基于水下机器人的海产品智能检测与自主抓取系统

针对水下机器人实现自主抓取过程中缺乏引导系统的问题,提出了一种依托水下机器人的海产品智能检测与自主抓取系统,用来解决水下目标的智能检测问题,并引导水下机器人进行海产品的自主抓取。将卷积神经网络检测算法应用到水下场景,利用水下图像数据集训练特定的网络模型DSOD检测海产品。建立短基线定位系统定位水下作业的机器人。通过分析相机成像坐标系与定位系统坐标系之间的关系,提出了一种计算海产品实际位置的坐标转换方法,计算海产品的实际位置。设计了一种基于反馈机制的多信号分析方法,引导机器人在水下移动并抓捕海产品。为了验证所提系统的有效性,搭建了一款水下抓捕机器人,并成功将所提算法应用到机器人,在真实海洋环境中进行海产品的自主抓取实验。      

一种针对金星探测器的姿态指向设计

摘要： 金星探测需要超长距离低码率传输,因而金星探测器需要保持其数传天线指向地球.相对于地球轨道飞行器来说,金星探测器距离太阳更近,需要固定散热面来维持探测器内的温度.提供一种基于在金星探测器偏置安装天线的姿态指向设计,能够保证从金星向地球传输数据并且维持散热面远离太阳.而此设计旨在减少数传天线的数量至一根同时将两个固定平面作为散热面.还提供两种详细方案来控制姿态机动来保证在数传天线始终指向地球的同时在特定节点切换散热面.     

A multi-objective optimization framework of constellation design for emergency observation

To meet the urgent needs of emergency observation missions, a well-designed constellation is key to ensuring system performance. This paper presents a multi-objective optimization framework which is well suited for constellation designers to identify key trade-offs and make decisions. Firstly, this work investigates the metrics of responsiveness and coverage simultaneously to approximate to the actual conditions of emergencies, and a multi-objective mathematical model is constructed to explore solutions to enhance the overall system performance. Then, according to the characteristics of emergency missions, a hierarchical chromosome encoding method is proposed in the framework to encode a solution that explores different sized constellations without constraining its specific geometry. Finally, we propose the use of radial axes plots to help constellation designers to gain pragmatic insights for informed decision making. The simulation of disaster management verifies that the proposed chromosome encoding method effectively promotes the convergence of the algorithm, and the multi-objective optimization framework helps to generate a rapid and adequate observation satellite constellation to provide maximum coverage performance while ensuring timeliness.     

投放激光制导炸弹的战术研究

对攻击机本机照射激光束、投放激光制导炸弹的战术进行研究,即攻击机本机照射激光束、采用机翼非水平转弯投放方式投放激光制导炸弹、转弯退出的战术.其关键点在于攻击机采用转弯退出战术把激光束连续地照射目标的战术要求和退出意图二者融合.该战术由于采用机动投放和曲线退出战术方式,能够大大提高攻击机的生存力.采用简化的攻击机质点模型,通过对攻击机转弯退出过程的分析,给出采用转弯退出战术的具体条件.投放激光制导炸弹任务过程的数学仿真结果表明,所给出的条件能够满足攻击机本机照射激光束、投放激光制导炸弹、转弯退出的战术要求.      

Long term effects of low doses of 56Fe ions on the brain and retina of the mouse: ultrastructural and behavioral studies.

Eight month old male C57BL6 mice were exposed without anesthesia to whole-body irradiation in circular holders. The mice were tested for behavioral decrements after 0.5 and 50 rads of Fe particle irradiation at 6 and 12 months post irradiation to obtain long term results. A standard maze was used and the animals were timed for completion thereof. A string test also was administered to the mice, testing their ability to grasp and move along a string to safety. The results from animals exposed to 50 rads were significantly different from [correction of fron] control results to p = < .001 in both systems of testing. The hippocampus (believed to be the location of environmental interaction in the brain) and the retina were examined for ultrastructural changes. The ultrastructural changes were similar to those we found in our Cosmos 782, 936 and in our Argon experiments. The mouse data indicate that iron particles were able to induce long term changes in the central nervous system which lead to behavioral impairment.     

