Polysaccharide from Loquat Leaves to Prepare Hierarchical Porous Carbon as a Matrix for Active Sulfur

Fossil fuel exhaustion and overdevelopment usually lead to a recession,which is worsened by the environmental pollution.So it is of high priority to develop high-efficiency energy storage device.Here,agreen and environment-friendly strategy is devised to fabricate carbon materials from biomass.By water extraction and alcohol precipitation,polysaccharide is extracted from loquat leaves.After calcining under high temperature,hierarchical porous carbon materials(HPCM)are obtained,possessing a variety of macropores,mesopores and micropores.Such ample and hierarchical pores enable the electrolyte infiltration and the buffering of the volume expansion of sulfur in repeated electrochemical reactions.The structure stability of the entire electrode can thus be well maintained.When evaluated as the scaffold for sulfur,the electrochemical performance of carbon/sulfur composite was tested.Even after 500 cycles,the reversible capacity is retained as high as 485.4 mA·h/g at the current density of 1.6 A/g.It also offers a notable rate capability,attaining the discharge capacity of 700.7 mA·h/g at 2 C.All the electrochemical performance results prove the feasibility of the proposed strategy.     

适用于多星并行测试的应答机设计方法与验证*

为了提高星座的测试效率、降低测试成本,提出一种适合多星并行测试的应答机设计方法,通过地面测试设备和星上测控应答机复用星上的遥控RS422接口、遥测RS422接口的方式,突破了多星并行测试的瓶颈。新方法已经成功应用于某卫星星座的并行测试,降低了测试成本、提高了测试效率、缩短了星座的测试周期。     

Optimal spacecraft rendezvous using the combination of aerodynamic force and Lorentz force

This paper presents a propellantless spacecraft rendezvous method by using the optimal combination of aerodynamic force and Lorentz force. Aerodynamic force is provided by the rotations of the plates attached to the spacecraft, and Lorentz force is achieved by modulating spacecraft's electrostatic charge. Considering the limitation of the charging level of the spacecraft and physical constraints of the plates system, an optimal open-loop rendezvous trajectory is designed, which aims to minimize the energy consumed to actuate the hybrid system. The rotation rates of the plates and the electrostatic charge are constrained in the optimization problem, which is solved via the Gauss pseudospectral method. To track the open-loop trajectory in the presence of external perturbations, a novel adaptive nonsingular terminal sliding mode controller is designed. The stability of the closed-loop system is proved by the Lyapunov-based method. Several numerical examples are conducted to verify the validity of both the open-loop and closed-loop control strategy.     

基于分布式自适应的多智能体容错一致性控制

针对"领航者-跟随者"的多智能体编队，由于领航者系统出现故障引起编队通讯中断而不能完成任务的问题，提出了一种基于一致性理论的分布式自适应控制方法，用于解决该问题。首先，以一个位于顶点的智能体作为领航者，其余3个位于同一条线上的智能体作为跟随者，由此所构成的三角形编队作为被控对象。其中，领航者速度方向作为编队的前行方向，跟随者位于领航者之后。其次，基于图论，对智能体局部信息参数进行分布式自适应更新，并设计分布式自适应控制律，用于弥补多智能体编队中领航者故障所造成的影响。同时，根据相邻智能体的局部信息，设计整体分布式自适应容错控制律，进一步通过构建合理的Lyapunov函数，证明所设计控制器的稳定性，以及"领航者-跟随者"之间相对横向以及相对纵向的距离误差均收敛于固定常数。最后，仿真验证表明：所提出的自适应控制方法具有良好的鲁棒性，这也为工程实践提供了理论依据。     

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.     

