Energy efficient reactionless design of multi-arm space robot for a cooperative handshake maneuver

Space robots play a significant role in on-orbit capture, space structure construction, and assembly tasks. Since the robotic arms are attached to a free-floating satellite, the motion of the manipulator in such tasks and the satellite are coupled. Multiple-arm space robots can perform complex cooperative tasks and are superior to single-arm space robots. Current work proposes a reactionless manipulation algorithm for a multi-robotic arm based on the iterative Newton–Euler method for space robots with many task and balance arms. The present work demonstrates two tasks and one balance arm to perform a reactionless handshake maneuver in space. This maneuver is presented in detail for a planar and spatial case. The planar case uses 3 DoF robotic arms, while the spatial case uses 6 DoF robotic arms. In addition, the balance arm has been designed considering the efficient usage of energy satisfying reactionless manipulation concept. The design procedure focuses on minimizing energy used during the motion of the balance arm for a known motion of task arms using a genetic algorithm. Moreover, computational experiments are conducted to validate the use of the genetic algorithm for optimization. The results of proposed reactionless manipulation algorithm have been validated with the results available in the literature for the spatial case that uses a different method. In the future, an energy-efficient balance arm will be designed to handle tumbling objects.     

启动过程压缩空气储能向心涡轮三维流动特性研究

为研究压缩空气储能系统的向心涡轮启动过程内部流动损失特性，本文采用全三维计算流体动力学（CFD）模型对其启动过程过程进行了数值模拟，与实验结果对比表明，虽然该模型在启动初始阶段与转速稳定阶段存在一定误差，但仍能够整体上反映启动过程的效率变化特征。在此基础上，进一步分析了启动过程中动叶通道内损失区及流场变化特征，结果发现，动叶进口攻角是影响内部流场主要因素：在启动初始阶段，叶轮进口攻角较大，动叶载荷集中在叶片前缘，形成明显的通道分离涡与前缘涡；在快速启动段，攻角减小，动叶载荷沿弦长分布更为均匀，通道分离涡及前缘涡逐渐减小并向叶片吸力面迁移。在整个启动阶段，动叶通道内高损失区也随着通道分离涡逐渐迁移且变小，并向相邻叶片吸力面集中。     

Energy-efficient data collection for UAV-assisted IoT: Joint trajectory and resource optimization

Internet of Things (IoT) can be conveniently deployed while empowering various applications, where the IoT nodes can form clusters to finish certain missions collectively. As energy-efficient operations are critical to prolong the lifetime of the energy-constrained IoT devices, the Unmanned Aerial Vehicle (UAV) can be dispatched to geographically approach the IoT clusters towards energy-efficient IoT transmissions. This paper intends to maximize the system energy efficiency by considering both the IoT transmission energy and UAV propulsion energy, where the UAV trajectory and IoT communication resources are jointly optimized. By applying large-system analysis and Dinkelbach method, the original fractional optimization is approximated and reformulated in the form of subtraction, and further a block coordinate descent framework is employed to update the UAV trajectory and IoT communication resources iteratively. Extensive simulation results are provided to corroborate the effectiveness of the proposed method.     

大气层内固体火箭多约束鲁棒三维能量管理制导

针对固体运载火箭大范围精确调节终端约束的要求，提出一种新型的大气层内鲁棒三维能量管理制导方法，通过在线规划侧向速度能力曲线消耗剩余发动机能量。将终端约束表示为关于攻角和速度能力曲线参数的方程组，将闭环制导问题转化为方程组的求解。针对飞行过程中的动压、过载，以及控制变化率等过程约束，构造了攻角和速度能力曲线的可行边界。针对气动系数和发动机参数的不确定性，采用容积卡尔曼滤波器对不确定性进行辨识。仿真结果表明，与模型预测静态规划算法和改进粒子群算法相比，本算法的终端速度调节范围、鲁棒性以及计算效率大幅度提高。     

Distributed satellite autonomous navigation using X-ray pulsars

Distributed X-ray pulsar-based navigation (DXNAV) is an effective method to realize earth-orbit satellite positioning under weak pulsar signal conditions. In this paper, we propose a new DXNAV method based on multiple information fusion. The DXNAV system principle and the pulse phase estimate Cramér-Rao lower bound are deduced. To suppress the calculation complexity and the error source, the X-ray pulsar photon time-of-arrival detected by each satellite is equivalently converted to the leading satellite directly using the inter-satellite link ranging and starlight angular distance measurement. A high precision estimate model of the pulse phase is built using pulsar standard profile, observed profile, and star-geocentric angular distance from distributed satellites. The estimated pulse phase is real-time supplied to the navigation system, which is established in the form of a deviation equation. The two-stage Kalman filter is designed to estimate the pulse phase in profile histogram bin step and the leader position in real-time step. Compared separately with the maximum likelihood phase estimate method and the celestial navigation method using only the star-geocentric angular distance, the simulation analysis shows that the estimation precisions of position and velocity are improved by 29% and 25%.     

Output formation tracking for networked systems with limited energy and aperiodic silence

For leader-following networked systems with the topology switching and the aperiodic silence, limited-energy output formation tracking problems are investigated. Firstly, a new output formation tracking control protocol is proposed, which contains two components associated with the communication interactions between the leader and tracking intelligent agents and the communication interactions among tracking intelligent agents, respectively, and the aperiodic silence, the topology switching and t...     

激光脉冲能量作用下隔离段激波形态及发展控制的数值研究

为了寻求有效的流动控制方法来降低隔离段总压损失，本文基于非定常雷诺平均的Navier-Stokes方程，探究激光脉冲能量沉积对二维及三维隔离段流场马赫反射的控制效果。在来流马赫数分别为1.61和2.51的隔离段流场马赫反射上游，加入脉冲能量沉积，对比激励流场与基础流场，结果表明：能量沉积主要通过高温热核和其诱导的压力波两种方式对马赫反射结构施加作用，显著地影响了马赫反射结构，促使Ma∞ =1.61来流工况下马赫杆的高度减小，马赫反射强度减弱；Ma∞ =2.51来流工况下的马赫反射结构转变为稳定的正规反射，减小了总压损失。控制过程包括：(1)能量沉积产生的局部高温降低当地马赫数，减小马赫反射强度；(2)高温热核诱导的弓形波与马赫反射相互作用，马赫反射结构变形；(3)以反压形式影响马赫反射。     

Formation control for networked multiagent systems with a minimum energy constraint

Minimum-energy formation achievement problems for networked multiagent systems are investigated, where information networks with leaderless and leader-follower structures are respectively addressed and information networks are randomly switching. The critical feature of this work is that the energy constraint is minimum in the sense of the linear matrix inequality, but limited-budget control and guaranteed-cost control cannot realize a minimum-energy formation. Firstly, the leaderless minimum-energy formation control problem is converted into an asymptotic stability one via a nonsingular transformation and state space decomposition, and based on linear matrix inequality techniques, sufficient conditions for analysis and design of leaderless minimum-energy formation achievement are proposed, respectively, which can be solved by the generalized eigenvalue method. Then, main results of minimum-energy formation achievement of leaderless networked multiagent systems are extended leader-follower networked multiagent systems, where the asymmetric property of the leader-follower information network is well dealt with by two nonsingular transformations. Finally, two simulation examples are shown to verify the main results for minimum-energy formation achievements of leaderless and leader-follower networked multiagent systems, respectively.