Study on Satellite-to-ground Laser Communications with Existence of Atmosphere

The laser beam used to establish a communication channel between satellite and ground segments has a small divergence angle and a tiny spot on the Earth’s surface, which may lead to the fail of the system. So it’s important to study the deflection of laser beam by the Earth’s atmosphere and find a way to calibrate this error. Both theoretical analysis and real data processing method are used to obtain the mathematical model for divergence angle of laser communication beam and its correction function. Then the model has been applied to the data, which was used to describe the atmosphere state by traditional ground segments to obtain the critical elevation angle. According to the results of calculation, our conclusion will be that the correction should be done when the critical elevation happens.      

Coherent superposition of multi-GNSS wavelet analysis periodogram for sea-level retrieval in GNSS multipath reflectometry

The multipath signals of GNSS can act as a tide gauge via a technology called Global Navigation Satellite Systems multipath reflectometry (GNSS-MR), which is based on the relationship between multipath frequency and height to sea surface. In addition to the traditional frequency extraction method of Lomb–Scargle periodogram (LSP), wavelet analysis can be applied to extract instantaneous multipath frequencies of GPS L1, thus improving data utilization. However, because of the sensitivity of instantaneous frequency to noise and the introduction of more signals, multi-constellation retrievals exhibit many outliers and errors. The aim of this study is to apply wavelet analysis to multi-constellation multi-frequency signals and most importantly to find a method to avoid noise. We used coherent superposition to overlap the intra-track inter-signal instantaneous frequency spectrograms to enhance effective information and to weaken noise. This coherent superposition method can achieve intra-track inter-signal combination. The multi-GNSS data from two Multi-GNSS Experiment (MGEX) stations were used. The results showed that the coherent superposition spectrogram has a clear energy concentration, and the frequencies calculated from it depict sea-level changes. To compare the method with the LSP method and to combine inter-track retrievals, a robust regression method was used to combine retrievals and to produce equally spaced retrieval series. The results show that the combined retrievals from the coherent superposition method have a slightly higher accuracy than those from the classical LSP method. Because this method can be used to retrieve sea-level data from instantaneous frequency, it increases data utilization and provides a way to obtain details of SNR arcs, which is a potential method to benefit GNSS-MR, especially for sites with narrow reflecting sensing zones in a small sea azimuth range.     

NASA' s life sciences and space radiation biology.

Plans for the various missions in which men and women are expected to participate during the next 10 years are outlined. Such missions include flights of up to three months duration in low earth orbit as well as possible short excursions to geosynchronous orbit. Research activities are described which cover the full spectrum of physiological and psychological responses to space flight. These activities are shown to contribute to the ongoing Shuttle program and the future Space Station. The paper includes a summary of the major technical thrusts needed to support extended habitation in space.     

Distributing space weather monitoring instruments and educational materials worldwide for IHY 2007: The AWESOME and SID project

The International Heliophysical Year (IHY) aims to advance our understanding of the fundamental processes that govern the Sun, Earth, and heliosphere. The IHY Education and Outreach Program is dedicated to inspiring the next generation of space and Earth scientists as well as spreading the knowledge, beauty, and relevance of our solar system to the people of the world. In our Space Weather Monitor project we deploy a global network of sensors to high schools and universities to provide quantitative diagnostics of solar-induced ionospheric disturbances, thunderstorm intensity, and magnetospheric activity. We bring real scientific instruments and data in a cost-effective way to students throughout the world. Instruments meet the objectives of being sensitive enough to produce research-quality data, yet inexpensive enough for placement in high schools and universities. The instruments and data have been shown to be appropriate to, and usable by, high school age and early university students. Data contributed to the Stanford data center is openly shared and partnerships between groups in different nations develop naturally. Students and teachers have direct access to scientific expertise.     

