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。     

Space,Language and Ontology: A Response to Davis

Abstract

Ernest Davis' article “Qualititative Spatial Reasoning in Interpreting Text and Narrative” discusses challenges that the interpretation of natural language appears to raise for the formalization of commonsense spatial reasoning. Davis finds these to be of “surprising logical complexity,” but also “erratic” in that they do not show a logical structuring of the problem space that could guide productive research. In this response I argue that much of the apparent lack of structure Davis laments is due to the very style of formal modeling he pursues. By augmenting logical considerations with substantial input from other disciplines and by adopting a heterogeneous and modular approach to formalization, I suggest that the problem space is by no means as ill-structured as Davis presents it.     

Hyper-interspersed nano/MEMS-architecture design for new concepts in miniature robotics for space exploration

Launch weight and volume requirements are substantially decreased by reduction of probe size in exploration mission systems, as mass and volume both scale as the third power of system size. Accordingly, the already quite developed MEMS (Micro Electro Mechanical System) technology, that offers low cost, small, light weight, and increasingly reliable devices through durability and redundancy, is strongly attractive as a near-term technology for significantly reducing the cost to launch and operate space systems. It is shown that the final goal of MEMS technology, i.e. the merging through solid state microdcvices of the functions of sensing, computation, communication and actuation, can lead to a new, biomimetic kind of miniature robotics, particularly suitable for planetary exploration, through molecular mono- electronics/MEMS integration jointly with a hyper-interspersed architecture made up of autonomous units embodying sensors, information processors and actuators. The problem tackled here concerns the basic design of such miniature robots, from some μm to insect size, featuring finely structured intelligent autonomous parts as smart skins, sensory and manipulating members working on the analogue external reality and communicating with their inner molecular level nondiscrete pseudo-analogue information processing networks. The (mesoscopic network)/MEMS units are shown to embody a quantum mechanical/macroscopic world connection, in which the nondiscrete molecular devices allow the automaton parts to perform very complex, fast information processing operations as metaphores of bionic functions like learning, attention, and decision making under uncertain conditions, this last due to the stochasticity inherent in the quantum network. Flexible architectures instead of von Neumann type rigid architectures in addition to hyper-interspersion of autonomous units can be realized through such nano/MEMS devices, and the μm — cm size of the whole robots and their organs allow dynamic biochemical, possibly reaction - diffusion, spatially separated highly nonlinear systems to be exploited as additional primitive computing devices (e.g. chemical oscillators, dissipative biomolecular distributed systems, planar photoactivated enzyme biosensors). Each interspersed unit can be designed as a multilevel nondiscrete system according to the information processing “rank” to be obtained in simulating the biological nervous system activity.     

Terrestrial biological evolution and its implication for SETI

A frequent opinion among biologists upholds that biological evolution is contingent and, consequently, that man's apparition is a random event of very small probability. We present various arguments against this view, based on chemistry, molecular biology, evolutionary convergences, the existence of physical constraints on the structure of living beings, and the evidence of acceleration in the evolution of many features, e.g. brain size, over geological times. Taken together they suggest that “laws” of evolution exist and may have a universal validity. We extend this view to the evolution of “intelligence”. We show that it is an essential aspect of biological evolution and that human cultural evolution is just another aspect of it. Finally, we argue that brains more complex than the human brain are conceivable, endowed not merely with quantitatively better functions but with qualitatively higher cognitive abilities, of the kind found in the transition from, say, dog to man. This thesis predicts that the usual concept of advanced civilizations merely separated by huge distances is too restrictive. It favours a different concept, in which the separation results predominantly from cognitive, i.e. temporal factors. This idea, far from being discouraging, offers a stimulating solution to Fermi's paradox and opens new ways to SETI.     

An approach to the dynamics of modular repetitive structures

The dynamics of modular structures is approached in this paper by means of the discrete Fourier transform. This method, applied to a structure with N bays and ring type boundary conditions, leads to N uncoupled systems of the size of a single bay. For other boundary conditions, it leads to a “spectrally resolved” eigenproblem, that is a form whose dominant terms in each field of frequency are evidenced. Approximate reduced models in narrow frequency fields can therefore be generated by using the “spectral condensation” technique. The method can be applied with general boundary conditions, but the present paper deals mostly with the “clamped edges” boundary condition and shows that numerical advantages can be obtained, particularly for the large space structures.     

