of the ornithopter.Because most of the flapping movement is in the upper hemisphere from ornithopter's view, the NE force is above on the center of mass of the orthopter, generating a right-handed moment around roll axis. Therefore, the ornithopter supposed to go left now goes right. This phenomenon is a unique and only observed in two section articulated-wing ornithopter by far. Many field tests conducted by authors confirm it is highly repetitive.

Deep-Unfolding Neural-Network Aided Hybrid Beamforming Based on Symbol-Error Probability Minimization

In massive multiple-input multiple-output (MIMO) systems, hybrid analog-digital (AD) beamforming can be used to attain a high directional gain without requiring a dedicated radio frequency (RF) chain for each antenna element, which substantially reduces both the hardware costs and power consumption. While massive MIMO transceiver design typically relies on the conventional mean-square error (MSE) criterion, directly minimizing the symbol error rate (SER) can lead to a superior performance. In this paper, we first mathematically formulate the problem of hybrid transceiver design under the minimum SER (MSER) optimization criterion and then develop a MSER-based gradient descent (GD) iterative algorithm to find the related stationary points. We then propose a deep-unfolding neural network (NN), in which the iterative GD algorithm is unfolded into a multi-layer structure wherein a set of trainable parameters are introduced for accelerating the convergence and enhancing the overall system performance. To implement the training stage, the relationship between the gradients of adjacent layers is derived based on the generalized chain rule (GCR). The deep-unfolding NN is developed for both quadrature phase shift keying (QPSK) and for $M$-ary quadrature amplitude modulated (QAM) signals and its convergence is investigated theoretically. Furthermore, we analyze the transfer capability, computational complexity, and generalization capability of the proposed deep-unfolding NN. Our simulation results show that the latter significantly outperforms its conventional counterpart at a reduced complexity.