Remote sensing from the International Space Station

The time has come to give serious thought to the use of the International Space Station (ISS) as a space platform to advance remote sensing research in several scientific disciplines. The European scientific community has been developing instrumentation for deployment on the ISS for some time now. Recently, NASA opened competitions for scientific programs to be supported as “Missions of Opportunity” to utilize the “EXPRESS Pallet” facility on the ISS. A single EXPRESS Pallet has the capability of carrying a collection of instruments similar to the payload of a conventional satellite. A major difference between ISS and satellite programs is that the research funding will be expended on scientific instrumentation and analysis and not on a spacecraft, launch vehicle, and flight operations. As the ISS becomes fully operational, EXPRESS Pallets could be deployed in short periods of time compared to preparing a satellite program. The ability to retrieve, improve, and re-fly an instrument is important to a progressive research program. This allows the experiment to be responsive to data analysis in a timely manner and also keep pace with developing technology.     

Coronal mass ejection detection using wavelets,curvelets and ridgelets: Applications for space weather monitoring

Coronal mass ejections (CMEs) are large-scale eruptions of plasma and magnetic field that can produce adverse space weather at Earth and other locations in the Heliosphere. Due to the intrinsic multiscale nature of features in coronagraph images, wavelet and multiscale image processing techniques are well suited to enhancing the visibility of CMEs and suppressing noise. However, wavelets are better suited to identifying point-like features, such as noise or background stars, than to enhancing the visibility of the curved form of a typical CME front. Higher order multiscale techniques, such as ridgelets and curvelets, were therefore explored to characterise the morphology (width, curvature) and kinematics (position, velocity, acceleration) of CMEs. Curvelets in particular were found to be well suited to characterising CME properties in a self-consistent manner. Curvelets are thus likely to be of benefit to autonomous monitoring of CME properties for space weather applications.     

面向网络化制造的数控车间组织模式

分析了网络化制造的基本特征和内涵,提出了面向企业的网络化制造系统运行模式;在对某大型航空制造企业的数控车间调研与应用实施的基础上,针对其组织模式存在问题,采用分行企业和独立制造岛的思想建立了适合数控车间网络化、敏捷化制造的分形组织模型;针对车间原有生产模式、产品特性,提出了基于成组技术的数控车间生产单元和生产线的划分方法,建立了面向产品流程的机构组成规则和车间内部的服务支援规则.该模型、方法、原则对传统的离散制造企业具有普遍的适用性,现已成功地被该数控车间采纳.     

超视距空战中多机协同制导方法

对空空导弹制导权交接的任务分配问题,根据己方飞机与制导权需交接的导弹的态势建立了对导弹的态势优势模型;根据己方飞机对该导弹攻击目标的态势建立了对目标的探测能力模型;根据敌方飞机对己方飞机的态势建立了己方飞机受到的威胁度模型;根据敌我双方飞机的空战能力建立了空战效能优势模型.在这4种模型的基础上建立了己方飞机对导弹的总的制导优势模型.在总的制导优势的基础上建立了协同制导任务分配模型,并采用遗传算法对协同制导任务分配问题进行优化求解.仿真结果表明,该方法能够实时地计算制导优势和进行任务分配,有效地完成多机协同制导.     

Multimodal characteristics of a piezoelectric lead zirconate titanate element impacted with iron particles having velocities above 20 km/s

The responses of a piezoelectric lead zirconate titanate (PZT) element to hypervelocity collisions were experimentally studied. In this study, the particles of masses ranging from 0.3 to 10 fg were made to collide with PZT at velocities between 20 and 96 km/s. The amplitude and the corresponding rise time of the single-pulse output signals that were produced in the piezoelectric PZT element were measured to determine the possible collision states. The results revealed an apparently multimodal output; three classes were assumed to be involved in the pulse formation mechanism. The amplitude and rise time were sensitive to the collision velocity. The multimodal behavior implied that the PZT-based cosmic dust detectors should be calibrated according to the class they belong to.     

企业的竞争战略与生产系统的动态发展

当今日益变化的市场对传统的生产系统提出了挑战.为了面对变化的市场,形成自我竞争优势,增强企业的应变能力,本文认为生产系统应具有持续的动态发展性,需要从战略的角度重新审视生产管理.目前,柔性化制造原则在生产管理者们心中的地位越来越高,无论是传统的工业企业还是全新的工业企业,对柔性化系统运用的需求在增长.本文介绍了柔性化原则在为企业减少或重新定义不确定性时的应用.     