反射式紫外天基单镜计算成像系统设计

紫外天基成像是目前对太阳观测的主要手段之一。针对紫外天基遥感对成像系统高分辨、轻量化的需求,开展了紫外天基单镜计算成像系统研究,应用“光学镜面设计”与“计算成像”相结合的思路,通过对球面、六次偶次非球面、十次偶次非球面、Q-type面、Zernike多项式面的天基反射镜成像光学系统设计,以及基于傅里叶叠层超分辨的计算成像分析,验证了该设计方法可在波长135 nm紫外光波段实现5.4°圆视场、分辨能力优于0.11 mm的设计指标。反射式六次偶次非球面具备一定的综合优势。     

Theory of type III radio bursts in the interplanetary space: I. Derivation of permittivity tensor for the system consisting of electron beam and solar wind plasma

The tensor of permittivity for the system “electron beam - plasma of the interplanetary space” is derived in the approximation of geometrical optics. The problem is one-dimensional; all parameters such as density of the beam and of the solar wind plasma, and the induction of the interplanetary magnetic field are assumed to be dependent only on the distance to the Sun. The beam is generated by an active region during a solar flare, and it is a source of radio bursts of type III in the interplanetary space. The tensor of permittivity was obtained to close field equations by a material equation. On the basis of these equations it becomes possible to study theoretically the amplitude-frequency characteristics of the radio bursts as disturbances of the above-described beam-plasma system.     

Regulating ISS— An interdisciplinary essay

The International Space Station (ISS) is a multifaceted international project. Several space agencies from different countries work together in the Outer Space. This paper will illustrate the exciting questions arising from such a venture and therefore the challenge to incorporate a variety of issues into a legal order. The Paper is addressed to lawyers who need not necessarily be experts in space law, and also to space experts who have no legal background. It demonstrates the three layers of the ISS regime—from the “Intergovernmental Agreement” (IGA) as a “frame” with pillars and boundaries, over the “Memoranda of Understanding” (MOU) which rules in a more specific way, to the so-called “Implementing Arrangements” regulating the overall and single aspects of ISS in detail.The paper underlines questions of applicable jurisdiction, utilization rights and the rights on intellectual property onboard of the ISS. Furthermore the problem of liability in space flight is highlighted, also with a view to the different aspects of the liability issue, for example (internal) liability caused by programme delays (e.g. US Space Shuttle delays).In conclusion, the paper illustrates the situation of astronauts by the “Code of Conduct for the International Space Station Crew” and provides an example for the actual ISS Programme—an international cooperation in a highly demanding environment which will be a basis for future space ventures in many ways.     

Project of Ariane 5 LV family advancement by use of reusable fly-back boosters (named “Bargouzine”)

The paper concerns possible concept variants of a partially reusable Heavy-Lift Launch Vehicle derived from the advanced basic launcher (Ariane-2010) by means of substitution of the EAP Solid Rocket Boosters for a Reusable Starting Stage consisting two Liquid-propellant Reusable Fly-Back Boosters called “Bargouzin”.This paper describes the status of the presently studied RFBB concepts during its three phases.The first project phase was dedicated to feasibility expertise of liquid-rocket reusable fly-back boosters (“Baikal” type) utilization for heavy-lift space launch vehicle. The design features and main conclusions are presented.The second phase has been performed with the purpose of selection of preferable concept among the alternative ones for the future Ariane LV modernization by using RFBB instead of EAP Boosters. The main requirements, logic of work, possible configuration and conclusion are presented. Initial aerodynamic, ballistic, thermoloading, dynamic loading, trade-off and comparison analysis have been performed on these concepts.The third phase consists in performing a more detailed expertise of the chosen LV concept. This part summarizes some of the more detailed results related to flight performance, system mass, thermoprotection system, aspects of technologies, ground complex modification, comparison analyses and conclusion.     

Features of coronal mass ejections of minimum size

The coronal mass ejections (CME) with small angular dimensions (d ≤ 10°) have the simplest form, much simpler than large CME. This fact simplifies the problem of analyzing the CME structure and studying their origin. On the basis of the analysis of the LASCO C2 (SOHO) data, we show in this paper that the motion of a CME having small dimensions proceeds within a magnetic tube (a ray with increased brightness) of the streamer belt and leads to an “explosion-like” increase in the angular dimensions (rapid expansion) of the tube. A hypothesis is put forward that a small CME represents a “plasmoid” (a plasma bunch bounded in space, with its own magnetic field) thrown into the base of the magnetic tube and moving along it away from the Sun.     

