基于量子行为鸽群优化的无人机紧密编队控制

随着军事、民用需求的提高和相关领域的技术推动，无人机编队协同作业已成为当今人们逐渐关注的焦点。无人机紧密编队是指无人机间侧向距离在1~2倍翼展内的编队，因其可有效改善编队中无人机的气动性能而备受瞩目。基于无人机紧密编队条件下的气动耦合效应，建立三维空间下的状态空间方程描述双机相对运动，并推导了紧密编队条件下的双机最优编队构型，在此构型下将人工势场法和编队控制相结合作为控制系统中的间接控制环，并针对基本鸽群优化算法的寻优缺陷利用量子行为规则对其进行改进，将改进后的鸽群优化算法和无人机控制量结合作为控制系统中的直接控制环，最后通过仿真对比验证了此控制系统对于紧密编队控制的有效性。     

J2项和大气阻力摄动作用下卫星编队构型的演化分析

研究卫星编队构型在J2项摄动和大气阻力摄动作用下的演化进程。从相对运动动力学模型出发,分别加入J2项摄动和大气阻力摄动因素,采用数值积分对所获得的运动方程求解,得到参考星和环绕星在惯性坐标系中的绝对运动规律;将两星的绝对运动规律作差后,利用坐标转换矩阵,将惯性坐标系中两星的相对运动规律转换到Hill坐标系中。由于该方法没有经过任何简化,故研究摄动的影响时不存在误差。最后通过仿真分析,给出了J2项摄动和大气阻力摄动作用下卫星编队构型演化的相关结论,并提出进一步研究的方向。     

立方体星的技术发展和应用前景

系统论述了立方体星技术发展的三个阶段;从2010-2013年已成功发射的立方体星与纳卫星中挑选了10颗典型卫星,研究分析其技术水平、应用价值和特点优势;并重点论述了立方体纳卫星的应用;最后预测了立方体纳卫星的未来应用前景。     

基于双目视觉的无人机编队相对定位算法

针对无人机编队飞行时双目视觉定位精确性差、计算量大、实时性不高的技术现状,对基于特征点的FAST定位和BRIEF旋转(Oriented fast and rotated brief,ORB)算法进行了改进,提出了一种适用于无人机双目视觉定位的算法。在改进ORB算法中,采用提取目标区域、最近邻约束和随机抽样一致(Random sampling consensus,RANSAC)方法,提高了特征点提取与匹配效率,也提高了特征点匹配质量;对于双目视觉定位,提出了适用条件更加宽泛的双目视觉定位模型,并保证了模型的定位精度;最后使用卡尔曼滤波算法对无人机的定位信息进行估计,进一步提高了无人机的定位精度。实验表明,算法具有较高的精确性和实时性,满足无人机间的相对定位要求。     

基于多智能体系统的多航天器编队分布式姿态协同控制

多航天器编队飞行在深空探测及协同对地观测等领域有着重要应用,而多航天器的姿态跟踪及协同控制技术作为其关键技术之一也引起了极大的关注。近年来,随着分布式人工智能技术的发展,多智能体系统(MASs)受到了航天器控制领域学者的关注并将其应用到多航天器编队控制中。本文回顾了多智能体系统协同控制及其在多航天器编队姿态协同控制中应用的研究进展。首先,从多航天器编队不同控制需求出发,分别从一致性跟踪控制、有限时间控制、事件驱动控制方面,回顾了多智能体系统协同控制问题的进展;其次,回顾了多航天器姿态协同控制在上述需求方面的研究进展,并基于多智能体系统的协同控制理论,提出了相应的分布式姿态协同控制策略。     

