Adaptive neural network control of nonlinear systems with unknown dynamics

In this study, an adaptive neural network control approach is proposed to achieve accurate and robust control of nonlinear systems with unknown dynamics, wherein the neural network is innovatively used to learn the inverse problem of system dynamics with guaranteed convergence. This study focuses on the following three contributions. First, the considered system is transformed into a multi-integrator system using an input–output linearization technique, and an extended state observation technique is used to identify the transformed states. Second, an iterative control learning algorithm is proposed to achieve the neural network training, and stability analysis is given to prove that the network’s predictions converge to ideal control inputs with guaranteed convergence. Third, an adaptive neural network controller is developed by combining the trained network and a proportional-integral controller, and the long-standing challenge of model-based methods for control determination of unknown dynamics is resolved. Simulation results of a virtual control mission and an aerospace altitude tracking mission are provided to substantiate the effectiveness of the proposed techniques and illustrate the adaptability and robustness of the proposed controller.     

A priori zenith wet delays in the analysis of VLBI CONT sessions

Tropospheric delay is one of the major sources of error in VLBI (Very Long Baseline Interferometry) analysis. The principal component of this error can be accurately computed through reliable surface pressure data —hydrostatic delay— yet there is also a small but volatile component —wet delay— which is difficult to be modelled a priori. In VLBI analysis, troposphere delay is typically modelled in the theoretical delays using Zenith Hydrostatic Delays (ZHD) and a dry mapping function. Zenith Wet Delay (ZWD) is not modelled but estimated in the analysis process. This work studies inter alia the impact of including external GNSS estimates to model a priori ZWD in VLBI analysis, as well as other models of a priori ZWD.In a first stage, two different sources of GNSS troposphere products are compared to VLBI troposphere estimates in a period of 5 years. The solution with the best agreement to VLBI results is injected in the VLBI analysis as a priori ZWD value and is compared to other options to model a priori ZWD. The dataset used for this empirical analysis consists of the six CONT campaigns.It has been found that modelling a priori ZWD has no significant impact either on baseline length and coordinates repeatabilities. Nevertheless, modelling a priori ZWD can change the magnitude of the estimated coordinates a few millimeters in the up component with respect to the non-modelling approach. In addition, the influence of a priori ZWD on Earth Orientation Parameters (EOP) and troposphere estimates —Zenith Total Delays (ZTD) and gradients—has also been analysed, resulting in a small but significant impact on both geodetic products.     

A novel signal processing approach for LEO space debris based on a fence-type space surveillance radar system

The increase in space debris can seriously threaten regular activities in the Low Earth Orbit (LEO) environment. Therefore, it is necessary to develop robust, efficient and reliable techniques to understand the potential motions of the LEO debris. In this paper, we propose a novel signal processing approach to detect and estimate the motions of LEO space debris that is based on a fence-type space surveillance radar system. Because of the sparse distribution of the orbiting debris through the fence in our observations, we formulate the signal detection and the motion parameter estimation as a sparse signal reconstruction problem with respect to an over-complete dictionary. Moreover, we propose a new scheme to reduce the size of the original over-complete dictionary without the loss of the important information. This new scheme is based on a careful analysis of the relations between the acceleration and the directions of arrival for the corresponding LEO space debris. Our simulation results show that the proposed approach can achieve extremely good performance in terms of the accuracy for detection and estimation. Furthermore, our simulation results demonstrate the robustness of the approach in scenarios with a low Signal-to-Noise Ratio (SNR) and the super-resolution properties. We hope our signal processing approach can stimulate further work on monitoring LEO space debris.     

NONLINEAR PREDICTIVE CONTROL FOR TERRAIN FOLLOWING

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Period selection for integrated controller tasks in cyber-physical systems

Performance optimization of cyber-physical systems(CPS)calls for co-design strategies that handle the issues in both computing domain and physical domain.Periods of controller tasks integrated into a uniprocessor system are related to both control performance and real-time schedulability analysis simultaneously.System performance improvement can be achieved by optimizing the periods of controller tasks.This paper extends an existing model to select task periods in real-time for CPS with fixed priority controller tasks scheduled by rate-monotonic algorithm.When all the tasks can be integrated,the analytic solution of the problem is derived by using the method of Lagrange multipliers and gradient descent method is evaluated to be suitable online.To further deal with the condition that the system is overloaded,an integrated method is proposed to select periods of tasks online by selecting a subset of tasks first and then optimizing the periods for them.Experimental results demonstrate that our method yields near-optimal result with a short running time.     

