复杂动态环境下无人飞行器动态避障近似最优轨迹规划

针对复杂动态环境下无人飞行器的动态障碍规避问题，基于合理假设建立了无人飞行器和动态障碍的运动学模型，并综合考虑无人飞行器飞行过程中的终端约束、控制输入约束、安全避障约束等，以能量最少为性能指标构建动态避障问题数学描述。之后，针对终端约束和控制输入约束，依据优化模型预测静态规划算法(OMPSP)生成初始轨迹；针对动态避障问题的不等式约束，引入松弛变量并结合滑模变结构控制方法设计松弛变量动力学，实现对一个、多个或同时多个动态障碍的安全规避；最后，依据有限时间微分动态规划(RHDDP)算法进行轨迹优化，获得满足上述各种约束并能规避动态障碍的近似最优轨迹。     

Multi-faults diagnosis of rolling bearings via adaptive customization of flexible analytical wavelet bases

Multi-faults detection is a challenge for rolling bearings due to the mode mixture and coupling of multiple fault features, as well as its easy burying in the complex, non-stationary structural vibrations and strong background noises. In this paper, a method based on the flexible analytical wavelet transform (FAWT) possessing fractional scaling and translation factors is proposed to identify multiple faults occurred in different components of rolling bearings. During the route of the proposed method, the proper FAWT bases are constructed via genetic optimization algorithm (GA) based on maximizing the spectral correlated kurtosis (SCK) which is firstly presented and proved to be efficient and effective in indicating interested fault mode. Via using the customized FAWT bases for each interested fault mode, the original vibration measurements are decomposed into fine frequency subbands, and the sensitive subband which enhances the signal-to-noise ratio (SNR) is selected to exhibit the fault signature on its envelope spectrum. The proposed method is tested via simulated signals, and applied to analyze the experimental vibration measurements from the running roller bearings subjected to outrace, inner-race and roller defects. The analysis results validate the effectiveness of the proposed method in identifying multi-faults occurred in different components of rolling bearings.     

Topology optimization in lightweight design of a 3D-printed flapping-wing micro aerial vehicle

Topology optimization is an effective method to obtain a lightweight structure that meets the requirements of structural strength. Whether the optimization results meet the actual needs mainly depends on the accuracy of the material properties and the boundary conditions, especially for a tiny Flapping-wing Micro Aerial Vehicle (FMAV) transmission system manufactured by 3D printing. In this paper, experimental and numerical computation efforts were undertaken to gain a reliable topology optimization method for the bottom of the transmission system. First, the constitutive behavior of the ultraviolet (UV) curable resin used in fabrication was evaluated. Second, a numerical computation model describing further verified via experiments. Topology optimization modeling considering nonlinear factors, e.g. contact, friction and collision, was presented, and the optimization results were verified by both dynamic simulation and experiments. Finally, detailed discussions on different load cases and constraints were presented to clarify their effect on the optimization. Our methods and results presented in this paper may shed light on the lightweight design of a FMAV.     

异构无人系统协同作战关键技术综述

针对异构无人系统的规模、异构性强弱，对异构无人系统进行了分类，引入了异构无人系统协同作战班组的概念以及应用设想，并通过城市环境中异构无人系统协同作战问题为牵引，提出了异构无人系统协同作战面临的挑战与解决思路，在此基础之上，从异构无人系统协同控制架构、协同任务规划、智能交互、目标感知、环境感知等主要方面对异构无人系统协同作战的关键技术进行了分析，最后对异构无人系统协同作战目前的研究进展与挑战进行了总结。     

基于商空间理论的模糊控制在航空相机中的应用

针对航空相机快速返回定位问题,应用商空间理论提出了一种快速无超调定位模糊控制算法。将位置偏差量模糊化．并根据模糊等价关系合并正规峰集,从而得到了不同粒度下的控制规则．系统通过不断改变粒度,采用粗拉度粗调,细粒度细调的方法,实现快速无超调定位。在模拟相机平台上采用3个粒度层,通过模糊规则调整模糊输出和PID控制器的积分时间实现最速控制、模糊控制和PID控制在不同粒度下的转换．实验结果表明此算法具有定位快、稳定精度高以及无超调等优点．     

