自由漂浮空间机器人多约束混合整数预测控制

针对空间机器人完成任务时需要躲避障碍物的问题,提出一种自由漂浮空间机器人的混合整数预测控制方法。首先,在模型预测控制方法框架下,机械臂关节的物理限制,躲避障碍物的要求被统一描述为最优控制问题下的不等式约束,可以得到自由漂浮空间机器人具有线性二次规划形式的最优控制律。其次,基于命题逻辑建立控制问题中各约束的优先级,保证在最大程度地满足约束的情形下得到控制问题的解,有效弥补了模型预测控制方法用于空间机器人控制时,多约束可能导致最优控制问题不可行的不足。最后,仿真结果校验了所设计控制律的有效性。     

一种LSTM模型预测BC值的空间碎片无控再入预报方法

提出一种利用长短周期记忆(LSTM)神经网络模型动态预测无控再入过程中弹道系数(BC)值实现空间碎片高精度再入时刻预报。通过利用空间碎片两行根数(TLE)、简化通用摄动模型(SGP4)与公开的物体陨落时间作为实测数据样本，利用迭代修正BC值方法构建预测模型的训练集，由此构造用于预测BC值的LSTM模型预测BC，再采用高精度轨道外推动力学模型配合预测BC值预报再入时刻，结果表明基于LSTM模型预测BC的空间碎片再入时刻预报方法是可行的，在95%的置信度内，90天以上的再入时刻预报精度小于10%，30天预报精度小于8%。     

航天数据固态记录器设计问题(中)

航天工程数据固态记录器设计问题第二部分，讨论空间辐射环境、单粒子效应及其预测方法     

自由飞行空间机器人遥操作三维预测仿真系统研究

三维预测仿真技术是目前解决大时延遥操作的主要方法,在空间机器人的遥操作中起着至关重要的作用。针对自由飞行空间机器人建立了一套遥操作三维预测仿真系统,并进行了地面演示验证。首先介绍了空间机器人系统及其遥操作分系统组成,以及图形预测仿真原理。然后详细介绍了遥操作分系统预测仿真子系统的开发,该子系统基于面向对象的思想和MVC(Model\|View\|Controller)模式进行设计,采用Java语言和Java3D图形库进行开发。仿真系统以空间机器人的运动学模型和动力学模型进行驱动,具有快速、准确的图形碰撞检测功能。最后建立了遥操作地面演示验证系统,进行了多次遥操作实验。结果表明了预测仿真子系统的有效性。
关键词:中图分类号：文献标识码：A 文章编号：DOI:     

空间自旋目标混合EFIR/DFT运动轨迹预测算法

针对自旋目标运动轨迹的跟踪与预测中鲁棒性与时效性问题,本文提出一种在视觉测量目标位姿的基础上,通过混合扩展有限冲击响应(EFIR)/离散傅立叶变换(DFT)估计目标状态与特征参数,进而预测目标轨迹的方法。在视觉相机对目标特征点位姿测量的基础上,将运动过程分解为平动与转动,时域与频域同步估计目标的状态与动力学参数,采用DFT估计与平动相关参量,采用EFIR估计与转动相关参量,根据空间漂浮目标动力学方程,实现在过程噪声与量测噪声未知的复杂条件下对目标轨迹的长期准确预测,并通过地面机器人模拟试验对预测方法的正确性和有效性开展验证。结果表明:利用本文提出的方法实现了对空间自旋目标运动轨迹的准确预测;与传统基于扩展卡尔曼滤波的预测方法相比,在过程噪声、量测噪声未知的条件下,文中提出的方法有效缩短了参数收敛时间,提高了参数估计与轨迹预测精度。     

一种基于集中式控制的空间态势感知云计算服务系统

空间态势感知任务具有很强的突发性、异构性等特点。其系统要求高的可靠性,其中如碎片分析、碰撞预测、碎片清除等任务需要庞大的计算资源。使用按需索取的云计算方式能够满足空间态势感知的各种可预测和非可预测的复杂需求,降低硬件成本并且易于规模化。文章提出了一种集中式控制的云计算空间网络系统,在系统中使用了OpenFLow协议,能够为空间态势感知业务服务。     

