基于水下机器人的海产品智能检测与自主抓取系统

针对水下机器人实现自主抓取过程中缺乏引导系统的问题,提出了一种依托水下机器人的海产品智能检测与自主抓取系统,用来解决水下目标的智能检测问题,并引导水下机器人进行海产品的自主抓取。将卷积神经网络检测算法应用到水下场景,利用水下图像数据集训练特定的网络模型DSOD检测海产品。建立短基线定位系统定位水下作业的机器人。通过分析相机成像坐标系与定位系统坐标系之间的关系,提出了一种计算海产品实际位置的坐标转换方法,计算海产品的实际位置。设计了一种基于反馈机制的多信号分析方法,引导机器人在水下移动并抓捕海产品。为了验证所提系统的有效性,搭建了一款水下抓捕机器人,并成功将所提算法应用到机器人,在真实海洋环境中进行海产品的自主抓取实验。      

A multi-objective optimization framework of constellation design for emergency observation

To meet the urgent needs of emergency observation missions, a well-designed constellation is key to ensuring system performance. This paper presents a multi-objective optimization framework which is well suited for constellation designers to identify key trade-offs and make decisions. Firstly, this work investigates the metrics of responsiveness and coverage simultaneously to approximate to the actual conditions of emergencies, and a multi-objective mathematical model is constructed to explore solutions to enhance the overall system performance. Then, according to the characteristics of emergency missions, a hierarchical chromosome encoding method is proposed in the framework to encode a solution that explores different sized constellations without constraining its specific geometry. Finally, we propose the use of radial axes plots to help constellation designers to gain pragmatic insights for informed decision making. The simulation of disaster management verifies that the proposed chromosome encoding method effectively promotes the convergence of the algorithm, and the multi-objective optimization framework helps to generate a rapid and adequate observation satellite constellation to provide maximum coverage performance while ensuring timeliness.     

投放激光制导炸弹的战术研究

对攻击机本机照射激光束、投放激光制导炸弹的战术进行研究,即攻击机本机照射激光束、采用机翼非水平转弯投放方式投放激光制导炸弹、转弯退出的战术.其关键点在于攻击机采用转弯退出战术把激光束连续地照射目标的战术要求和退出意图二者融合.该战术由于采用机动投放和曲线退出战术方式,能够大大提高攻击机的生存力.采用简化的攻击机质点模型,通过对攻击机转弯退出过程的分析,给出采用转弯退出战术的具体条件.投放激光制导炸弹任务过程的数学仿真结果表明,所给出的条件能够满足攻击机本机照射激光束、投放激光制导炸弹、转弯退出的战术要求.      

Coherent superposition of multi-GNSS wavelet analysis periodogram for sea-level retrieval in GNSS multipath reflectometry

The multipath signals of GNSS can act as a tide gauge via a technology called Global Navigation Satellite Systems multipath reflectometry (GNSS-MR), which is based on the relationship between multipath frequency and height to sea surface. In addition to the traditional frequency extraction method of Lomb–Scargle periodogram (LSP), wavelet analysis can be applied to extract instantaneous multipath frequencies of GPS L1, thus improving data utilization. However, because of the sensitivity of instantaneous frequency to noise and the introduction of more signals, multi-constellation retrievals exhibit many outliers and errors. The aim of this study is to apply wavelet analysis to multi-constellation multi-frequency signals and most importantly to find a method to avoid noise. We used coherent superposition to overlap the intra-track inter-signal instantaneous frequency spectrograms to enhance effective information and to weaken noise. This coherent superposition method can achieve intra-track inter-signal combination. The multi-GNSS data from two Multi-GNSS Experiment (MGEX) stations were used. The results showed that the coherent superposition spectrogram has a clear energy concentration, and the frequencies calculated from it depict sea-level changes. To compare the method with the LSP method and to combine inter-track retrievals, a robust regression method was used to combine retrievals and to produce equally spaced retrieval series. The results show that the combined retrievals from the coherent superposition method have a slightly higher accuracy than those from the classical LSP method. Because this method can be used to retrieve sea-level data from instantaneous frequency, it increases data utilization and provides a way to obtain details of SNR arcs, which is a potential method to benefit GNSS-MR, especially for sites with narrow reflecting sensing zones in a small sea azimuth range.     