温度条件对碳纤维上浆剂与双马树脂反应及其复合材料界面粘结的影响

为了研究工艺温度对复合材料界面的调控作用,设计采用三阶段固化工艺(即扩散、固化和后固化),考察了不同温度制度下3种碳纤维/双马树脂(BMI)复合材料界面粘结性能的变化规律。采用原子力显微镜(AFM)和傅里叶变换红外光谱(FTIR)深入分析了上浆剂对纤维表面粗糙度和化学特性的影响,研究了上浆剂的反应活性及其与双马树脂的反应性,采用微珠脱粘方法测试了碳纤维/树脂的界面剪切强度(IFSSs)。结果表明,200℃处理2h后3种碳纤维上浆剂均发生部分反应,并且170℃,2h后上浆剂均与双马树脂发生化学反应。对比不同温度条件可以发现后固化阶段对碳纤维/双马体系的界面剪切强度影响显著,未经后固化的复合材料界面性能最低;110℃和140℃恒温扩散阶段对碳纤维/双马体系的界面剪切强度的影响不明显。同种温度条件下,CF1和CF3上浆剂与双马树脂的反应程度高于CF2,相应的CF1和CF3与双马树脂的界面剪切强度较高,表明上浆剂与双马树脂间的化学反应程度是影响其界面粘结性能的主要因素。该研究结果对我国碳纤维上浆剂的研制具有参考价值。     

Diversity of Comets: Formation Zones and Dynamical Paths

The past dozen years have produced a new paradigm with regard to the source regions of comets in the early solar system. It is now widely recognized that the likely source of the Jupiter-family short-period comets (those with Tisserand parameters, T > 2 and periods, P, generally < 20 years) is the Kuiper belt in the ecliptic plane beyond Neptune. In contrast, the source of the Halley-type and long-period comets (those with T < 2 and P > 20 years) appears to be the Oort cloud. However, the comets in the Oort cloud almost certainly originated elsewhere, since accretion is very inefficient at such large heliocentric distances. New dynamical studies now suggest that the source of the Oort cloud comets is the entire giant planets region from Jupiter to Neptune, rather than primarily the Uranus-Neptune region, as previously thought. Some fraction of the Oort cloud population may even be asteroidal bodies formed inside the orbit of Jupiter. These comets and asteroids underwent a complex dynamical random walk among the giant planets before they were ejected to distant orbits in the Oort cloud, with possible interesting consequences for their thermal and collisional histories. Observational evidence for diversity in cometary compositions is limited, at best. This revised version was published online in June 2006 with corrections to the Cover Date.     

基于行动理论的智能体模型

结合BDI模型和情境演算的优点构造了一个agent模型。在agent模型中,agent的心智状态由状态信念集、效应规则集、可行规则集、策略规则集和意向集组成。如果agent的心智状态是信息完全的且在流中添加情境变元,则它将成为Reiter提出的基于情境演算的行动理论,所以此agent模型既能表示agent的心智状态又能进行行动推理和规划,最后,文中提出了具有完全信息的agent实现目标的一种运行方式     

Periodic relative orbits of two spacecraft subject to differential gravity and electrostatic forcing

Coulomb forces between charged close-flying satellites can be used for formation control, and constant electric potentials enable static equilibria solutions. In this work, open-loop time-varying potential functions, which produce periodic, two-craft, Coulomb formation motions are demonstrated for the first time. This is done in the rotating Hill-Frame, with linearized gravity, and craft position components assumed in the form of simple harmonic oscillators. Substitution of the oscillatory functions into the dynamics, further constrains these functions, and yields necessary potential histories, to produce the periodic flow. The assumed position functions, however, are not arbitrary, since the dynamical model restricts what oscillatory trajectories are allowed. Specifically, a Hill-Frame integral of motion is derived, and this is used to show certain candidate periodic functions to be inadmissible. The system dynamics are then linearized to expose stability properties of the solutions, and it is established that asymptotic stability is impossible for all orbit families. Finally, the degree of instability in the assumed motions, over free parameter ranges, is determined numerically via the Floquet multipliers of the associated full-cycle state-transition matrices.     

Human Mission from Planet Earth: finding a rationale for exploration of the Moon and Mars

This paper advances scenarios for an evolutionary approach to the establishment of a Human Mission from Planet Earth involving exploration and utilization of the Moon and Mars. Of critical importance are the concepts of robotic–human and Moon–Mars synergies. The paper discusses the rationale variables that have an influence on types of space activities pursued and thus the policy that leads to particular scenarios. In this regard, the technological, scientific, and sociopolitical/socioeconomic impacts and consequences related to a Human Mission from Planet Earth are examined.