More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.B...More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.But her curiosity didnt stop there.展开更多
The evaporation behaviors are crucial for the flame location estimation in liquid rocketengines.This work,for the first time,experimentally reports the sub-millimeter droplet evaporationcharacteristics of the corrosiv...The evaporation behaviors are crucial for the flame location estimation in liquid rocketengines.This work,for the first time,experimentally reports the sub-millimeter droplet evaporationcharacteristics of the corrosive dinitrogen tetroxide(NTO,one prevailing hypergolic oxidizer)athigh ambient pressure up to 4.5 MPa.An in-house corrosion-resistant droplet generator is usedto generate isolated flying droplets of sub-millimeter size,which are then exposed in a gas environ-ment with temperatures between 1010 K and 1210 K and pressures in the range between 2.0 MPaand 4.5 MPa,provided by an optical rapid compression machine.Parallelly,a theoretical modelconsidering both the droplet ambient convection and the NTO dissociation is developed.Resultsindicate that firstly,the present theoretical model that considers the transient droplet-ambient con-vection as well as the temperature and pressure dependent rate of dissociation shows good agree-ment with the experimentally observed droplet lifetime.In addition,the flying droplets velocityregress gradually due to momentum exchange with the ambient,which is more prominent at higherpressure.The evaporation caused droplet size reduction is consistent with the classical D^(2)-law pre-diction,in the present temperature and pressure range.Finally,higher temperature and pressureaccelerate the evaporation and an empirical correlation for the temperature and pressure dependentevaporation rate constant is proposed,which shows good agreement with experiment and simula-tion results.展开更多
Flying insects demonstrate remarkable control over their body movements and orientation,enabling them to perform rapid maneuvers and withstand external disturbances in just a few wing beats.This fast flight stabilizat...Flying insects demonstrate remarkable control over their body movements and orientation,enabling them to perform rapid maneuvers and withstand external disturbances in just a few wing beats.This fast flight stabilization mechanism has captured the interest of biologists and engineers,driving the exploration of flapping-wing flight control systems and their potential applications in bioinspired flying robots.While many control models have been developed within a rigorous mathematical framework using linear feedback systems,such as proportional(P),integral(I),and derivative(D)-based controllers,the exact mechanisms by which insects achieve the fastest stabilization-despite constraints such as passive aerodynamic damping and feedback delay-remain unclear.In this study,we demonstrate that flying insects employ a novel strategy for fast flight stabilization by minimizing the restoration time under external perturbations.We introduce a versatile PD-based control model that solves the closed-loop dynamics of insect flight and optimizes flight stabilization within a mathematical framework.Our findings reveal that passive aerodynamic damping plays a crucial role in stabilizing flight,acting as derivative feedback without delay,whereas feedback delay hinders stabilization.Additionally,we show that minimizing the restoring time leads to the fastest flight stabilization.Hovering flight analyses of fruit flies,honeybees,hawkmoths,and hummingbirds suggest that restoring time minimization through dynamic oscillatory modes rather than closed-loop time constants is a common strategy among small bioflies for effective maneuvering against disturbances.This strategy,which spans a broad range of Reynolds numbers(on the order of 102 to 104),could offer valuable insights for designing flight controllers in bioinspired flying robots.展开更多
The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow c...The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow control strategy of three-axis control is proposed by using continuous jets for a flapless flying-wing aircraft.The wind tunnel test of two kinds of flying-wing models,namely one flow control model and one mechanical control model,is conducted,and the control effect is analyzed and compared.By simultaneous blowing of the circulation control actuators inboard and differential blowing of the circulation control actuators outboard,the pitch and roll controls are achieved,respectively.It also has an effective control effect at very large angles of attack where the conventional control surface fails.A linear relationship is found between the increment of the controlled aerodynamic force/moment coefficient and the momentum coefficient for circulation control actuators.Moreover,to resolve the difficulty in yaw control,a novel wingtip jet is proposed based on the concept of the all-moving tip and compared with apex jet and circulation control jet.It is found that the wingtip jet is the most efficient actuator,followed by the simultaneous-blowing circulation control jet.Therefore,based on the research above,two optimized fluidic control configurations are proposed.One employs circulation control jet and wingtip jet,and the other is completely dependent on circulation control jet.Finally,the flow control mechanism of circulation control is discussed.Circulation control significantly accelerates the flow on the upper surface of the airfoil in attached flow and reduces the flow separation region in separated flow,leading to aerodynamic performance improvement.These results provide an important theoretic basis for the flapless flight control of flying-wing aircraft.展开更多
To address the challenges of long commuting times,traffic congestion,high energy consumption,and emissions in inter-city travel,a new type of flying coach has been developed.This innovation aims to significantly short...To address the challenges of long commuting times,traffic congestion,high energy consumption,and emissions in inter-city travel,a new type of flying coach has been developed.This innovation aims to significantly shorten inter-city commuting times,enhance travel efficiency,and simultaneously reduce energy consumption and emissions.The flying coach integrates rail power supply technology,an intelligent operating system,and advanced new materials,comprising a catenary power supply guide rod and various sensor components.Based on analysis of traditional aircraft design principles,the research team simulated the design of the rail-powered flying coach using software such as AutoCAD and SolidWorks for three-dimensional modeling.The analysis results indicate that,compared to traditional aircraft and rail trains,the design of the new flying coach reduces its overall weight while maintaining carrying capacity,thereby improving commuting efficiency and environmental performance.This development lays a solid foundation for creating a greener,more efficient,and convenient inter-city transportation network.展开更多
