Sequence design for IIR inverse filter pulse compression

An infinite impulse response (IIR) inverse filter structure is presented, and compared with the performance of two finite impulse response (FIR) designs. The IIR design is shown to provide better performance and be able to improve further (e.g., -1.4 dB in sidelobe levels per unit delay increase for the length-13 Barker sequence) by increasing delay. The performance parameters of this IIR inverse filter suggest a design criterion for sequences on which the filter operates; that is related to the roots of the Z transform polynomial of the sequence. The sidelobe-optimal sequence derived according to this criterion is shown to provide sharper sidelobe reduction (-6 dB per unit delay increase for the sidelobe optimal length-13 sequence)     

A modified adaptive Kalman filter for real-time applications

A modified adaptive Kalman filtering algorithm is derived for the standard linear problem under an irregular environment where all variances of the zero-mean Gaussian white (system and observation) noises are unknown a priori. This algorithm has certain merits over various existing adaptive schemes in that it is simple, efficient, and suitable for real-time applications. An illustrative numerical example is presented     

Space batteries for mobile battlefield power applications

A review of space power systems was undertaken to identify advanced space batteries for mobile applications. State-of-the-art systems are described. The technology issues that need to be addressed in order to bring these systems along and meet the needs of the user are discussed. Future research directions are examined     

Kalman filter mechanization for INS airstart

A strapdown mechanization and associated Kalman filter are developed to provide both ground align and airstart capabilities for inertial navigation systems (INSs) using Doppler velocity and position fixes, while not requiring an initial heading estimate. Position update during coarse mode is possible by defining sine and cosine of wander angle as filter states and modeling the position error in geographic frame while integrating velocity in the wander frame. INS Global Positioning System (GPS) differential position due to GPS antenna moment arm can aid heading convergence during hover turns in helicopter applications. Azimuth error state in the fine mode of the filter is defined as wander angle error to provide continuous estimation of navigational states, as well as inertial/aiding sensor errors, across the coarse-to-fine mode transition. Though motivated by a tactical helicopter application, the design can be applied to other vehicles. Advantages over conventional systems in addition to the airstart capability include robustness and versatility in handling many different operational conditions     

Attitude synchronization for multiple spacecraft with input constraints

The attitude synchronization problem for multiple spacecraft with input constraints is investigated in this paper. Two distributed control laws are presented and analyzed. First, by intro- ducing bounded function, a distributed asymptotically stable control law is proposed. Such a con- trol scheme can guarantee attitude synchronization and the control inputs of each spacecraft can be a priori bounded regardless of the number of its neighbors. Then, based on graph theory, homoge- neous method, and Lyapunov stability theory, a distributed finite-time control law is designed. Rig- orous proof shows that attitude synchronization of multiple spacecraft can be achieved in finite time, and the control scheme satisfies input saturation requirement. Finally, numerical simulations are presented to demonstrate the effectiveness and feasibility of the oroDosed schemes.     

Battery configurations for multi-megawatt pulse power

The capability of lead-acid batteries for supplying very high power for a short time is explored. The application of such a battery for accelerating a hypersonic plane is used to illustrate the requirements. A technique for analyzing batteries and controlling voltage for pulse loads is described. Evaluation of lead-acid batteries in production and voltage regulation by switching batteries in and out are covered. Alternatives to batteries, including superconducting magnetic energy storage, are discussed     

空间多功能在轨维护机器人系统及其末端执行器设计

空间机器人是空间在轨服务的一种重要工具。以合作目标与非合作目标的在轨维护为目的,通过对现有空间机器人研究现状的调研和分析,提出了基于末端工具可快换的多功能在轨维护机器人系统,并提出多种末端执行器设计方案。其中三指-三瓣式末端执行器作为末端工具快换装置,不仅具有机械接口捕获对接的功能,还具有电力/信号传输功能,以及机械臂动力传输功能;钢丝绳缠绕式末端执行器具有优越的容差和软捕获性能,适合用于实现对安装有捕获接口的合作目标以及非合作目标卫星发动机喷管的捕获;而欠驱动三指末端执行器具有良好的待捕获目标物体形状自适应功能以及软捕获功能,因此可用于对空间形状不规则的太空垃圾等目标进行非合作目标捕获。通过对多功能在轨维护机器人系统及其末端工具快换过程以及末端执行器对目标捕获操作的研究,所提出的基于末端工具快换的多功能在轨维护机器人系统有较好的应用前景。     

