基于紫外纳米压印光刻的氟化混合物模板制备

不同特征尺度和不同周期的氟化混合物软复制模板通过使用硅主模板和紫外纳米压印光刻技术制备而成。与聚二甲基硅氧烷和其它聚合物材料比较,此处使用的光刻胶拥有优良的性能,比如优良的机械强度,低表面能和良好的热稳定性。在紫外和热纳米压印工艺中,主模板被用作印章。实验结果表明,转移到基底上的图案与主模板非常一致。所制备的氟化混合物复制模板不仅仅适合紫外纳米压印,也适用于热纳米压印,并且所加工的复制模板还被用于制备光电器件以实现传感、成像、探测、通信和数据存储等领域中的相关功能。     

小型核反应堆自主控制及其深空探测应用设想

针对空间小型模块化核反应堆的自主控制问题，提出自主控制体系结构，降低反应堆控制对人的依赖程度，满足了深空探测任务对空间堆自主控制的需求。首先介绍了核反应堆自主控制技术和空间探测自主技术的发展现状，分析了空间小型堆的自主控制需求，然后阐释了自主控制及核反应堆近自主控制的内涵。最后基于空间堆的运行特点，给出小型堆近自主控制分层体系结构的组成元素，并进一步建立了融合决策层和功能层的小型堆多智能体自主控制体系结构。     

基于对比度和梯度分布的红外弱小目标检测

红外弱小目标检测技术是目标自动检测系统中的核心技术之一。在复杂背景以及强杂波存在的情形下,红外弱小目标检测往往会有高虚警率的问题。对于这一问题,提出了一种基于多尺度局部对比度与局部梯度分布的红外弱小目标检测算法,具有重要意义。相比于以前的算法,该方法利用多尺度局部对比度机制增强红外图像中的疑似红外弱小目标的区域,再利用红外图像的局部梯度分布信息对这些疑似红外弱小目标的区域进行判别,剔除其中的虚警区域,得到有低虚警率红外弱小目标检测结果。实验结果表明:该算法结果可靠,检测准确率高。可见,新算法可以有效地提高在复杂背景以及存在强杂波情形下红外图像中弱小目标的检测准确率。     

Multi-block SSD based on small object detection for UAV railway scene surveillance

A method of multi-block Single Shot MultiBox Detector (SSD) based on small object detection is proposed to the railway scene of unmanned aerial vehicle surveillance. To address the limitation of small object detection, a multi-block SSD mechanism, which consists of three steps, is designed. First, the original input images are segmented into several overlapped patches. Second, each patch is separately fed into an SSD to detect the objects. Third, the patches are merged together through two stages. In the first stage, the truncated object of the sub-layer detection result is spliced. In the second stage, a sub-layer suppression and filtering algorithm applying the concept of non-maximum suppression is utilized to remove the overlapped boxes of sub-layers. The boxes that are not detected in the main-layer are retained. In addition, no sufficient labeled training samples of railway circumstance are available, thereby hindering the deployment of SSD. A two-stage training strategy leveraging to transfer learning is adopted to solve this issue. The deep learning model is preliminarily trained using labeled data of numerous auxiliaries, and then it is refined using only a few samples of railway scene. A railway spot in China, which is easily damaged by landslides, is investigated as a case study. Experimental results show that the proposed multi-block SSD method produces an overall accuracy of 96.6% and obtains an improvement of up to 9.2% compared with the traditional SSD.     

Novel reaction control techniques for redundant space manipulators: Theory and simulated microgravity tests

This paper presents two novel redundancy resolution schemes aimed at locally minimizing the reaction torque transferred to the spacecraft during manipulator manoeuvres. The subject is of particular interest in space robotics because reduced reactions result in reduced energy consumption and longer operating life of the attitude control system. The first presented solution is based on a weighted Jacobian pseudoinverse and is derived by using Lagrangian multipliers. The weight matrix is defined by means of the inertia matrix which appears in the spacecraft reaction torque dynamics. The second one is based on a least squares formulation of the minimization problem. In this formulation the linearity of the forward kinematics and of the reaction torque dynamics equations with respect to the joint accelerations is used. A closed-form solution is derived for both the presented methods, and their equivalence is proven analytically. Moreover, the proposed solutions, which are suitable for real-time implementation, are extended in order to take into account the physical limits of the manipulator joints directly inside the solution algorithms. A software simulator has been developed in order to simulate the performance of the presented solutions for the selected test cases. The proposed solutions have then been experimentally tested using a 3D free-flying robot previously tested in an ESA parabolic flight campaign. In the test campaign the 3D robot has been converted in a 2D robot thanks to its modularity in order to perform planar tests, in which the microgravity environment can be simulated without time constraints. Air-bearings are used to sustain the links weight, and a dynamometer is used to measure the reaction torque. The experimental validation of the presented inverse kinematics solutions, with an insight on the effect of joint flexibility on their performance, has been carried out, and the experimental results confirmed the good performance of the proposed methods. In particular, two test cases have been analyzed in order to validate and evaluate the performance of both the unconstrained solution and the solution which takes into account the robot physical limits.     