基于投影约束的C臂外参数优化方法

C臂外参数计算是手术导航系统实现图像空间与手术空间映射的关键环节.标记点提取误差将使外参数偏离真值.采用投影方法系统分析选点误差对外参数计算的影响,发现相机光轴方向平移参数收敛性弱、易受误差干扰.利用不同平面上投影距离之比作为约束对线性方法所得外参数进行修正.借鉴二/三维图像配准方法,采用修正后的估计外参数与已标定内参数进行重投影,根据几何方法直接求出外参数修正量,避免反复迭代优化.仿真结果表明,该标定方法对误差具有一定免疫性,能够提高外参数精度.      

Accurate estimation of relative atmospheric density error on the example of uncertain geomagnetic activity information

Errors in neutral atmospheric density are the dominant contributor to unrealistic orbital state-vector covariances in low Earth orbits (LEO). Density uncertainty is caused by model-uncertainty at spatial scales below and within the model resolution, as well as input-uncertainty of the environmental parameters supplied to the semi-empirical atmospheric model.The paper at hand provides multiple contributions. First, analytic equations are derived to estimate the relative density error due to an input parameter uncertainty in any of the environmental parameters supplied to the model. Second, it is shown on the example of uncertain geomagnetic activity information, how to compute the required inputs to facilitate the accurate estimation of the relative density error.A clamped cubic splining approach for the conversion from geomagnetic amplitude (ap) to the kp index is postulated to perform this uncertainty propagation, as other algorithms were found unsuitable for this task. Results of numerical simulations with three popular semi-empirical models are provided to validate the set of derived equations. It is found that geomagnetic input uncertainty is especially important to consider in case of low global geomagnetic activity. The findings seamlessly integrate with prior work by the authors to perform density-uncertainty considering orbit estimation.     

The AGROBOT project.

The aim of this paper is to illustrate the AGROBOT project. This project was initiated to develop a complete robotic system for the production cycle of tomato plants in a greenhouse environment. The robot architecture is based on a vehicle carrying the picking arm (a six degrees of freedom anthropomorphic arm with a gripper/hand), the head with the two micro cameras (for the color stereoscopic vision system) and the VME rack for the complete control of the system. The head was purposely developed to permit complete visibility of the overall area. The vision system drives the head to point the path during navigation or to explore the plants looking for the work objects. The robot will be able to navigate between rows of plants, stop near each plant and identify the relevant objects (fruits or flowers) so as to be able to pick ripe tomatoes or spray anticryptogamic substances on flowers. Due to its flexible architecture, the system can be suited to operate on other kinds of cultivation or could be modified to perform other kinds of operations such as transplanting or packaging. Also the field of action could be different from greenhouses: changing from a wheeled locomotion system to a tracked system, the robot will be able to operate on particularly irregular surfaces. These features make this robotic system particularly adapted to replace human from tiring and harmful tasks or operating within adverse environment.     

Uncertainties in radiation effect predictions for the natural radiation environments of space.

Future manned missions beyond low earth orbit require accurate predictions of the risk to astronauts and to critical systems from exposure to ionizing radiation. For low-level exposures, the hazards are dominated by rare single-event phenomena where individual cosmic-ray particles or spallation reactions result in potentially catastrophic changes in critical components. Examples might be a biological lesion leading to cancer in an astronaut or a memory upset leading to an undesired rocket firing. The risks of such events appears to depend on the amount of energy deposited within critical sensitive volumes of biological cells and microelectronic components. The critical environmental information needed to estimate the risks posed by the natural space environments, including solar flares, is the number of times more than a threshold amount of energy for an event will be deposited in the critical microvolumes. These predictions are complicated by uncertainties in the natural environments, particularly the composition of flares, and by the effects of shielding. Microdosimetric data for large numbers of orbits are needed to improve the environmental models and to test the transport codes used to predict event rates.