With the continuous development of UAV technology and swarm intelligence technology, the UAV formation cooperative mission has attracted wide attention because of its remarkable function and flexibility to complete complex and changeable tasks, such as search and rescue, resource exploration, reconnaissance and surveillance. The collaborative trajectory planning of UAV formation is a key part of the task execution. This paper attempts to provide a comprehensive review of UAV formation trajectory planning algorithms. Firstly, from the perspective of global planning and local planning, a simple framework of the UAV formation trajectory planning algorithm is proposed, which is the basis of comprehensive classification of different types of algorithms. According to the proposed framework, a classification method of existing UAV formation trajectory planning algorithms is proposed, and then, different types of algorithms are described and analyzed statistically. Finally, the challenges and future research directions of the UAV formation trajectory planning algorithm are summarized and prospected according to the actual requirements. It provides reference information for researchers and workers engaged in the formation flight of UAVs.

The Satellite network is an important part of the global network. However, the complex architecture, changeable constellation topology, and frequent inter-satellite connection switching problems bring great challenges to the routing designs of satellite networks, making the study of the routing methods in satellite networks a research hotspot. Therefore, this paper investigates the latest existing routing works to tackle the dynamic routing problems in satellite networks. The architecture and development of satellite networks are presented and analyzed first. Afterward, dynamic routing problems in satellite networks are analyzed in detail based on the time-varying network topology. According to the latest works, the advanced satellite network routing schemes, including single-layer and multi-layer dynamic routing are introduced and analyzed. In addition, the merits, shortcomings, and applications of these schemes are analyzed and summarized. Finally, potential technologies and future directions are discussed.

UAV obstacle avoidance technology is one of the key factors to realize UAV autonomous flight, efficient and accurate obstacle avoidance is significant to complete the UAV autonomous flight task. In contrast, the dynamic, real-time and uncertainty of the environment in which the UAV is located makes the problem very tricky, especially in the indoor environment. At present, a large number of scholars have shown strong interest in the indoor UAV obstacle avoidance problem. With the rapid development of computer technology and hardware devices, many intelligent algorithms have been proposed to solve the obstacle avoidance problem. However, the research on indoor UAV obstacle avoidance technology is not comprehensive enough, and there is a lack of summarization of the research results in recent years. This paper introduces the sensor modules commonly used for indoor UAV environment sensing, related obstacle avoidance methods based on sensory detection. Classifies and composes the commonly used UAV path planning obstacle avoidance algorithms, and gives several representative UAV flight control research methods. This paper summarizes the advantages and disadvantages of different perception modules and detection methods applied to UAV obstacle avoidance tasks, and compares various current path planning methods. Finally, the critical difficulties and challenges faced in the field of indoor UAV obstacle avoidance are discussed, and future research in the field of UAV obstacle avoidance has prospected.

A microrobot with untethered control in 3D space is a good choice to be applied in the fields of biomedicine with in small and confined workspace. In this paper, an electromagnetic actuation system (EMA) which combined with Helmholtz coil and Maxwell coil for the microrobot 5 DOF locomotion in 3D space is built. The magnetic field analysis of the proposed 3D EMA system was analyzed by finite-element-method (FEM) with multi-physics COMSOL software. The proposed EMA system can produce magnetic field with different characteristics such as a controllable uniform gradient magnetic field, a rotating magnetic field and a oscillating magnetic field in a three-dimensional space by independently changing the current in each coil. In this paper the 3D motion dynamic equation model of microrobot was established. A novel control method for the gravity compensation for the wireless locomotive microrobot was proposed. The proposed method has the property that the direction of magnetic flux and the locomotion path of the microrobot are independent. Meanwhile, it can achieve the horizontal motions or nearly horizontal motions and overcome the gravity well at the same time. It has been verified by experiments in 3D liquid environment. With the proposed method, the microrobot shows good performance in horizontal motions as well as various motions in the 3D space.

Islanding detection is one of the conditions necessary for the safe operation of the microgrid. The detection technology should provide the ability to differentiate islanded operations from power grid disturbances effectively. Given that it is difficult to set the fault threshold using the passive detection method, and because the traditional active detection method affects the output power quality, a microgrid islanding detection method based on the Sliding Window Discrete Fourier Transform (SDFT)-Empirical Mode Decomposition (EMD) and Long Short-Term Memory (LSTM) network optimized by an attention mechanism is proposed. In this paper, the inverter output current and voltage at the point of common coupling (PCC) are transformed by the SDFT. The positive sequence, zero sequence, and negative sequence components of voltage and current harmonics are calculated and reconstructed by adopting the symmetrical component method (SCM). Meanwhile, the current and voltage are decomposed into a mono intrinsic mode function (IMF). The symmetric components of voltage, current, and IMFs are used as inputs to the deep learning algorithm. An LSTM with the features extracted to classify islanding and grid disturbance is proposed. By using the attention mechanism to set the weight values of the features of hidden states obtained by the LSTM network, the proportion of important features increases, which improves the classification effect. MATLAB/Simulink simulation results indicate that the proposed method can effectively classify the islanding state under different working conditions with an accuracy level of 98.4% and a loss value of 0.0725 with a maximal detection time of 66.94 ms. It can also reduce the non-detection zone (NDZ) and detection time and has a certain level of noise resistance. Meanwhile, the problem whereby the active method affects the microgrid power quality is avoided without disturbing the current or power of the microgrid.

As power big data plays an increasingly important role in the operation, maintenance, and management of power systems, complex and covert false data attacks pose a serious threat to the safe and stable operation of the power system. This article first explores the characteristics of new power systems, and the challenges posed by false data attacks. The application of big data technology in power production optimization, energy consumption analysis, and user service improvement is then investigated. The article classifies typical attacks against the four stages of power big data systems in detail and analyzes the characteristics of the attack types. It comprehensively summarizes the attack detection technologies used in the four key stages of power big data, including state estimation, machine learning, and data-driven attack detection methods in the data collection stage; clock synchronization monitoring and defense strategies in the data transmission stage; data processing and analysis, data integrity verification and protection measures of blockchain technology in the third stage; and traffic supervision, statistics and elastic computing measures in the control and response stage. Finally, the limitations of attack detection mechanisms are proposed and discussed from three dimensions: research problems, existing solutions, and future research directions. It aims to provide useful references and inspiration for researchers in power big data security to promote technological progress in the safe and stable operation of power systems.