Distributing space weather monitoring instruments and educational materials worldwide for IHY 2007: The AWESOME and SID project

The International Heliophysical Year (IHY) aims to advance our understanding of the fundamental processes that govern the Sun, Earth, and heliosphere. The IHY Education and Outreach Program is dedicated to inspiring the next generation of space and Earth scientists as well as spreading the knowledge, beauty, and relevance of our solar system to the people of the world. In our Space Weather Monitor project we deploy a global network of sensors to high schools and universities to provide quantitative diagnostics of solar-induced ionospheric disturbances, thunderstorm intensity, and magnetospheric activity. We bring real scientific instruments and data in a cost-effective way to students throughout the world. Instruments meet the objectives of being sensitive enough to produce research-quality data, yet inexpensive enough for placement in high schools and universities. The instruments and data have been shown to be appropriate to, and usable by, high school age and early university students. Data contributed to the Stanford data center is openly shared and partnerships between groups in different nations develop naturally. Students and teachers have direct access to scientific expertise.     

超视距空战中多机协同制导方法

对空空导弹制导权交接的任务分配问题,根据己方飞机与制导权需交接的导弹的态势建立了对导弹的态势优势模型;根据己方飞机对该导弹攻击目标的态势建立了对目标的探测能力模型;根据敌方飞机对己方飞机的态势建立了己方飞机受到的威胁度模型;根据敌我双方飞机的空战能力建立了空战效能优势模型.在这4种模型的基础上建立了己方飞机对导弹的总的制导优势模型.在总的制导优势的基础上建立了协同制导任务分配模型,并采用遗传算法对协同制导任务分配问题进行优化求解.仿真结果表明,该方法能够实时地计算制导优势和进行任务分配,有效地完成多机协同制导.     

一种针对金星探测器的姿态指向设计

摘要： 金星探测需要超长距离低码率传输,因而金星探测器需要保持其数传天线指向地球.相对于地球轨道飞行器来说,金星探测器距离太阳更近,需要固定散热面来维持探测器内的温度.提供一种基于在金星探测器偏置安装天线的姿态指向设计,能够保证从金星向地球传输数据并且维持散热面远离太阳.而此设计旨在减少数传天线的数量至一根同时将两个固定平面作为散热面.还提供两种详细方案来控制姿态机动来保证在数传天线始终指向地球的同时在特定节点切换散热面.     

企业的竞争战略与生产系统的动态发展

当今日益变化的市场对传统的生产系统提出了挑战.为了面对变化的市场,形成自我竞争优势,增强企业的应变能力,本文认为生产系统应具有持续的动态发展性,需要从战略的角度重新审视生产管理.目前,柔性化制造原则在生产管理者们心中的地位越来越高,无论是传统的工业企业还是全新的工业企业,对柔性化系统运用的需求在增长.本文介绍了柔性化原则在为企业减少或重新定义不确定性时的应用.     

Uncertainties in radiation effect predictions for the natural radiation environments of space.

Future manned missions beyond low earth orbit require accurate predictions of the risk to astronauts and to critical systems from exposure to ionizing radiation. For low-level exposures, the hazards are dominated by rare single-event phenomena where individual cosmic-ray particles or spallation reactions result in potentially catastrophic changes in critical components. Examples might be a biological lesion leading to cancer in an astronaut or a memory upset leading to an undesired rocket firing. The risks of such events appears to depend on the amount of energy deposited within critical sensitive volumes of biological cells and microelectronic components. The critical environmental information needed to estimate the risks posed by the natural space environments, including solar flares, is the number of times more than a threshold amount of energy for an event will be deposited in the critical microvolumes. These predictions are complicated by uncertainties in the natural environments, particularly the composition of flares, and by the effects of shielding. Microdosimetric data for large numbers of orbits are needed to improve the environmental models and to test the transport codes used to predict event rates.     

