基于最小值原理的冗余度机器人动力学控制

为了解冗余度机器人全局法优化中数值求解的困难,本文讨论了动力学方程的建立,无约束和有约束最优控制问题之间的内在联系,重点分析了求解最优控制问题的数值方法,文中提出了双向异步积分迭代的求解正则方程组的直接迭代法,较好解决了状态方程和协态方程稳定相逆给求解两点这值问题带来的困难。     

Remote upgrading of a space-borne instrument

The main purposes of experiment “Obstanovka” (“Environment” in Russian) consisting of several instruments are to measure a set of electromagnetic and plasma phenomena characterizing the space weather conditions, and to evaluate how such a big and highly energy consuming body as the International Space Station disturbs the surrounding plasma, and how the station itself is charged due to the operation of so many instruments, solar batteries, life supporting devices, etc. Two identical Langmuir electrostatic probes are included in the experiment “Obstanovka”. In this paper the Langmuir probes for “Obstanovka” experiment are described, including the choice of geometry (spherical or cylindrical), a more reliable method for the sweep voltage generation, an adaptive algorithm for the probe’s operation. Special attention is paid to the possibility for remote upgrading of the instrument from the ground using the standard communication channels.     

Early effects of low dose C ion or X-ray irradiation on human peripheral blood lymphocytes

The aim of this study was to estimate the acute effects of low dose ¹²C⁶⁺ ions or X-ray radiation on human immune function. The human peripheral blood lymphocytes (HPBL) of seven healthy donors were exposed to 0.05 Gy ¹²C⁶⁺ ions or X-ray radiation and cell responses were measured at 24 h after exposure. The cytotoxic activities of HPBL were determined by 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyl tetrazolium bromide (MTT); the percentages of T and NK cells subsets were detected by flow cytometry; mRNA expression of interleukin (IL)-2, tumor necrosis factor (TNF)-α and interferon (IFN)-γ were examined by real time quantitative RT-PCR (qRT-PCR); and these cytokines protein levels in supernatant of cultured cells were assayed by enzyme-linked immunosorbent assays (ELISA). The results showed that the cytotoxic activity of HPBL, mRNA expression of IL-2, IFN-γ and TNF-α in HPBL and their protein levels in supernatant were significantly increased at 24 h after exposure to 0.05 Gy ¹²C⁶⁺ ions radiation and the effects were stronger than observed for X-ray exposure. However, there was no significant change in the percentage of T and NK cells subsets of HPBL. These results suggested that 0.05 Gy high linear energy transfer (LET) ¹²C⁶⁺ radiation was a more effective approach to host immune enhancement than that of low LET X-ray. We conclude that cytokines production might be used as sensitive indicators of acute response to LDI.     

Survival and death of the haloarchaeon Natronorubrum strain HG-1 in a simulated martian environment

Halophilic archaea are of interest to astrobiology due to their survival capabilities in desiccated and high salt environments. The detection of remnants of salty pools on Mars stimulated investigations into the response of haloarchaea to martian conditions. Natronorubrum sp. strain HG-1 is an extremely halophilic archaeon with unusual metabolic pathways, growing on acetate and stimulated by tetrathionate. We exposed Natronorubrum strain HG-1 to ultraviolet (UV) radiation, similar to levels currently prevalent on Mars. In addition, the effects of low temperature (4, −20, and −80 °C), desiccation, and exposure to a Mars soil analogue from the Atacama desert on the viability of Natronorubrum strain HG-1 cultures were investigated. The results show that Natronorubrum strain HG-1 cannot survive for more than several hours when exposed to UV radiation equivalent to that at the martian equator. Even when protected from UV radiation, viability is impaired by a combination of desiccation and low temperature. Desiccating Natronorubrum strain HG-1 cells when mixed with a Mars soil analogue impaired growth of the culture to below the detection limit. Overall, we conclude that Natronorubrum strain HG-1 cannot survive the environment currently present on Mars. Since other halophilic microorganisms were reported to survive simulated martian conditions, our results imply that survival capabilities are not necessarily shared between phylogenetically related species.     

The origin of the prompt optical emission in GRB 060111B

The detection of a bright optical emission measured with good temporal resolution during the prompt phase makes GRB 060111B a rare event that is especially useful for constraining theories of the prompt optical emission. Comparing this burst with other GRBs with evidence of optical peaks, we find that the optical peak epoch (t_p) is anti-correlated with the high energy burst energetic assuming an isotropic energy release (E_iso) in agreement with Liang et al. (2009), and that the steeper is the post-peak afterglow decay, the less is the agreement with the correlation. GRB 060111B is among the latters and it does not match the correlation. The Cannonball scenario is also discussed and we find that this model cannot be excluded for GRB 060111B.     