Robustness of multiple-limb manipulation systems

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CFDP协议中延迟NAK文件传输时间分析与仿真

未来的深空通信需要一个鲁棒的、有效与可靠的文件传输协议,在研究CCSDS提出的CFDP协议基础上,针对延迟NAK模式提出了一种新的分析方法。在保证吞吐量的前提下,对ARQ定时器优化设置,导出了平均文件传输时间的理论表达式。在单跳直连链路中,对不同条件下的平均文件传输时间进行了仿真与数值分析。仿真结果表明平均文件传输时间与PDU错误概率、PDU数目及单向传播时间等有密切关系。随机仿真与理论分析具有很好的一致性。     

Use of human wastes oxidized to different degrees in cultivation of higher plants on the soil-like substrate intended for closed ecosystems

To close mass exchange loops in bioregenerative life support systems more efficiently, researchers of the Institute of Biophysics SB RAS (Krasnoyarsk, Russia) have developed a procedure of wet combustion of human wastes and inedible parts of plants using H₂O₂ in alternating electromagnetic field. Human wastes pretreated in this way can be used as nutrient solutions to grow plants in the phototrophic unit of the LSS. The purpose of this study was to explore the possibilities of using human wastes oxidized to different degrees to grow plants cultivated on the soil-like substrate (SLS). The treated human wastes were analyzed to test their sterility. Then we investigated the effects produced by human wastes oxidized to different degrees on growth and development of wheat plants and on the composition of microflora in the SLS. The irrigation solution contained water, substances extracted from the substrate, and certain amounts of the mineralized human wastes. The experiments showed that the human wastes oxidized using reduced amounts of 30% H₂O₂: 1 ml/g of feces and 0.25 ml/ml of urine were still sterile. The experiments with wheat plants grown on the SLS and irrigated by the solution containing treated human wastes in the amount simulating 1/6 of the daily diet of a human showed that the degree of oxidation of human wastes did not significantly affect plant productivity. On the other hand, the composition of the microbiota of irrigation solutions was affected by the oxidation level of the added metabolites. In the solutions supplemented with partially oxidized metabolites yeast-like microscopic fungi were 20 times more abundant than in the solutions containing fully oxidized metabolites. Moreover, in the solutions containing incompletely oxidized human wastes the amounts of phytopathogenic bacteria and denitrifying microorganisms were larger. Thus, insufficiently oxidized sterile human wastes added to the irrigation solutions significantly affect the composition of the microbiological component of these solutions, which can ultimately unbalance the system as a whole.     

Estimation of Galactic Cosmic Ray exposure inside and outside the Earth’s magnetosphere during the recent solar minimum between solar cycles 23 and 24

The evidently low solar activity observed between solar cycles 23 and 24 during the years 2008–2010 led to a substantial increase in the Galactic Cosmic Ray (GCR) intensity in comparison with preceding solar minima. As the GCRs consist of highly-ionizing charged particles having the potential to cause biological damage, they are a subject of concern for manned missions to space. With the enhanced particle fluxes observed between 2008 and 2010, it is reasonable to assume that the radiation exposure from GCR must have also increased to unusually high levels. In this paper, the GCR exposure outside and inside the Earth’s magnetosphere is numerically calculated for time periods starting from 1970 to the end of 2011 in order to investigate the increase in dose levels during the years 2008–2010 in comparison with the last three solar minima. The dose rates were calculated in a water sphere, used as a surrogate for the human body, either unshielded or surrounded by aluminium shielding of 0.3, 10 or 40 g/cm².     

空间前方交会法及其在测试技术中的应用

分析了空间前方交会法的基本原理，建立了相关的理论模型，并在实验室的条件下严格测试了这种方法的测量精度；探讨了空间前方交会法在位置检测系统的测试过程中应用，详细地给出了测试的步骤以及测试数据的分析处理结果。