The AGROBOT project.

The aim of this paper is to illustrate the AGROBOT project. This project was initiated to develop a complete robotic system for the production cycle of tomato plants in a greenhouse environment. The robot architecture is based on a vehicle carrying the picking arm (a six degrees of freedom anthropomorphic arm with a gripper/hand), the head with the two micro cameras (for the color stereoscopic vision system) and the VME rack for the complete control of the system. The head was purposely developed to permit complete visibility of the overall area. The vision system drives the head to point the path during navigation or to explore the plants looking for the work objects. The robot will be able to navigate between rows of plants, stop near each plant and identify the relevant objects (fruits or flowers) so as to be able to pick ripe tomatoes or spray anticryptogamic substances on flowers. Due to its flexible architecture, the system can be suited to operate on other kinds of cultivation or could be modified to perform other kinds of operations such as transplanting or packaging. Also the field of action could be different from greenhouses: changing from a wheeled locomotion system to a tracked system, the robot will be able to operate on particularly irregular surfaces. These features make this robotic system particularly adapted to replace human from tiring and harmful tasks or operating within adverse environment.     

Accurate estimation of relative atmospheric density error on the example of uncertain geomagnetic activity information

Errors in neutral atmospheric density are the dominant contributor to unrealistic orbital state-vector covariances in low Earth orbits (LEO). Density uncertainty is caused by model-uncertainty at spatial scales below and within the model resolution, as well as input-uncertainty of the environmental parameters supplied to the semi-empirical atmospheric model.The paper at hand provides multiple contributions. First, analytic equations are derived to estimate the relative density error due to an input parameter uncertainty in any of the environmental parameters supplied to the model. Second, it is shown on the example of uncertain geomagnetic activity information, how to compute the required inputs to facilitate the accurate estimation of the relative density error.A clamped cubic splining approach for the conversion from geomagnetic amplitude (ap) to the kp index is postulated to perform this uncertainty propagation, as other algorithms were found unsuitable for this task. Results of numerical simulations with three popular semi-empirical models are provided to validate the set of derived equations. It is found that geomagnetic input uncertainty is especially important to consider in case of low global geomagnetic activity. The findings seamlessly integrate with prior work by the authors to perform density-uncertainty considering orbit estimation.     

Origin and evolution of the Valles Marineris region of Mars

The Valles Marineris Region of Mars is located on the eastern flank of the Tharsis bulge which exhibits dramatic landforms that relate in origin to tectonic, volcanic, and geomorphic processes. Tectonic activity due to crustal extension related to the Tharsis-Syria rise (regional doming or lithospheric response to volcanic loading) appears to be the fundamental influence on the canyon formation and evolution. Tectonic activity contributed to deepen the canyon system and competed with erosional and depositional processes that caused canyon to broaden and fill. The primary tectonic processes appear to have been vertical adjustments of crustal blocks under the influence of N-S and E-W extensional stresses. Canyon wall erosional features and landslide morphologies indicate that materials have been transported from the walls to the floor essentially by mass wasting and downfaulting. However, seepage of liquid water or sublimation of ground ice could have contributed to the enlargement of the tributary canyons, thus suggesting that variations in climatic conditions could have accounted for the morphologic evolution of the canyon system.     