The Crab pulsar seen with AquEYE at Asiago Cima Ekar observatory

We are developing fast photon-counter instruments to study the rapid variability of astrophysical sources by time tagging photon arrival times with unprecedented accuracy, making use of a Rubidium clock and GPS receiver. The first realization of such optical photon-counters, dubbed AquEYE (the Asiago Quantum Eye), was mounted in 2008 at the 182 cm Copernicus Observatory in Asiago. AquEYE observed the Crab pulsar several times and collected data of extraordinary quality that allowed us to perform accurate optical timing of the Crab pulsar and to study the pulse shape stability on a timescale from days to years with an excellent definition. Our results reinforce the evidence for decadal stability of the inclination angle between the spin and magnetic axis of the Crab pulsar. Future realizations of our instrument will make use of the Galileo Global Navigation Satellite System (GNSS) time signal.     

Gravity wave momentum flux generation close to mid-latitude Andes in mesoscale simulations of late 20th and 21st centuries

Adequate representations of diverse dynamical processes in general circulation models (GCM) are necessary to obtain reliable simulations of the present and the future. The parameterization of orographic gravity wave drag (GWD) is one of the critical components of GCM. It is therefore convenient to evaluate whether standard orographic GWD parameterizations are appropriate. One alternative is to study the generation of gravity waves (GW) with horizontal resolutions that are higher than those used in current GCM simulations. Here we assess the seasonal pattern of topographic GW momentum flux (GWMF) generation for the late 20th and 21st centuries in a downscaling using the Rossby Centre regional atmospheric model under the Intergovernmental Panel on Climate Change A1B emission conditions. We focus on one of the world’s strongest extra-tropical GW zones, the Andes Mountains at mid-latitudes in the Southern Hemisphere. The presence of two GCM sub-grid scale structures locally contributing to GWMF (one positive and one negative) is found to the East of the mountains. For the late 21st century the strength of these structures during the GW high season increases around 23% with respect to the late 20th century, but the GWMF average over GCM grid cell scales remains negative and nearly constant around −0.015 Pa. This constitutes a steady significant contribution during GW high season, which is not related to the GWMF released by individual sporadic strong GW events. This characteristic agrees with the fact that no statistically significant variation in GWMF at source level has been observed in recent GCM simulations of atmospheric change induced by increases in greenhouse gases.     

Science operations planning expertise: A neglected component of mission design

In this paper, Science Operations Planning Expertise (SOPE) is defined as the expertise that is held by people who have the two following qualities. First they have both theoretical and practical experience in operations planning, in general, and in space science operations planning in particular. Second, they can be used, on request and at least, to provide with advice the teams that design and implement science operations systems in order to optimise the performance and productivity of the mission. However, the relevance and use of such SOPE early on during the Mission Design Phase (MDP) is not sufficiently recognised. As a result, science operations planning is often neglected or poorly assessed during the mission definition phases. This can result in mission architectures that are not optimum in terms of cost and scientific returns, particularly for missions that require a significant amount of science operations planning. Consequently, science operations planning difficulties and cost underestimations are often realised only when it is too late to design and implement the most appropriate solutions. In addition, higher costs can potentially reduce both the number of new missions and the chances of existing ones to be extended. Moreover, the quality, and subsequently efficiency, of SOPE can vary greatly. This is why we also believe that the best possible type of SOPE requires a structure similar to the ones of existing bodies of expertise dedicated to the data processing such as the International Planetary Data Alliance (IPDA), the Space Physics Archive Search and Extract (SPASE) or the Planetary Data System (PDS). Indeed, this is the only way of efficiently identifying science operations planning issues and their solutions as well as of keeping track of them in order to apply them to new missions. Therefore, this paper advocates for the need to allocate resources in order to both optimise the use of SOPE early on during the MDP and to perform, at least, a feasibility study of such a more structured SOPE.     

分布式卫星系统仿真平台研究现状与技术分析

支持分布式卫星系统(DSS)开发和实验的仿真平台是DSS技术发展的关键技术之一,本文对DSS仿真平台现状和关键技术进行了分析。首先对比分析了现有3种典型的仿真平台,认为为追求尽可能高的逼真度,实时分布式仿真成为必然。继而从分布式计算角度分析了实时分布式仿真面临的分布性、实时性、仿真部件互操作性和可重用性的问题,而中间件技术可以很好地解决这些问题。最后讨论了中间件实现模式,并分析了中间件在DSS仿真中3种可能的应用方式。     

火星探测着陆系统开伞控制方法研究

文章通过对火星探测进入轨道的分析，提出了一种以动压为控制目标的开伞控制方法，并借鉴过载-时间控制法的相关思想，结合火星探测进入轨道的特点，研究了该开伞控制法的原理和实现方法。根据火星探路者的实际进入条件，采用该方法的分析结果与实际飞行中的开伞情况基本吻合。