生物集群能量高效利用机制研究综述

吴晓阳; 邹尧; 付强; 贺威

doi:10.16383/j.aas.c230161

生物集群能量高效利用机制研究综述

doi: 10.16383/j.aas.c230161

吴晓阳^{1, 2, 3,},
邹尧^{1, 2, 3,},
付强^{1, 2, 3,},
贺威^{1, 2, 3,}

1.
北京科技大学智能科学与技术学院北京 100083
2.
北京科技大学人工智能研究院北京 100083
3.
北京科技大学智能仿生无人系统教育部重点实验室北京 100083

基金项目: 国家自然科学基金(62225304, 61933001, 62073028, 62173031), 中央高校基本科研业务费专项资金(FRF-TP-22-003C2) 资助

详细信息

作者简介:
吴晓阳：北京科技大学智能科学与技术学院博士研究生. 2017年获得河北工业大学学士学位. 2020年获得北京科技大学硕士学位. 主要研究方向为扑翼飞行机器人和飞行器控制. E-mail: wxy1995_jz@163.com

邹尧：北京科技大学智能科学与技术学院教授. 2010年获得大连理工大学学士学位, 2016年获得北京航空航天大学博士学位. 主要研究方向为飞行器控制, 多智能体系统. E-mail: zouyao@ustb.edu.cn

付强：北京科技大学智能科学与技术学院副教授. 2009年获得北京交通大学学士学位, 2016年获得北京航空航天大学博士学位. 主要研究方向为视觉导航, 视觉伺服和扑翼飞行机器人. 本文通信作者. E-mail: fuqiang@ustb.edu.cn

贺威：北京科技大学智能科学与技术学院教授. 2006年获得华南理工大学自动化学院学士学位, 2011年获得新加坡国立大学电气工程与计算机科学系博士学位. 主要研究方向为仿生扑翼飞行机器人, 智能无人系统和智能控制. E-mail: weihe@ieee.org

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出版历程
- 收稿日期: 2023-03-28
- 录用日期: 2023-07-27
- 网络出版日期: 2023-12-28
- 刊出日期: 2024-03-29

An Overview of Energy Efficient Utilization Mechanism of Biological Colonies

WU Xiao-Yang^{1, 2, 3
,},
ZOU Yao^{1, 2, 3
,},
FU Qiang^{1, 2, 3
,},
HE Wei^{1, 2, 3
,}

1.
School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083
2.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083
3.
Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing 100083

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

摘要: 近年来, 智能体集群的能量高效利用(Energy efficient utilization, EEU)机制已经成为多智能体系统领域的热点问题, 如何使用有限的能量资源实现系统性能最优是该问题的核心研究内容. 考虑到智能体集群与生物族群的相似性, 探究生物族群的能量高效利用机制对提升智能体集群节能性能有着重要的研究价值. 为此, 首先介绍不同生物族群中蕴含的能量利用机制, 并根据节能方式的差异分成3类, 流体优势利用机制、流体阻碍克服机制和热量交换与扩散机制; 然后对这些机制进行总结与分析, 并提出一种具有一般性的能量高效利用模型; 最后, 探讨能量高效利用机制在多智能体系统应用中面临的挑战和发展趋势.
- 生物集群 /
- 能量高效利用 /
- 节能机制 /
- 编队
Abstract: The energy efficient utilization (EEU) mechanism of agent clusters has become a hot topic in the multi-agent system field. The core research content of this topic is how to use limited energy resources to optimize multi-agent system performance. Considering the similarity between the agent clusters and the biological colonies, exploring the energy efficient utilization mechanism of biological colonies has important research value in improving the energy utilization performance of intelligent agent clusters. Firstly, this paper introduces the energy utilization mechanism of multiple biological colonies, and classifies them according to the differences in energy saving methods, fluid advantage utilization mechanism, fluid obstacle overcoming mechanism and heat exchange and diffusion mechanism. Then these mechanisms are summarized and analyzed, and a general model of efficient energy utilization is proposed. Finally, the challenges and development trends of energy efficient utilization mechanisms in multi-agent applications are discussed.
- Biological colonies /
- energy efficient utilization (EEU) /
- energy-saving mechanism /
- formation
注释:

1) 1¹ 本文中流体是指生物族群长期生存的液体(海水)和气体(空气).

