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.     

A survey of safety separation management and collision avoidance approaches of civil UAS operating in integration national airspace system

Recent years have witnessed a booming of the industry of civil Unmanned Aircraft System (UAS). As an emerging industry, the UAS industry has been attracting great attention from governments of all countries and the aviation industry. UAS are highly digitalized, informationized, and intelligent; therefore, their integration into the national airspace system has become an important trend in the development of civil aviation. However, the complexity of UAS operation poses great challenges to the traditional aviation regulatory system and technical means. How to prevent collisions between UASs and between UAS and manned aircraft to achieve safe and efficient operation in the integrated operating airspace has become a common challenge for industry and academia around the world. In recent years, the international community has carried out a great amount of work and experiments in the air traffic management of UAS and some of the key technologies. This paper attempts to make a review of the UAS separation management and key technologies in collision avoidance in the integrated airspace, mainly focusing on the current situation of UAS Traffic Management (UTM), safety separation standards, detection system, collision risk prediction, collision avoidance, safety risk assessment, etc., as well as an analysis of the bottlenecks that the current researches encountered and their development trends, so as to provide some insights and references for further research in this regard. Finally, this paper makes a further summary of some of the research highlights and challenges.     

Fault mode probability factor based fault-tolerant control for dissimilar redundant actuation system

This paper presents a Fault Mode Probability Factor (FMPF) based Fault-Tolerant Control (FTC) strategy for multiple faults of Dissimilar Redundant Actuation System (DRAS) composed of Hydraulic Actuator (HA) and Electro-Hydrostatic Actuator (EHA). The long-term service and severe working conditions can result in multiple gradual faults which can ultimately degrade the system performance, resulting in the system model drift into the fault state characterized with parameter uncertainty. The paper proposes to address this problem by using the historical statistics of the multiple gradual faults and the proposed FMPF to amend the system model with parameter uncertainty. To balance the system model precision and computation time, a Moving Window (MW) method is used to determine the applied historical statistics. The FMPF based FTC strategy is developed for the amended system model where the system estimation and Linear Quadratic Regulator (LQR) are updated at the end of system sampling period. The simulations of DRAS system subjected to multiple faults have been performed and the results indicate the effectiveness of the proposed approach.     

Variation of dayside chorus waves associated with solar wind dynamic pressure based on MMS observations

The whistler-mode chorus waves are one of the most important plasma waves in the Earth’s magnetosphere. Generally, the amplitude of whistler-mode chorus waves prefers to strengthen when the energetic fluxes of anisotropic electrons increase outside the plasmapause. This characteristic is commonly associated with the geomagnetic storms or substorms. However, the relationship between the solar wind dynamic pressure (P_sw) and the long-time variation of chorus waves during the quiet period of the geomagnetic activity still needs more detailed investigations. In this paper, based on MMS observations, we present a chorus event just observed in the inner side of magnetopause without obvious geomagnetic storms or substroms. Interestingly, during this time interval, some P_sw fluctuations were recorded. Both the amplitudes and frequencies of chorus waves changed as a response to the variation in P_sw. It proved that the enhancement of P_sw increases the energetic electrons fluxes, which provides free energies for the chorus amplification. Furthermore, the wave growth rates calculated using linear theory increases and the central frequency of the chorus waves shifts to a higher frequency when the P_sw enhancement is greater, which are also consistent well with the observations. The results provide a direct evidence that the P_sw play an important role in the long-time variation of whistler-mode chorus waves inside the magnetopause.     