Comparative cost and utility analysis of monolith and fractionated spacecraft using failure and replacement Markov models

Failure of a single component on-board a spacecraft can compromise the integrity of the whole system and put its entire capability and value at risk. Part of this fragility is intrinsic to the current dominant design of space systems, which is mainly a single, large, monolithic system. The space industry has therefore recently proposed a new architectural concept termed fractionation, or co-located space-based network (SBN). By physically distributing functions in multiple orbiting modules wirelessly connected, this architecture allows the sharing of resources on-orbit (e.g., data processing, downlinks). It has been argued that SBNs could offer significant advantages over the traditional monolithic architecture as a result of the network structure and the separation of sources of risk in the spacecraft. Careful quantitative analyses are still required to identify the conditions under which SBNs can “outperform” monolithic spacecraft. In this work, we develop Markov models of module failures and replacement to quantitatively compare the lifecycle cost and utility of both architectures. We run Monte-Carlo simulations of the models, and discuss important trends and invariants. We then investigate the impact of our model parameters on the existence of regions in the design space in which SBNs “outperform” the monolith spacecraft on a cost, utility, and utility per unit cost basis. Beyond the life of one single spacecraft, this paper compares the cost and utility implications of maintaining each architecture type through successive replacements.     

美俄电子战靶场现状及发展趋势浅析

分析了美俄电子战靶场发展现状和发展路线,指出了电子战靶场发展趋势,即“三个一体化”：内外场一体化、多靶场联合一体化及“研、试、训”一体化。现代电子战和电子战装备技术系统性、对抗性更强,美俄电子战靶场发展对电子战靶场建设主动适应这种变化,尽快实现“三个一体化”,有一定的启示和借鉴作用。     

在轨操控机器人拓邻域搜索三维路径规划

针对空间在轨操控机器人在桁架式空间站执行操控任务时,需要在桁架间自由穿行且时刻与空间站保持接触的任务特性,提出基于拓邻域搜索蚁群算法的三维全局路径规划方法.该方法首先建立桁架式空间站的三维栅格模型;充分考虑机器人穿行时的包络约束和操控时的接触约束,在路径规划和轨迹搜索前对被操控对象的三维栅格模型进行预处理和修正,缩减路...     

World economics for mankind's frontier

In Acta Astronautica, Vol. 56, No. 5, March 2006, at ISSN0094-5765 there appears the article entitled “Will space actually be the Final Frontier of humankind?” written by Giancarlo Genta, and Michael Rycroft. This Acta Astronautica article requires amplification on the economic side. The writer of this article was personally present at the Apollo 11th launchings for the first landing on the Moon, by Buzz Aldrin and others. The Apollo 11 take off to the Moon, from Cape Carnival, did not leave the situation “so humankind seems forever to be bound to its own planet!” There was nothing pessimistic about the launch of Apollo 11. It is written that there was a lack of vision at that time, which is also not correct. The ‘Final Frontier’ myth was never mentioned on that occasion. At Apollo 11 we did take planet earth's “first faltering step for mankind” on the path towards a space faring civilization, exactly as these two authors later correctly mention. Now with the US Presidential initiatives “Moon, Mars and Beyond,” the authors suggested that it “will depend on social, political and economic issues rather than technological and scientific ones.” This Academy Note respectfully submits that all of these factors social, political and economic issues, plus psychological and scientific ones, instead of, “rather than technical and scientific ones” are going to be the determining factors of the speed of progress of the exploration of the entire universe, and particularly the sun in our Milky Way Galaxy. Russia and Ukraine are now on same, deep-space policy directions. The attention of the readers of this Academy Note is called to the current “Cosmic Collision” excellent presentation at the Hayden Planetarium, located at the Museum of National History in the City of New York. It shows the past, the present and the future of international humankind in exploring space and the creation of the universe, with particular reference to the protons of our sun, for our Milky Way Galaxy.     

“Furoshiki satellite” - a large membrane structure as a novel space system

We have been studying a large membrane space structure named “Furoshiki Satellite,” as a promising candidate of a future space system for those missions requiring large area in space such as solar power generation, a large communication antenna, or a large radiator. This membrane is folded in a very small volume during launch and is deployed and controlled by a set of several satellites at its corners or using centrifugal force generated by rotating the central satellite. It is expected that such a structure will reduce the weight per area of the space structure and, if the control technology is properly applied, it can be efficiently folded during launch and easily deployed after release. This paper shows the concept of Furoshiki Satellite, its applications, and its dynamics on orbit and how to control it. A nano-satellite project on demonstrate the concept of Furoshiki Satellite will also be described briefly.     

