飞行模拟转台高精度数字重复控制器的设计

从工程的角度讨论了离散重复控制系统的设计,所提出的重复控制方法可保证速度跟踪误差快速收敛为零。在重复控制器中采用了高阶低通滤波器和动态补偿器,改善了跟踪精度,保证了系统的稳定性,减少了周期性扰动误差。将所提出的方法应用于飞行模拟转台伺服系统的速度控制中,仿真结果表明,针对周期指令信号和周期干扰信号可保证较高的跟踪精度和较强的稳定性和鲁棒性。     

基于自适应反推滑模控制的虚拟转台样机研究

针对传统转台串行设计模式存在的缺陷，基于虚拟样机技术、自适应滑模控制器与有限元等技术作为支持，提出了虚拟仿真转台的系统构想。其中针对实际转台系统的未知非线性、外界干扰和参数摄动等不确定因素的影响，设计并实现一类自适应滑模控制器进行虚拟转台系统的实时控制。同时，通过ADAMS软件平台实现了虚拟转台样机系统及其功能，并将自适应滑模控制器调入虚拟转台样机，最终实现机械模型和控制方法进行联合仿真分析，获得最终虚拟转台的特性。仿真结果表明，虚拟转台样机的设计与实现大大提高了转台的设计效率，为后续转台的控制系统渊试提供强大的技术支持。     

Features of vestibuloocular reflex modulations induced by altered gravitational forces in tadpoles (Xenopus laevis).

In Xenopus laevis tadpoles, we studied the static vestibuloocular reflex (rVOR) in relation to modifications of the gravitational environment to find basic mechanisms of how altered gravitational forces (AGF) affect this reflex. Animals were exposed to microgravity during space flight or hypergravity (3g) for 4 to 12 days. Basic observations were that (1)the development of the rVOR is significantly affected by altered gravitational conditions, (2) the duration of 1g-readaptation depends on the strength of the test stimulus, (3) microgravity induces malformations of the body which are related to the rVOR depression. Future studies are based on the hypotheses (1) that the vestibular nuclei play a key roll in the adaptation to AGF conditions, (2) that the stimulus transducing systems in the sense organ are affected by AGF conditions, and (3) that fertilized eggs will be converted to normal adults guided by physiological and morphological set points representing the genetic programs. Developmental retardation or acceleration, or otherwise occurring deviations from standard development during embryonic and postembryonic life will activate genes that direct the developmental processes towards normality.     

Crickets in space: morphological, physiological and behavioral alterations induced by space flight and hypergravity.

"Crickets in Space" was a Neurolab experiment by which the balance between genetic programs and the gravitational environment for the development of a gravity sensitive neuronal system was studied. The model character of crickets was justified by their external gravity receptors, identified position-sensitive interneurons (PSI) and gravity-related compensatory head response, and by the specific relation of this behavior to neuronal arousal systems activated by locomotion. These advantages allowed to study the impact of modified gravity on cellular processes in a complex organism. Eggs, 1st, 4th and 6th stage larvae of Acheta domesticus were used. Post-flight experiments revealed a low susceptibility of the behavior to micro- and hypergravity while the physiology of the PSI was significantly affected. Immunocytological investigations revealed a stage-dependent sensitivity of thoracic GABAergic motoneurons to 3 g-conditions concerning their soma sizes but not their topographical arrangement. The morphology of neuromuscular junctions was not affected by 3 g-hypergravity. Peptidergic neurons from cerebral sensorimotor centers revealed no significant modifications by microgravity (micro g). The contrary physiological and behavioral results indicate a facilitation of 1 g-readaptation originating from accessory gravity, proprioceptive and visual sense organs. Absence of anatomical modifications point to an effective time window of micro g or 3 g-expo-sure related to the period of neuronal proliferation. The analysis of basic mechanisms of how animals and man adapt to altered gravitational conditions will profit from a continuation of the project "Crickets in Space".     

Crickets in space.

"Crickets in Space" (CRISP) was a Neurolab experiment by which the balance between genetic programs and the gravitational environment for the development of a gravity sensitive neuronal system was studied. The model character of crickets was justified by their external gravity receptors, identified position-sensitive interneurons (PSI) and gravity-related compensatory head response, and by the specific relation of this behavior to neuronal activation systems. These advantages allowed us to study the impact of modified gravity on cellular processes in a complex organism. Eggs, 1st, 4th and 6th stage larvae of Acheta domesticus were used. Post-flight experiments revealed a low susceptibility of the behavior to microgravity and hypergravity (hg) while the physiology of the PSI was significantly affected. Immunocytological investigations revealed a stage-dependent sensitivity of thoracic GABAergic motoneurons to 3g-conditions concerning their soma sizes but not their topographical arrangement. Peptidergic neurons from cerebral sensorimotor centers revealed no significant modifications by microgravity. The contrary physiological and behavioral results indicate a facilitation of 1g-readaptation by accessory gravity. proprioceptive and visual sense organs. Absence of anatomical modifications point to an effective time window of microgravity or hg-exposure related to the period of neuronal proliferation. Grant numbers: 50WB9553-7.     

Readaptation of the vestibuloocular reflex to 1g-condition in immature lower vertebrates (Xenopus laevis) after micro- or hypergravity exposure

The effects of altered gravitational conditions (AGC) on the development of the static vestibulo-ocular reflex (VOR) and readaptation to 1g were investigated in the amphibian Xenopus laevis. Tadpoles were exposed to microgravity (μg) during the German Space Mission D-2 for 10 days, using the STATEX closed survival system, or to 3g for 9 days during earth-bound experiments. At the beginning of AGC, the tadpoles had not yet developed the static VOR.

The main results were: (i) Tadpoles with ug- or 3g-experience had a lower gain of the static VOR than the 1g-controls during the 2nd and 5th post-AGC days, (ii) Readaptation to response levels of 1g-reared controls usually occurred during the following weeks, except in slowly developing tadpoles with 3g-experience. Readaptation was less pronounced if, during the acute VOR test, tadpoles were rolled from the inclined to the normal posture than in the opposite test situation.

It is postulated that (i) gravity is necessarily involved in the development of the static VOR, but only during a period including the time before onset of the first behavioural response; and (ii) readaptation which is superimposed by the processes of VOR development depends on many factors including the velocity of development, the actual excitation level of the vestibular systems and the neuroplastic properties of its specific pathways.     

Adaptation of the macular vestibuloocular reflex to altered gravitational conditions in a fish (Oreochromis mossambicus).

Young fish (Oreochromis mossambicus) were exposed to microgravity (micro g) for 9 to 10 days, or to hypergravity (hg) for 9 days. For several weeks after termination of micro g and hg, the roll-induced static vestibuloocular reflex (rVOR) was recorded. In stage 11/12-fish, the rVOR amplitude (angle between the maximal up and down movement of an eye during a complete 360 degree lateral roll) of micro g-animals increased significantly by 25% compared to 1 g-controls during the first post-flight week but decreased to the control level during the second post-flight week. Microgravity had no effect in stage 14/16 fish on the rVOR amplitude. After 3 g-exposure, the rVOR amplitude was significantly reduced for both groups compared to their 1 g-controls. Readaptation to 1 g-condition was completed during the second post-3 g week. We postulate a critical period during which the development of the macular vestibuloocular reflex depends on gravitational input, and which is limited by the first appearance of the rVOR. At this period of early development, exposure to microgravity sensitizes the vestibular system while hypergravity desensitizes it.