Effects of lunar and mars dust simulants on HaCaT keratinocytes and CHO-K1 fibroblasts

Exposure to lunar dust during Apollo missions resulted in occasional reports of ocular, respiratory and dermal irritations which showed that lunar dust has a risk potential for human health. This is caused by its high reactivity as well as its small size, leading to a wide distribution also inside habitats. Hence, detailed information regarding effects of extraterrestrial lunar dusts on human health is required to best support future missions to moon, mars or other destinations. In this study, we used several methods to assess the specific effects of extraterrestrial dusts onto mammalian skin by exposing HaCaT keratinocytes and CHO-K1 fibroblasts to dusts simulating lunar or mars soils. These particular cell types were chosen because the skin protects the human body from potentially harmful substances and because a well orchestrated program ensures proper wound healing. Keratinocytes and fibroblasts were exposed to the dusts for different durations of time and their effects on morphology and viability of the cells were determined. Cytotoxicity was measured using the MTT assay and by monitoring culture impedance, while phalloidin staining of the actin cytoskeleton was performed to address structural integrity of the cells which was also investigated by propidium iodide intake. It was found that the effects of the two types of dust simulants on the different features of both cell lines varied to a considerable extent. Moreover, proliferation of HaCaT keratinocytes, as analyzed by Ki67 labeling, was suppressed in sub-confluent cultures exposed to lunar dust simulant. Furthermore, experimental evidence is provided for a delay in regeneration of keratinocyte monolayers from scratch-wounding when exposed to lunar dust simulant. The obtained results will facilitate further investigations of dust exposure during wound healing and will ease risk assessment studies e.g., for lunar lander approaches. The investigations will help to determine safety measures to be taken during extraterrestrial expeditions in order to minimize risks to human health associated with exposure of human skin to dust contaminants.     

METHIS: Mercury thermal infrared spectrometer

The BepiColombo mission to Mercury is devoted to the thorough exploration of Mercury and its environment, with the aim to understand the processes of planetary formation and evolution in the hottest part of the protoplanetary nebula. This mission represents an unique opportunity for the European community to extend the understanding of the Solar Nebula evolution from its outer edge – ideally represented by comets – to its inner and warmer edge. Obviously this exploration asks for a detailed knowledge of the main constituents of the matter present in the different Solar System areas. Spectroscopy is a powerful tool to acquire this knowledge. We have participated with a large consortium of European researchers to the development of the Rosetta imaging spectrometer. We propose here to use our experience to develop a newly designed spectrometer to investigate the mineralogical composition of the Mercurial surface. Given the particular thermodynamical situation of the Mercurial surface, we have developed a concept that combines a medium IR low spectral resolution imager with a moderate spectral resolution NIR point spectrometer. The main goal of METHIS is to provide the mineralogical characterisation of the surface with sufficient spectral resolution in a scientifically diagnostic spectral range.     

Long term effects of low doses of 56Fe ions on the brain and retina of the mouse: ultrastructural and behavioral studies.

Eight month old male C57BL6 mice were exposed without anesthesia to whole-body irradiation in circular holders. The mice were tested for behavioral decrements after 0.5 and 50 rads of Fe particle irradiation at 6 and 12 months post irradiation to obtain long term results. A standard maze was used and the animals were timed for completion thereof. A string test also was administered to the mice, testing their ability to grasp and move along a string to safety. The results from animals exposed to 50 rads were significantly different from [correction of fron] control results to p = < .001 in both systems of testing. The hippocampus (believed to be the location of environmental interaction in the brain) and the retina were examined for ultrastructural changes. The ultrastructural changes were similar to those we found in our Cosmos 782, 936 and in our Argon experiments. The mouse data indicate that iron particles were able to induce long term changes in the central nervous system which lead to behavioral impairment.     

泡沫铜/低熔点合金复合相变材料凝固放热分析

为研究泡沫铜/低熔点合金(LMPA)复合相变材料在间歇放热工作环境下恢复至初始状态的能力及不同孔隙率泡沫铜的添加对其凝固放热过程的影响，通过数值模拟对比分析了47合金、正二十三烷与泡沫铜复合前后的凝固放热过程，并调节泡沫铜/47合金复合材料孔隙率计算模拟芯片温度在凝固放热过程中温度随时间变化曲线。结果表明:泡沫铜的添加对2类材料凝固过程均有促进作用，模拟芯片恢复至目标温度所需时间分别被缩短6.6%和47.7%。因体积潜热值的差距，泡沫铜/47合金凝固时需放出更多热量，恢复至目标温度的时间较长，是正二十三烷复合相变材料的1.52倍。随着孔隙率的增大，复合相变材料恢复至室温状态所用时长变化不大，考虑到孔隙率对相变热控过程中的影响，实际使用时应综合考虑。      

Habitability constraints/objectives for a Mars manned mission: internal architecture considerations.