空间碎片国际机制发展趋势分析

文章通过对空间碎片国际机制(多边谈判机制)的分析,指出其发展趋势,从而为中国参加相关谈判工作提供参考。空间碎片国际机制的发展已呈现出明显的政策化、法律化和制度化的趋势。无论是从外空利益争夺、外空战略实现,还是从中国航天事业可持续发展、中国航天立法体系完善的角度来讲,积极参加空间碎片技术合作与规则制定的国际谈判都具有重要意义。从国内建设上来看,中国应尽快制定“技术—政策(战略)—法律”三位一体的解决思路和具体方案;从国际层面看,可以借鉴美国一直坚持和贯彻的“技术—政策—国内规则—国际软法—国际法”外空策略,来开展空间碎片减缓和清除等方面的技术与规则制定的合作。     

Spacecraft technology portfolio: Probabilistic modeling and implications for responsiveness and schedule slippage

Addressing the challenges of Responsive Space and mitigating the risk of schedule slippage in space programs require a thorough understanding of the various factors driving the development schedule of a space system. The present work contributes theoretical and practical results in this direction. A spacecraft is here conceived of as a technology portfolio. The characteristics of this portfolio are defined as its size (e.g., number of instruments), the technology maturity of each instrument and the resulting Technology Readiness Level (TRL) heterogeneity, and their effects on the delivery schedule of a spacecraft are investigated. Following a brief overview of the concept of R&D portfolio and its relevance to spacecraft design, a probabilistic model of the Time-to-Delivery of a spacecraft is formulated, which includes the development, Integration and Testing, and Shipping phases. The Mean-Time-To-Delivery (MTTD) of the spacecraft is quantified based on the portfolio characteristics, and it is shown that the Mean-Time-To-Delivery (MTTD) of the spacecraft and its schedule risk are significantly impacted by decreasing TRL and increasing portfolio size. Finally, the utility implications of varying the portfolio characteristics are investigated, and “portfolio maps” are provided as guides to help system designers identify appropriate portfolio characteristics when operating in a calendar-based design environment (which is the paradigm shift that space responsiveness introduces).     

The explorer's complex

It is time to think about the rationales of space exploration, more than 50 years after the beginning of human space flight. Between J.F. Kennedy words (“landing a man on the Moon and returning him safely to Earth”) and the Mars One, what means today the dangers of exploration, or the concept of “representative of mankind” applied to the astronauts? Beyond the financial, technical and human risks, exploration, and today space exploration, belongs always to the human identity, the way to confront human nature (especially imagination) to the reality of time and space.     

The LEO Archipelago: A system of earth-rings for communications,mass-transport to space,solar power,and control of global warming

Man's quest to get into space is hindered by major problems (e.g., system-development and capital costs, expense of putting mass into orbit, trapped-radiation belts, and environmental impact of a large increase in rocket launches). A multi-purpose low-earth-orbit system of rings circling the earth – the “LEO ARCHIPELAGO^TM” – is proposed as a means of solving or bypassing many of them. A fiber-optic ring about the earth would be an initial testing and developmental stage for the Ring Systems, while providing cash-flow through a LEO-based, high-band-width, world-wide communication system. A low-earth-orbit-based space-elevator system, “Sling-on-a-Ring^TM”, is proposed as the crucial developmental stage of the LEO Archipelago. Being a LEO-based heavy-mass lifter, rather than earth- or GEO-based, it is much less massive and therefore less costly than other proposed space-elevators. With the advent of lower-cost, higher-mass transport to orbit, the options for further space development (e.g., space solar power, radiation, and space-debris dampers, sun shades, and permanent LEO habitation) are greatly expanded.This paper provides an update of the Sling-on-a-Ring concept in terms of new materials, potential applications, and trade-offs associated with an earlier model. The impact of Colossal Carbon Tubes, CCT, a new material with high tensile strength, extremely-low density, and other favorable properties, and other new technologies (e.g., solar-powered lasers, power beaming to near-space and earth, and thermal-control systems) on the development of associated LEO-Ring systems is also explored. The material's effect on the timeline for the system development indicates the feasibility of near-term implementation of the system (possibly within the decade). The Sling-on-a-Ring can provide a less-expensive, environment-friendly mode of access to space. This would pave the way (via eventual operation at >1000 t per day by 2050) for large scale development of space-based technologies.     

The strong stability of most natural motions

Problems of Hamiltonian Mechanics can generally be simplified by some Von Zeipel transformations which reduce the influence of short period parameters and lead to very slowly variable functions: the “quasi-integrals”; however these transformations are implicit and then difficult to use.An explicit construction of the quasi-integrals is presented here and is used to integrate the motion of an artificial satellite perturbed by the zonal harmonics of the Earth gravitational potential; the quasi-integrals are also used to obtain informations on the stability of natural satellites, i.e. lower bounds on the duration of escape or capture.