Dual-frequency carrier smoothed code filtering with dynamical ionospheric delay modeling

In GNSS applications, carrier-smoothed-code is a widely used technique to combine code pseudo-range and carrier phase measurements. A dynamical ionospheric delay modeling method is proposed based on Kalman filter and least-squares theory. The level of the process noise is adaptively tuned along with the real-time KF state estimation, based on the online variance component estimation method. Meanwhile, the correlations of the time differenced carrier phase measurements are considered. This approach avoids overly optimistically evaluating the estimate and improves the transient accuracy of the estimates. A real GPS dataset is employed to check the performance of the proposed method under different conditions. The results show that the new algorithm can model the ionospheric delay variation well with different sampling intervals or even in ionospheric abnormal environment. The positioning accuracy can be confirmed, about 21%, 35% and 16% better are obtained in the N, E, and U direction than raw dataset.     

Improving the estimation of zenith dry tropospheric delays using regional surface meteorological data

Global Navigation Satellite Systems (GNSS) are emerging as possible tools for remote sensing high-resolution atmospheric water vapour that improves weather forecasting through numerical weather prediction models. Nowadays, the GNSS-derived tropospheric zenith total delay (ZTD), comprising zenith dry delay (ZDD) and zenith wet delay (ZWD), is achievable with sub-centimetre accuracy. However, if no representative near-site meteorological information is available, the quality of the ZDD derived from tropospheric models is degraded, leading to inaccurate estimation of the water vapour component ZWD as difference between ZTD and ZDD. On the basis of freely accessible regional surface meteorological data, this paper proposes a height-dependent linear correction model for a priori ZDD. By applying the ordinary least-squares estimation (OLSE), bootstrapping (BOOT), and leave-one-out cross-validation (CROS) methods, the model parameters are estimated and analysed with respect to outlier detection. The model validation is carried out using GNSS stations with near-site meteorological measurements. The results verify the efficiency of the proposed ZDD correction model, showing a significant reduction in the mean bias from several centimetres to about 5 mm. The OLSE method enables a fast computation, while the CROS procedure allows for outlier detection. All the three methods produce consistent results after outlier elimination, which improves the regression quality by about 20% and the model accuracy by up to 30%.     

基于Multi—Agent的空中交通流量仿真研究

针对传统空中交通流量仿真过程中灵活性和智能性的不足，将分布式人工智能Multi—Agent的理论和方法应用到空中交通流量管理领域中，提出了基于Muhi-Agent的空中交通流量仿真方法。介绍了空中流量管理的体系结构和流量管理的具体措施，详细设计了与流量仿真相关的重要Agent，包括航班Agent、航路Agent、机场终端区Agent和区域流量管理Agent等，探讨了各Agent的内部运行机制和在流量管理中的职能，构建了基于Multi．Agent的空中交通流量仿真子系统的整体框架．为实际空中交通流量管理系统的建设提供重要的指导和拳者。     

Supertyphoon Hagibis action in the ionosphere on 6–13 October 2019: Results from multi-frequency multiple path sounding at oblique incidence

The purpose of the present paper is to describe the observations of the variations in the parameters of HF radio waves propagating through the ionosphere when the action of the super typhoon Hagibis on 6–13 October 2019 occurred. The observations have been made with the Harbin Engineering University (the People's Republic of China) multi-frequency multiple path radio system involving the software-defined technology. The action of the super typhoon has been shown to be accompanied by enhanced atmospheric wave activity acting to generate wave processes with periods of 10 to 120 min. Coupling in the atmosphere–upper-atmosphere–ionosphere system has been confirmed to be carried out with atmospheric gravity waves. The ionosphere underwent the greatest impact on those days when the supertyphoon had maximum energy, on 8, 10, and especially 9 October 2019, and when it was found to be in an ～2,500–3,000-km distance range from the propagation path midpoints. Under the action of wave processes, the height of the reflection region was observed to oscillate within the ±(30–90 km) limits. The amplitude of the quasi-periodic variations in the ionospheric F-region electron density was estimated to be 10–12% for periods of ～20 min, and 30–60% for periods of ～60–120 min. The joint action of the dusk terminator and the supertyphoon has been confirmed to enhance wave activity in the ionosphere. Similar effects for the dawn terminator have not been detected.