27-day variation in solar-terrestrial parameters: Global characteristics and an origin based approach of the signals

The Earth and the near interplanetary medium are affected by the Sun in different ways. Those processes generated in the Sun that induce perturbations into the Magnetosphere-Ionosphere system are called geoeffective processes and show a wide range of temporal variations, like the 11-year solar cycle (long term variations), the variation of ～27?days (recurrent variations), solar storms enduring for some days, particle acceleration events lasting for some hours, etc.In this article, the periodicity of ～27?days associated with the solar synodic rotation period is investigated. The work is mainly focused on studying the resulting 27-day periodic signal in the magnetic activity, by the analysis of the horizontal component of the magnetic field registered on a set of 103 magnetic observatories distributed around the world. For this a new method to isolate the periodicity of interest has been developed consisting of two main steps: the first one consists of removing the linear trend corresponding to every calendar year from the data series, and the second one of removing from the resulting series a smoothed version of it obtained by applying a 30-day moving average. The result at the end of this process is a data series in which all the signal with periods larger than 30?days are canceled.The most important characteristics observed in the resulting signals are two main amplitude modulations: the first and most prominent related to the 11-year solar cycle and the second one with a semiannual pattern. In addition, the amplitude of the signal shows a dependence on the geomagnetic latitude of the observatory with a significant discontinuity at approx. ±60°.The processing scheme was also applied to other parameters that are widely used to characterize the energy transfer from the Sun to the Earth: F10.7 and Mg II indices and the ionospheric vertical total electron content (vTEC) were considered for radiative interactions; and the solar wind velocity for the non-radiative interactions between the solar wind and the magnetosphere. The 27-day signal obtained in the magnetic activity was compared with the signals found in the other parameters resulting in a series of cross-correlations curves with maximum correlation between 3 and 5?days of delays for the radiative and between 0 and 1?days of delay for the non-radiative parameters. This result supports the idea that the physical process responsible for the 27-day signal in the magnetic activity is related to the solar wind and not to the solar electromagnetic radiation.     

航空电子产品电磁环境效应模块化设计方法

对高强度辐射场（HIRF）环境特点与干扰类型进行分析，采用理论计算、计算机仿真技术（CST）的仿真分析及实测等方法分别对某型飞机航空电子系统综合显示单元的外部强电磁辐射场孔缝耦合、场线耦合及芯片前端电路影响关键芯片的相关规律进行了研究，给出了相关设计建议。结果表明，可通过分析孔缝、场线耦合获得进入关键芯片前端电路的电磁干扰能量，再结合关键芯片前端电路网络对干扰的插入损耗分析，获得关键芯片在外部强场激励下的感应电压。     

面向学生的智能解题专家系统的研究与设计

探讨了网络在专家系统中的应用 ,给出了一个基于网络的面向学生的智能解题专家系统的模型 ,分析了设计的基本过程。从专家系统出发 ,探讨了基于知识的推理系统。最后 ,从以上设计出发 ,总结了基于该模型的系统需进一步研究的工作。     

战术导弹折叠翼快速展开性能的测试技术

介绍某些战术导弹折叠翼快速展开特性测试技术。详细地介绍了测量方法、项目、数据处理和主要结果。试验是在北京空气动力研究所一座低速风洞中进行的。试验结果表明，获得的数据具有很高精度和可靠性，重复性也是令人满意的。     

RPC-MAG The Fluxgate Magnetometer in the ROSETTA Plasma Consortium

The fluxgate magnetometer experiment onboard the ROSETTA spacecraft aims to measure the magnetic field in the interaction region of the solar wind plasma with comet 67P/Churyumov-Gerasimenko. It consists of a system of two ultra light (about 28 g each ) triaxial fluxgate magnetometer sensors, mounted on the 1.5 m long spacecraft boom. The measurement range of each sensor is ±16384 nT with quantization steps of 31 pT. The magnetometer sensors are operated with a time resolution of up to 0.05 s, corresponding to a bandwidth of 0–10 Hz. This performance of the RPC-MAG sensors allows detailed analyses of magnetic field variations in the cometary environment. RPC-MAG furthermore is designed to study possible remnant magnetic fields of the nucleus, measurements which will be done in close cooperation with the ROSETTA lander magnetometer experiment ROMAP.     

最坏风模型及对飞机突防航迹跟踪的影响

针对一类非线性动力学系统,本文推导出二次型性能指标下的微分对策解,由此得到一组含有非线性因素的最环风模型,这一模型特别适用于研究作空间机动飞行的飞机受外界环境扰动的灵敏性问题。最后考察了这一变化风场对飞机突防航迹非线性解耦跟踪的影响。