It is generally accepted that high quality internal environment shall strongly support crew's adaptation and acceptance to situation of long isolation and confinement. Thus, this paper is an attempt to determine to which extent the resulting stress corresponding to the anticipated duration of a trip to Mars (1 and a half years to 2 and a half years) could be decreased when internal architecture of the spacecraft is properly designed. It is assumed that artificial gravity shall be available on board the Mars spacecraft. This will of course have a strong impact on internal architecture as far as a 1-g oriented design will become mandatory, at least in certain inhabited parts of the spacecraft. The review of usual Habitability functions is performed according to the peculiarities of such an extremely long mission. A particular attention is paid to communications issues and the need for privacy. The second step of the paper addresses internal architecture issues through zoning analyses. Common, Service and Personal zones need to be adapted to the constraints associated with the extremely long duration of the mission. Furthermore, due to the nature of the mission itself (relative autonomy, communication problems, monotony) and the type of selected crew (personalities, group structure) the implementation of a "fourth zone", so-called "recreational" zone, seems to be needed. This zoning analysis is then translated into some internal architecture proposals, which are discussed and illustrated. This paper is concluded by a reflection on habitability and recommendations on volumetric requirements. Some ideas to validate proposed habitability items through simulation are also discussed.     

基于单纯形法的TLE轨道确定

TLE数据库是目前公开获得轨道信息的唯一来源，其包含的空间目标将持续增加.利用TLE数据库获得精确的定轨结果已成为研究重点.由于TLE数据本身精度未知且存在波动，需要利用历史TLE数据对参考时刻的TLE状态进行轨道确定.常用方法为最小二乘法，但是该方法具有局限性，需要较为精确的初始值，且误差评估不可靠，解易产生发散.为克服现有方法的局限性，本文提出了一种局部搜索算法——单纯形调优法来实现TLE轨道确定.为避免构建的初始单纯形搜索得到的最优解属于局部最优，引入蒙特卡罗方法对初始单纯形进行采样，获得一系列解的统计分布，通过求该分布的期望和方差获得最终结果.研究结果表明，将单纯形调优法获得的结果用于传播预报可显著降低位置和速度误差.      

跳频对DS／FH接收机载波跟踪精度影响分析

面对日益复杂的电磁环境,将DS/FH混合扩频技术引入航天测控领域是一种尝试.针对DS/FH信号的特点,推导了航天测控背景下的DS/FH混合扩频系统接收机关键节点的数学模型,分析了航天测控应用中由于DS/FH混合扩频信号的相邻跳频频率不同导致附加在载波上的多普勒频率跳变和载波初始相位跳变对混合扩频接收机捕获跟踪的影响,重点分析了载波多普勒频率跳变和载波初始相位跳变对接收机载波跟踪精度的影响;提出了一种减小由于跳频载波初始相位不确定造成相关累积能量损失的方法,并利用跳频图案辅助降低了跳频对混合扩频接收机载波跟踪精度影响,仿真验证了该方法的有效性.     

Artificial gravity as a countermeasure of physiological deconditioning in space.

The displacement of humans from our planet to space and back to our planet or to another planet necessarily causes the exposure to transitional gravitational forces which create a need for countermeasures of physiological deconditioning. One of the alternative approaches to counteracting physiological deconditioning is the simulation of a gravitational field. An apparatus named the artificial gravity simulator (AGS) has been designed and constructed. The AGS is a short radius rotating platform capable of producing a +Gz 100% gradient of a variable magnitude up to 3-g. It supports four beds for testing four subjects at a time. The AGS is suitable for short and long duration experiments on various physiological systems. At present it is being used to study the cardiovascular response to various g-levels and exposure times.