AOS协议中自适应帧生成算法的研究

帧生成过程作为CCSDS AOS两级多路复用机制的第一级,其性能直接影响着AOS系统的传输效率和时延特性.本文对AOS协议中帧生成算法进行研究,分析了在包到达率服从泊松分布条件下,高效率帧生成算法的帧生成时间均值.针对高效率帧生成算法中可能出现的在较长时间内没有足够多的包到达,导致帧生成时间过长,从而造成帧生成时延超过业务所允许的最大时延情况,提出了一种自适应帧生成算法.理论分析和仿真结果表明,本算法不但能克服高效率帧生成算法中可能出现的大时延问题,并且比传统的等时帧生成算法具有更高的信息传送速率.     

An improved multiple model GM-PHD filter for maneuvering target tracking

In this paper, an improved implementation of multiple model Gaussian mixture probability hypothesis density (MM-GM-PHD) filter is proposed. For maneuvering target tracking, based on joint distribution, the existing MM-GM-PHD filter is relatively complex. To simplify the filter, model conditioned distribution and model probability are used in the improved MM-GM-PHD filter. In the algorithm, every Gaussian components describing existing, birth and spawned targets are estimated by multiple model method. The final results of the Gaussian components are the fusion of multiple model estimations. The algorithm does not need to compute the joint PHD distribution and has a simpler computation procedure. Compared with single model GM-PHD, the algorithm gives more accurate estimation on the number and state of the targets. Compared with the existing MM-GM-PHD algorithm, it saves computation time by more than 30%. Moreover, it also outperforms the interacting multiple model joint probabilistic data association (IMMJPDA) filter in a relatively dense clutter environment.     

Autonomous navigation and guidance for landing on asteroids

This paper presents an autonomous landing navigation and guidance scheme for future asteroid sample return mission. An autonomous navigation scheme based on feature tracking technology is brought out firstly; secondly, desired descent landing trajectories with the initial and terminal constraints are planned in order to achieve arrive-at-time landing on an asteroid; then, two guidance control laws, based on error phase analysis method and PD plus PWPF method respectively, are designed to track reference descent trajectory; finally, the validity of the proposed scheme is confirmed by computer simulation.     

低轨星座/惯导紧组合导航技术研究CSCD

现有低轨(LEO)卫星导航研究主要以低轨星座独立导航定位和增强全球卫星导航系统(GNSS)导航定位为主,对低轨卫星和惯性导航系统(INS)组合导航技术研究较少。本文面向应用较小规模低轨星座资源实现米级定位精度的需求,提出了一种低轨星座/惯导紧组合导航方法,系统性地分析了不同规模低轨星座、不同精度级别惯导器件以及不同导航信号播发频度下组合导航定位的性能,并利用构建的仿真试验系统进行了低轨星座/惯导紧组合导航方法的仿真试验验证。试验结果表明,相较于低轨星座独立导航,低轨星座/惯导紧组合导航在星座不满足四重覆盖时仍能达到米级定位精度,并且在低轨星座规模较小和导航信号播发频度较低时,惯导测量精度对组合导航定位精度影响明显。研究结果表明,在利用低轨卫星进行导航时,通过引入惯性观测辅助低轨卫星导航,可有效提高导航效能和精度,为低轨星座和导航信号播发方式设计带来更多的选择。     

火星大气进入段轨迹优化与制导技术研究进展

首先根据国际上实施的火星探测任务及未来火星着陆探测的发展需求，阐述火星大气进入段轨迹优化与制导的重要性。结合火星着陆环境和探测器的气动特性等，归纳出火星大气进入段轨迹优化与制导面临的挑战。在此基础上，结合未来火星着陆任务的安全精确着陆目标，梳理火星大气进入段轨迹优化与制导所需解决的关键技术，分析目前火星进入段轨迹优化与制导技术研究进展及发展趋势。最后，对未来火星精确着陆所需的进入段轨迹优化与制导技术发展方向进行了展望。