面向轨迹预测的高超声速飞行器气动性能分析

为了给高超声速轨迹预测问题提供先验知识,研究了面向轨迹预测的高超声速飞行器气动性能分析问题。首先,简要介绍了高超声速再入滑翔飞行器的基本性能,从拦截的角度分析了对其滑翔段进行轨迹预测的必要性。其次,以HTV-2为例,采用斜激波理论、活塞理论、Prandtl-Meyer方程及粘性力工程计算方法对临近空间高超声速环境下飞行器的受力情况进行了分析建模。然后,对目标机动性能进行了仿真分析,仿真结果与相关文献报道较一致,证明了建模仿真方法的可行性。最后,基于以上建模仿真,给出了一组适用于临近空间高超声速飞行器滑翔段目标跟踪和轨迹预测的气动参数,并进行了仿真验证,为下一步研究基于拦截的高超声速飞行器轨迹预测提供了理论基础和方法指导。     

一种预测拦截未制导方法

本文提出一种预测拦截末制导方法。用等价预测碰撞线代替预测碰撞线,只需要探测视线的角速度,使需要探测的参数减少。文中还提出了外扰动常驻条件下,渐近稳定系统的设计方法。应用该方法设计出的末制导系统,可使导弹的攻击区扩大到一个蛋形球空间,使原理脱靶量趋于零。为说明以上结论,给出了仿真结果。     

空间超高速撞击碎片云前端速度的预测模型

文章利用一组二级轻气炮发射2017-T4 铝质球形弹丸撞击6061-T6单层铝板的地面试验数据,通过选择适当的函数模型,采用多元函数拟合的方法,得到了碎片云前端速度与靶板厚度、弹丸直径和弹丸速度关系的三元二阶多项式模型。再用另外一组数据对该模型进行检验,验证了其对碎片云前端速度具有较好的预测效果。将以上两组数据同样用于建立“无量纲化”模型进行碎片云前端速度预测,并与前述多项式模型的预测结果进行比较发现,该多项式模型预测的方均根误差及平均相对误差均明显优于“无量纲化”模型。该多项式模型可用于预测空间碎片撞击航天器产生的碎片云的前端速度,有助于航天器的空间碎片防护设计。     

多光谱图像无失真压缩的方法研究

在研究无失真压缩理论和多光谱图像特性的基础上,提出了一种新的基于波段排序的谱空间预测算法(BRSS: Band Reordering Spectral and Spatial),结合Huffman编码完成了对多光谱图像的无失真压缩,和其它几种预测方法相比,BRSS有显著的优越性。     

航天器的风险管理及其在环境试验中的应用

风险管理是航天计划/项目管理中的重要组成部分,并已在国外的航天型号研制中受到重视.文章介绍了国外在航天项目中对风险管理的要求和风险管理过程,同时着重介绍了风险管理在环境试验工作中的应用实例.     

Earth Observation Data Policy and Europe (EOPOLE)

A project has recently begun to review, coordinate and help formulate European Earth observation data policy. The project held its first of several workshops at University College London, 11–13 January 1999. The purpose of the first workshop was to conduct a review of the state-of-the-art in Earth observation data policy in Europe. All the EOPOLE team members gave presentations, and an extended discussion was held with Roy Gibson, former Director General of the European Space Agency, as the invited expert. This report describes the raison d'etre of EOPOLE and presents the main conclusions of the first workshop.     

The Special Purpose Dexterous Manipulator (SPDM) Systems Engineering Effort – A successful exercise in cheaper,faster and (hopefully) better systems engineering

The Special Purpose Dexterous Manipulator (SPDM) is the latest Space Robot developed by the Canadian Space Agency (CSA) and McDonald Detwiller Space and Advanced Robotics (MD Robotics, previously Spar Aerospace) for the International Space Station (ISS). The SPDM has presented its designers with a number of new challenges in performing the Systems Engineering effort required for a complex robotic system:(1) The SPDM initial design was started and attained various levels of maturity for various components under the Space Station Freedom environment, then the Program was stopped and finally restarted under the harsher environment in which the International Space Station is being built.(2) The SPDM is the first space robot to utilize previously developed and space certified robotic components, as well as components with high-commonality to the previously developed ones (electronics, S/W).(3) New requirements levied by the Customer during the negotiations leading to the Program re-start necessitated significant architectural changes versus the SPDM configuration `frozen' when the Program was shut down.(4) The SPDM is the first robotic system of this complexity that is being built under a Firm Fixed Price contract, with the commonality assumptions as one of the cost drivers.This combination of components of various pedigree, coupled with the constraints imposed by an FFP contract have been addressed by the designers through the definition of a novel approach to integrated Systems and Design Engineering.     

