Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

一种基于虚拟页地址映射的NAND Flash管理算法

本文提出了一种基于虚拟页地址映射的NAND Flash管理算法.该算法通过定义坏块表、对应表等结构，以及设计的坏块替换策略和虚拟页地址到实际物理页地址的转换算法，实现上层软件采用虚拟地址对NAND Flash的无坏块连续页地址访问.该算法是一种高效的地址映射算法，能高效地对数据进行索引，占用SRAM空间较少，使系统达到高性能，并使得闪存使用的更加稳定持久.     

一类拟线性椭圆型方程分歧点的存在性

本文讨论了下面问题的分歧点的存在性：－ｐｘｉ〔（１＋｜ｕ｜２）ｐ２－１ｕｘｉ〕＝μｕ＋ｆ（ｘ，ｕ），ｘ∈ＲＮｕ（ｘ）→０，当｜ｘ｜→＋∞时，ｕ０，μ∈Ｒ１，Ｎ＞ｐ≥２｛证明了μ＝０是上述问题的分歧点。     

一种可伸缩空间机械臂及其应用分析

介绍一种能够完成多关节型空间机械臂所能承担的大部分空间任务 ,而且应用更简便的可伸缩空间机械臂 ,对其空间应用做出了一些设想 ,简单讨论了其应用的一些相关问题 ,肯定了其可行性和实用性。     

飞机燃油油量测量及姿态误差修正方法

提出了一种基于 CAD技术的航空燃油油量实时测量方法。采用三维实体造型技术 ,建立了某飞机机翼油箱模型 ,利用油量传感器的输出值及飞机姿态信息 ,对燃油油量进行实时测量及姿态误差修正。     

平面形状误差分离方法的比较分析

就十种典型的精密平面形状误差测量－分离方法的权函数及其零点，作了分析比较。按形状误差谐波抑制最小准则，论证了五点式正交逐次三点法、九点式正交逐次三点法、复合三点法、不对称二维混合法和不对称四点法优于其他方法，不对称四点法则较为理想。     

Public Attitudes Towards Space Science

Astronomy and space science, including their associated basic research activities, enjoy broad popular backing. People generally support them, and say that they follow their results with interest. This article summarizes some of the detailed results of public surveys in the United States, focusing on popular opinions and attitudes, and the somewhat paradoxical finding that despite being interested and supportive, people are often ignorant about the basic facts. I explore some of the reasons for the popularity of space science, and suggest ways of justifying space science research in the broader context of science research. I argue that vigorous and innovative education and outreach programs are important, and can be made even more effective. This revised version was published online in June 2006 with corrections to the Cover Date.     

Calculation of the transonic dip of airfoils using viscous-inviscid aerodynamic interaction method

A numerical procedure for the calculation of the transonic dip of airfoils in the time domain is presented. A viscous-inviscid aerodynamic interaction method is taken to calculate the unsteady aerodynamic loads. In the present case the integral boundary layer equations are coupled with the Transonic Small Disturbance (TSD) Potential Equation. The coupling between structural motion and aerodynamic loads is carried out using State Space equation. It is solved by State Transition Matrix technique. Results are presented for NACA 64A010 and NLR 7301 airfoils with structural data from Isogai and DLR, respectively. Comparisons show good agreement with other numerical results. Certain deviations of experimental data taken from literature need more insight in the detailed test conditions.     

High energy-density propulsion—reducing the risk to humans in planetary exploration

The potential benefits to humankind of space exploration are tremendous. Space is not only the final frontier but is also the next marketplace. The orbital space above Earth offers tremendous opportunities for both strategic assets and commercial development. The critical obstacle retarding the use of the space around the Earth is the lack of low cost access to orbit. Further out, the next giant leap for mankind will be the human exploration of Mars. Almost certainly within the next 30 years, a human crew will brave the isolation, the radiation, and the lack of gravity to walk on and explore the Red planet. Both of these missions will change the outlook and perspective of every human being on the planet. However, these missions are expensive and extremely difficult. Chemical propulsion has demonstrated an inability to achieve orbit cheaply and is a very high-risk option to accomplish the Mars mission. An alternative solution is to develop a high performance propulsion system. Nuclear propulsion has the potential to be such a system. The question will be whether humanity is willing to take on the challenge.     

自由飞试验模型惯性矩的测定

作者根据多年来自由飞试验的实践,叙述了自由飞模型惯性矩的调试、计算、误差分析与处理的经验与方法。