Tetrahedral Robotics for Space Exploration

A reconfigurable space filling robotic architecture has a wide range of possible applications. One of the more intriguing possibilities is mobility in very irregular and otherwise impassable terrain. NASA Goddard Space Flight Center is developing the third generation of its addressable reconfigurable technology (ART) tetrahedral robotics architecture. An ART-based variable geometry truss consisting of 12 tetrahedral elements made from 26 smart struts on a wireless network has been developed. The primary goal of this development is the demonstration of a new kind of robotic mobility that can provide access and articulation that complement existing capabilities. An initial set of gaits and other behaviors are being tested, and accommodations for payloads such as sensor and telemetry packages are being studied. Herein, we describe our experience with the ART tetrahedral robotics architecture and the improvements implemented in the third generation of this technology. Applications of these robots to space exploration and the tradeoffs involved with this architecture will be discussed.     

A passive tracking filter for missile capture

A practical filter is suggested for ground-based missile tracking in a capture-guidance mode utilizing angle-only measurements from a passive missile sensor, and its performance is evaluated by a realistic system-simulation study. A missile-acceleration model that provides inputs to the filter is also suggested. The filter has a decoupled structure of independent azimuth and elevation channels, which requires fewer computations in solving the filter gain compared to a coupled structure. Simulation results show good tracking performance of the filter when used in association with the proposed missile-acceleration model     

Study of shaping strategies for blisk vane channels by a cup tool

This paper deals with roughing milling of vane channels for axial blisks by a cup tool. The effect of the shaping strategy on waviness of the surfaces being machined and allowance for subsequent operations is determined.     

Suboptimal filter design with pseudomeasurements for targettracking

A suboptimal Kalman filter design method is presented for the problem of tracking a maneuvering target. The design method is essentially based on linear target dynamics and linear-like structured measurements called pseudomeasurements. The pseudomeasurements are obtained by manipulating the original nonlinear measurements algebraically. The resulting filter has computational advantages over other filters with similar performance. Also, a variant of the Berg model is proposed as a target acceleration model under the assumption of a coordinated turn maneuver. The proposed model is consistent with the underlying assumption. Monte Carlo computer simulation results are included to demonstrate the effectiveness of the proposed suboptimal filter associated with the target acceleration model     

Improved algorithm for estimating pulse repetition intervals

This paper presents an improved algorithm for estimating pulse repetition intervals (PRIs) of an interleaved pulse train which consists of several independent radar signals with different PRIs. The original version of this algorithm is a complex-valued autocorrelation-like integral, which leads to a kind of PRI spectrum wherein the locations of the spectral peaks indicate the PRI values. The original algorithm, however, has a serious drawback in that it is vulnerable to timing jitter (PRI jitter). We analyze the cause of this vulnerability and propose an improved algorithm using overlapped PRI bins which have shifting time origins. The improved algorithm has proven to be quite effective in obtaining the PRI spectrum for jittered pulse trains, which enables detection of mean PRIs by thresholding     

Atomic spectroscopy for astrophysical applications

The recent work in atomic spectroscopy at the Department of Physics, University of Lund, is briefly reviewed and some examples of application to astrophysics are presented.Proceedings of the Conference Solar Physics from Space, held at the Swiss Federal Institute of Technology Zurich (ETHZ), 11–14 November 1980.     

Observer-type Kalman innovation filter for uncertain linear systems

An observer-type of Kalman innovation filtering algorithm to find a practically implementable "best" Kalman filter, and such an algorithm based on the evolutionary programming (EP) optima-search technique, are proposed, for linear discrete-time systems with time-invariant unknown-but-hounded plant and noise uncertainties. The worst-case parameter set from the stochastic uncertain system represented by the interval form with respect to the implemented "best" filter is also found in this work for demonstrating the effectiveness of the proposed filtering scheme. The new EP-based algorithm utilizes the global optima-searching capability of EP to find the optimal Kalman filter and state estimates at every iteration, which include both the best possible worst case Interval and the optimal nominal trajectory of the Kalman filtering estimates of the system state vectors. Simulation results are included to show that the new algorithm yields more accurate estimates and is less conservative as compared with other related robust filtering schemes     

Compact antennas for UWB applications

A report on an investigation of spherical, disc, and half-disc antennas in the frequency and time domains with the objective of developing small planar versions of the antennas. These antennas have an omni-directional impulse response in azimuth and pulse duration of 0.5-0.65 nanoseconds. In addition, the measured data show a reasonable peak received signal in a pulse communication link using two identical antennas.