中继卫星多址链路调度问题的约束规划模型及算法研究

中继卫星多址链路调度问题是中继卫星系统应用中必须解决的重要问题,其重要特点在于,中继卫星与用户航天器之间并非时时可见,因此通信任务存在可见时间窗口约束。只有在可见时间窗口内,通信任务才可能执行并完成。在进行合理假设的基础上,采用人工智能中的约束规划技术,建立中继卫星多址链路调度问题的约束规划模型,并提出了基于时间窗口期望值的多步迭代算法。应用结果表明,中继卫星多址链路调度模型的建立与求解是合理的。     

基于Murty方法的多目标跟踪快速算法

JPDA是一种有效的多目标跟踪算法，但算法的复杂度随着目标和观测值的增加而显著增长。为了减少JPDA算法所需要的存贮空间和计算时间，通过Murty方法，得到K个最优的目标与观测值对应关系，再利用这K个最优对应关系实现JPDA算法。仿真结果表明，新算法跟踪成功率与JPDA相近，所需的时间远低于JPDA算法。     

The development of a Russian communication satellite of small class, operating in the geostationary and high-elliptical orbits

In 1994-1995 Lavochkin Association (Russia) together with the other enterprises in accordance with technical requirements of the Russian Space agency, developed a new Russian communication satellite of a small class that will operate in both the geostationary (GSO) and high-elliptical (HEO) orbits. This satellite may be injected into operational orbits using a SOYUZ-2 launch vehicle (LV) and a FREGAT upper stage (US) from Plesetsk and Baykonur space launch sites (SLS).The main reason for creating such a satellite was to decrease the cost of the support and development of the Russian communication geostationary satellites group.Russian satellites Horizont, Express, Ekran and Gals, which operate in GSO, are the basis of the space segment for communications, radio and TV broadcasting. All of these satellites are injected into GSO by the PROTON LV. PROTON is a launch vehicle of a heavy class. The use of a middle class LV instead of a heavy class will allow to reduce considerably the launch cost. The change of a heavy class LV to a LV of middle class determined one economic reason for this project. Besides, the opportunity to launch S/C into GSO from Russian Plesetsk SLS increases the independence of Russia in the domain of space communications, despite the presence of the contract with Kazachstan about the rent of Baykonur SLS. Finally, use of small satellites with a rather small number of transponders is more effective than the use of big satellites. It will allow also to increase a satellite group (by the launch of additional satellites) precisely in accordance to the development of the ground segment.     

一种低RCS无人飞行器外形的气动特性实验研究

根据气动布局的基本原理,结合低RCS要求,设计了一种鸭式布局、带边条的翼身融合无人飞行器外形,实验结果表明,该外形不仅具有低RCS特征,而且具有良好的气动特性,升阻比达到8左右。     

可重复使用航天器基于状态估计的再入飞行滑模控制器设计研究

给出了一种可重复使用航天器再入飞行鲁棒控制方法。在给定可用制导指令和干扰、不确定性的上界条件下，综合利用快慢双回路连续滑模控制方法，生成包括气动舵面和反推力控制系统（RCS）发动机的控制指令，得到了在建模误差和外界干扰存在的情况下拥有高精度、鲁棒性和解耦特性的气动角和姿态角速率跟踪结果。滑模控制抖振抑制逻辑利用李亚普诺夫方法，构筑滑模干扰观测器，并依据自适应增益调节思想，有效消除了控制抖振，保证了工程实际应用的能力。以某型可重复使用航天器为例，在考虑到模型不确定性、风扰以及测量噪声的情况下．通过不同的控制律设计结果对比表明，该方法高效、可靠。