Space Agency Forum prepares UNISPACE III

On 19-20 May 1998 the German Aerospace Center (DLR) hosted the Space Agency Forum (SAF) at Berlin. The meeting was dedicated to the preparation of the Third United Nations Conference on the Exploration and Peaceful Uses of Outer Space (UNISPACE III), which will take place in July 1999. It was attended by 16 space agencies and international organisations from Europe, North- and South America as well as Asia. In this report, first UNISPACE III will be introduced and then the results of the SAF meeting will be reported.     

Towards a European vision for space exploration: Recommendations of the Space Advisory Group of the European Commission

As a result of increasing public and political interest in ‘space’ (i.e. solar system) exploration at the global scale, the Space Advisory Group of the European Commission has evaluated the situation in Europe with regard to its potential to participate in this ambitious global enterprise. Aspects of science, technology, environment and safety, society, spin-offs and international cooperation were all considered. The group concluded that Europe possesses sufficient key technologies and scientific expertise to play a major role in international space exploration and has recommended that the EU take a central role to ensure the success of future European space exploration, not only to give a clear political signal for the way forward but also to ensure an appropriate financial framework. In this way Europe would embrace the spirit of the European Space Policy and contribute to the knowledge-based society by investing significantly in space-based science and technology, thereby playing a strong role in international space exploration.     

European response to the NASA space station initiative

This article contrasts the political motivations behind the US space station initiative with those underlying the European Space Agency's Long Term Plan. Philip Chandler concludes that European cooperation in NASA's space station programme (SSP) will serve three needs: to buy time; to allow European users to undertake longer, manned experiments; and, to keep the Spacelab teams intact. However, in itself the SSP holds little value for Europe.     

The European space exploration programme: current status of ESA's plans for Moon and Mars exploration

After a large consultation with the scientific and industrial communities in Europe, the Aurora Space Exploration Programme was unanimously approved at the European Space Agency (ESA) Council at ministerial level in Edinburgh in 2001. This marked the start of the programme's preparation phase that was due to finish by the end of 2004. Aurora features technology development robotic and crewed rehearsal missions aimed at preparing a human mission to Mars by 2033. Due to the evolving context, both international and European, ESA has undertaken a review of the goals and approach of its exploration programme. While maintaining the main robotic missions that had been conceived during Aurora, the European Space Exploration Programme that is currently being proposed to the Aurora participating states and other ESA Member States has a reviewed approach and will feature a greater synergy with other ESA programmes. The paper will present the process that led to the revision of ESA's plans in the field of exploration and will give the current status of the programme.     

Article

This is a slightly edited version of the Executive Summary of a joint report on cooperation in space science produced by the Space Studies Board of the USA National Research Council and the European Space Science Committee of the European Science Foundation. Using analysis of 13 case-study missions it reviews 30 years of joint missions and makes 14 recommendations based on its findings. These include the importance of setting a scientific rationale for each mission and of ensuring that objectives are shared by engineers and others involved in it, the need for independent periodic assessments and that all agreements should specify the scope, expectations and obligations of the respective agencies and relevant partners.The USA and Europe have been cooperating in space science for more than three decades. This history of cooperation has survived significant geopolitical, economic and technological changes, such as the end of the Cold War, the pressure of budget reductions and the increasing focus on economic competition and the global marketplace. Both Europe and the USA have learned from one another and acquired a knowledge base as well as an infrastructure to implement joint missions and research activities. More importantly, the decades of cooperative space research efforts between the USA and Europe have built a community of scientists whose joint scientific exchanges have established a heritage of cooperation on both sides of the Atlantic.The scientific fruits of this heritage are plainly evident in achievements such as a signature for supermassive black holes provided by the Hubble Space Telescope (HST); the first views of the solar atmosphere and corona illuminated by the Solar and Heliospheric Observatory (SOHO); the sharing of expensive research facilities on the International Microgravity Laboratory (IML); and the impressive data on ocean altimetry from the Ocean Topography Experiment (TOPEX-POSEIDON) mission, which is significantly improving our understanding of global ocean circulation.There were no guideposts for the emergence of space science cooperation between Europe and the USA. In the process of introducing new procedures and improvements to facilitate cooperation, missteps occurred, and there were political, economic and scientific losses. This report takes stock of US–European history in cooperative space endeavors, the lessons it has demonstrated and the opportunities it suggests to enhance and improve future US–European cooperative efforts in the sciences conducted in space.