HTML全文

图 1 迁徙鸟群的线性编队方式

Fig. 1 Line formation of migratory birds

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图 2 鸟群编队的诱导阻力比率^[27]

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

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图 3 相邻鸟类间的“翼尖间距”、“深度”和“扑翼相位差”定义

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

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图 4 鸟群“V型”编队示意图

Fig. 4 Bird flock with V-configuration formation

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图 5 鸟群能量利用机制与集群规模$ n $和翼尖间距$ s $的关系

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

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图 6 有鳍鱼类的“菱形”编队

Fig. 6 Diamond formation of finfishs

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图 7 鱼群节能区域及节能效果图

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

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图 8 “菱形”编队参数示意图

Fig. 8 Schematic diagram of diamond formation parameters

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图 9 鳗鱼游动方式和有鳍鱼类游动方式^[28]

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

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图 10 “菱形”编队示意图

Fig. 10 Diamond formation of diagram

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图 11 EEU实验结果

Fig. 11 Results of EEU experiment

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图 12 南极磷虾集群 ((a)不同规模生物群体在聚集和分散情况下的能耗情况^[104]; (b)磷虾运动时流体扰动的影响^[108]; (c)磷虾群中不同的编队方式^[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])

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图 13 不同规模的棘刺龙虾队列^[120]

Fig. 13 Different sizes of migrating lobsters^[120]

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图 14 三叶虫集群((a)首尾相连的三叶虫队列^[128]; (b)线性的三叶虫队列^130]; (c)非线性的三叶虫集群^[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])

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图 15 帝企鹅群的温度分布^[116]

Fig. 15 Temperature distribution of penguins^[116]

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图 16 拥挤团体EEU随团体半径$ r $的变化趋势

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

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表 1 多圆柱体阻力表

Table 1 Drag coefficients of multi circle cylinders

位置序号	阻力系数
1	1.2158
2	0.4212
3	0.2191
4	0.1069
5	0.0861
6	0.0991

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表 2 多种生物族群的能量高效利用机制总结

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

族群种类	能量高效利用机制	实验数据	集群规模	EEU模型估计节能效果	参考文献
加拿大鹅	流体优势利用机制	能耗降低36.0%	55	9.4% ~ 45.3% (根据编队参数的差异)	[57]
粉红足雁	流体优势利用机制	能耗降低14.0%	54	9.4% ~ 47.4% (根据编队参数的差异)	[59]
白鹈鹕	流体优势利用机制	能耗降低11.4% ~ 14.0%	8	7.4% ~ 28.9% (根据编队参数的差异)	[62]
鲭鱼	流体优势利用机制	摆动频率15.0% ~ 29.0%	—	14.4% ~ 23.0% (根据编队间距的差异)	[82]
海鲈鱼	流体优势利用机制	摆动频率9.0% ~ 14.0%	9	14.4% ~ 23.0% (根据编队间距的差异)	[83]
欧洲拟鲤	流体优势利用机制	摆动频率7.3% ~ 11.6%	8	14.4% ~ 23.0% (根据编队间距的差异)	[54]
鲻鱼	流体优势利用机制	摆动频率10.5% ~ 27.0%	8	14.4% ~ 23.0% (根据编队间距的差异)	[87]
鳗鱼	流体优势利用机制	耗氧量30.0%	7	14.4% ~ 23.0% (根据编队间距的差异)	[96]
南极磷虾	流体优势利用机制	耗氧量小7.2倍	—	—	[104]
棘刺龙虾	流体阻碍克服机制	65.0%阻力减免	19	70.6% (6只组成的队列)	[117]
三叶虫	流体阻碍克服机制	—	3	30.6% (2只组成的队列)	[129]
帝企鹅	热量交换与扩散机制	能耗降低51.0%	—	最大节能效率不超过55.0%	[138]
啮齿类动物幼崽	热量交换与扩散机制	—	100	最大节能效率不超过55.0%	[148−149]

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