多无人机绳索悬挂协同搬运固定时间控制

针对多无人机绳索悬挂协同搬运跟踪控制问题,设计了一种新的固定时间协同跟踪控制算法.首先,通过旋量分析,计算系统不同状态下的有效旋量空间,并根据静力学平衡计算系统在有效旋量空间约束下的拉力容许裕度.其次,在保证绳索张紧以及最大拉力约束的条件下,基于微分平坦性以及绳索拉力优化分配算法,规戈编队的期望跟踪轨迹.然后,基于Ud...     

Utilization of sweet potatoes in controlled ecological life support systems (CELSS).

A number of studies have selected the sweet potato as a potentially important crop for CELSS. Most hydroponic studies of sweet potatoes have been short term (<80 days). Full term (90 to 150 days) studies of sweet potatoes in hydroponic systems were needed to understand the physiology of storage root enlargement and to evaluate sweet potato production potential for CELSS. Early and late maturing sweet potato varieties were crown in hydroponic systems of different types--static with periodic replacement, flowing with and without recirculation, aggregate, and non-aggregate. In a flowing system with recirculation designed at Tuskegee University using the nutrient film technique (NFT), storage root yields as high as 1790 g were produced with an edible growth rate of up to 66 g m-2 d-1 and a harvest index as high as 89% under greenhouse conditions. Preliminary experiments indicated high yields can be obtained in controlled environmental chambers. Significant cultivar differences were found in all systems studied. Nutritive composition of storage roots and foliage were similar to field-grown plants. The results indicate great potential for sweet potato in CELSS.     

Synergies of Earth science and space exploration

A more flexible policy basis from which to manage our planet in the 21st century is desirable. As one contribution, we note that synergies between space exploration and the preservation of our habitat exist, and that protecting life on Earth requires similar concepts and information as investigations of life beyond the Earth, including the expansion of human presence in space. Instrumentation and data handling to observe both planetary objects and planet Earth are based on similar techniques. Moreover, while planetary surface operations are conducted under different conditions, the technology to probe the surface and subsurface of both the Earth and other planets requires similar tools, such as radar, seismometers, and drilling devices. The Earth observation community has developed some exemplary tools and has featured successful international cooperation in data handling and sharing that could be equally well applied to robotic planetary exploration. Here we propose a network involving both communities that will enable the interchange of scientific insights and the development of new policies and management strategies. Those tools can provide a vital forum through which the management of this planet can be assisted, and in which a new bridge between the Earth-centric and space-centric communities can be built.     

Physical-chemical treatment of wastes: a way to close turnover of elements in LSS.

"Man-plants-physical-chemical unit" system designed for space stations or terrestrial ecohabitats to close steady-state mineral, water and gas exchange is proposed. The physical-chemical unit is to mineralize all inedible plant wastes and physiological human wastes (feces, urine, gray water) by electromagnetically activated hydrogen peroxide in an oxidation reactor. The final product is a mineralized solution containing all elements balanced for plants' requirements. The solution has been successfully used in experiments to grow wheat, beans and radish. The solution was reusable: the evaporated moisture was replenished by the phytotron condensate. Sodium salination of plants was precluded by evaporating reactor-mineralized urine to sodium saturation concentration to crystallize out NaCl which can be used as food for the crew. The remaining mineralized product was brought back for nutrition of plants. The gas composition of the reactor comprises O2, N2, CO2, NH3, H2. At the reactor's output hydrogen and oxygen were catalyzed into water, NH3 was converted in a water trap into NH4 and used for nutrition of plants. A special accessory at the reactor's output may produce hydrogen peroxide from intrasystem water and gas which makes possible to close gas loops between LSS components.     

On optimal track-to-track fusion

Track-to-track fusion is an important part in multisensor fusion. Much research has been done in this area. Chong et al. (1979, 1986, 1990) among others, presented an optimal fusion formula under an arbitrary communication pattern. This formula is optimal when the underlying systems are deterministic, i.e., the process noise is zero, or when full-rate communication (two sensors exchange information each time they receive new measurements) is employed. However, in practice, the process noise is not negligible due to target maneuvering and sensors typically communicate infrequently to save communication bandwidth. In such situations, the measurements from two sensors are not conditionally (given the previous target state) independent due to the common process noise from the underlying system, and the fusion formula becomes an approximate one. This dependence phenomena was also observed by Bar-Shalom (1981) where a formula was derived to compute the cross-covariance of two track estimates obtained by different sensors. Based on this results a fusion formula was subsequently derived (1986) to combine the local estimates which took into account the dependency between the two estimates. Unfortunately, the Bayesian derivation made an assumption that is not met. This work points out the implicit approximation made and shows that the result turns out to be optimal only in the ML (maximum likelihood) sense. A performance evaluation technique is then proposed to study the performance of various track-to-track fusion techniques. The results provide performance bounds of different techniques under various operating conditions which can be used in designing a fusion system.     

一种基于单频授时接收机的纳秒级时间同步方法研究

针对未来通信同步网等需要低成本、高精度、大范围时间同步的应用需求,研究了基于单频接收机进行卫星共视比对的可行性。提出了一种基于单频授时接收机的标准时间远程复现方法,并最终实现了一套低成本的标准时间复现设备,能提供与标准时间小于10ns(3σ)的时间偏差。该设备可用于组建时间同步网,保证网内节点间时差小于20ns,结合多级分层传递组网策略,理论上可以建立覆盖全球的时间同步网。     

Density structure of the Sgr B2 molecular cloud probed by low-J lines of CS.

We have observed the CS (2-1) and (3-2), and 13CS (2-1) transitions toward the Galactic Center molecular cloud Sgr B2 which consists of several clumps with different chemical properties. We have newly identified a cloud at 30 km s-1 from a CS (2-1) optical depth map. This cloud lies 1.5' South from the Sgr B2 (M) position and has a diameter of approximately 2.5 pc and a total column density of 7 x 10(23) cm-2 assuming optically thin emission of the 13CS (2-1) line. Towards the 2'N Cloud no evidence for a density enhancement is found, which suggests that the strong emission from HNCO and HCO+2 is due to chemical effects. The main isotopic CS lines show broad wing components similar to previous studies, but we find rotational temperatures Trot(CS) < 10 K at this region.     

Structural assessment of a solid propellant rocket motor: Effects of aging and damage

The aim of this study is to perform structural analysis of a solid propellant rocket motor using the finite element method and to determine the effects of aging on the analysis results. Thermal and pressure loadings occurring during the shipping, storing and firing are considered to be the most critical in determining long-term behavior of the motor. Stress and strain distribution in the rocket motor under these loading conditions are determined. Maximum hoop strain at the surface of the propellant and bond stresses at the interface between the liner and the insulator are evaluated as indicators of cracking in the propellant grain and debonding at the liner–insulator interface. The analyses are performed for both unaged and aged propellants. The results can be used to estimate the service life of the motor.     

Short-distance ultra wideband radars

The possibility of ultrawideband (UWB) radar usage in various fields for remote measuring the object's motion at short distance is considered. Application of UWB radar in medicine for remote measuring of patient's heart activity and respiration is shown. The measuring method is described and practical results of tests are cited. The opportunity of radar application in other areas is described.     

Tumor suppressor function of Betaig-h3 gene in radiation carcinogenesis.

Interaction between cell and extracellular matrix (ECM) plays a crucial role in tumor invasiveness and metastasis. Using an immortalized human bronchial epithelial (BEP2D) cell model, we showed previously that expression of a list of genes including Betaig-h3 (induced by transforming growth factor-beta), DCC (deleted in colorectal cancer), p21(cipl), c-fos, Heat shock protein (HSP27) and cytokeratin 14 were differentially expressed in several independently generated, radiation-induced tumor cell lines (TL1-TL5) relative to parental BEP2D cells. Our previous data further demonstrated that loss of tumor suppressor gene(s) as a likely mechanism of radiation carcinogenesis. In the present study, we chose Betaig-h3 and DCC that were downregulated in tumorigenic cells for further study. Restored expression of Betaig-h3 gene, not DCC gene, by transfecting cDNA into tumor cells resulted in a significant reduction in tumor growth. While integrin receptor alpha 5 beta 1 was overexpressed in tumor cells, its expression was corrected to the level found in control BEP2D cells after Betaig-h3 transfection. These data suggest that Betaig-h3 gene is involved in tumor progression by regulating integrin alpha 5 beta 1 receptor. Furthermore, exogenous TGF- beta 1 induced expression of Betaig-h3 gene and inhibited the growth of both control and tumorigenic BEP2D cells. Therefore, downregulation of Betaig-h3 gene may results from the decreased expression of upstream mediators such as TGF-beta. The findings provide strong evidence that the Betaig-h3 gene has tumor suppressor function in radiation-induced tumorigenic human bronchial epithelial cells and suggest a potential target for interventional therapy.