In response to the need for a supportive on-orbit platform for future Mars exploration missions,this paper proposes the design and implementation of an autonomous spacecraft formation flying system near the Martian sy...In response to the need for a supportive on-orbit platform for future Mars exploration missions,this paper proposes the design and implementation of an autonomous spacecraft formation flying system near the Martian synchronous orbit using fuzzy learning-based intelligent control.A detailed analysis of spacecraft relative motion in the Mars environment is conducted,deducing the necessary conditions to reach the Martian synchronous orbit constraints.The modified Clohessy-Wiltshire(C-W)equation with Martian J_(2)(Oblateness index)perturbation is used as a reference to design a fuzzy learning-based intelligent and robust nonlinear control approach,which helps to autonomously track the desired formation configuration and stabilizes it.An introduction to spacecraft propulsion mechanisms is provided to analyze the feasibility of using electrical thrusters for spacecraft formation configuration tracking and stabilization in Martian synchronous orbits.The simulations show the effectiveness of the proposed control system for long-term on-orbit operations and reveal its reliability for designing intelligent deep-space formation flying configurations,such as an autonomous Mars observatory,a Martian telescope,or an interferometer.展开更多
This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radi...This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radial-cross-track plane.For the first time,this work derives the explicit configurable spacecraft amount to clarify the configuration's accommodation capacity while considering the maximum inter-spacecraft separation constraint.For larger-scale design problem that involves hundreds of spacecraft,this paper proposes an optimization framework that integrates a Relative Orbit Element(ROE)affine transformation operation and successional convex optimization.The framework establishes a multi-subcluster swarm structure,allowing decoupling the maintenance issues of each subcluster.Compared with previous design methods,it ensures that the computational cost for constraints verification only scales linearly with the swarm size,while also preserving the configuration optimization capacities.Numerical simulations demonstrate that the proposed analytic configuration strictly meets the design constraints.It is also shown that the proposed framework reduces the handled constraint amount by two orders compared with direct optimization,while achieving a remarkable swarm safety enhancement based on the existing analytic configuration.展开更多
During the process of aircraft design, the mathematical model of pilot control behavior characteristics is always used to predict aircraft flying qualities （FQ）. This is one of the important methods to avoid pilot-a...During the process of aircraft design, the mathematical model of pilot control behavior characteristics is always used to predict aircraft flying qualities （FQ）. This is one of the important methods to avoid pilot-aircraft adverse coupling. In order to study the FQ criterion based on closed-loop pilot-aircraft systems, first, an experimental database is built, which includes 40 aircraft dynamics configurations and the corresponding flight simulation results. Second, the mathematical pilot models with a set of different aircraft configurations are obtained by this experimental database. Then, two FQ criteria, Neal-Smith criterion and Moscow Aviation Institute （MAI） criterion, are analyzed. And the relationship between the FQ level evaluated by actual pilot and the parameters of closed-loop pilot-aircraft systems is studied. Finally, an improved criterion of aircraft FQ is built based on the above two criteria. This new criterion is further used to predict FQ for four new aircraft dynamics configurations, and the prediction results verify its accuracy and practicability.展开更多
In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target ...In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows consid-ering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot. Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this re-duced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. The objective of this approach is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites, rescuing satellites, and satellite servicing, where it is vital to limit the con-tact force during the robotic operation. Moreover, Inverse dynamics and adaptive inverse dynamics control-lers are designed to achieve the control objectives. Both controllers are found to be effective to meet the specifications and to overcome the un-actuation of the target satellite. Finally, simulation is demonstrated by to verify the analytical results.展开更多
Previous studies have confirmed that both honeybee and Drosophila are capable of learning and memory. This study aimed to investigate whether the house fly （Aldrichina grahami）, with strong instincts to adapt their ...Previous studies have confirmed that both honeybee and Drosophila are capable of learning and memory. This study aimed to investigate whether the house fly （Aldrichina grahami）, with strong instincts to adapt their living environment, have the learning ability to associate odor stimulus to avoid electric shock in free flying state using a device developed by the authors. The result showed the learning ability ofA. grahami at the electric shock voltages of 5 V, 25 V and 45 V AC. When 60 V was used, the flies were frequently injured. Our results indicate that A. grahami is a good model to study the neural mechanism of learning and memory. The paradigm in this study has some advantages that can be used in future studies of free insects.展开更多
Although many studies on the fishery biology of jumbo flying squid, Dosidicus gigas, have been conducted in the coastal areas within Exclusive Economic Zones （EEZs） of various countries due to its commercial and eco...Although many studies on the fishery biology of jumbo flying squid, Dosidicus gigas, have been conducted in the coastal areas within Exclusive Economic Zones （EEZs） of various countries due to its commercial and ecological importance, limited biological information is available from waters outside these EEZs. In this paper, we examined D. gigas fishery biology from waters outside Chilean, Peruvian and Costa Rican EEZs, based on the fishery data collected by Chinese jigging vessels during 2006 to 2010. The dominant mantle lengths olD. gigas were 350-450 mm, 250-400 mm and 250-350 mm outside Chilean, Peruvian and Costa Rican EEZs, respectively. Size structure analysis show that a medium-sized group existed mostly in the waters outside the Chilean and Peruvian EEZs, whereas a small-sized group occurred mainly in the waters outside the Costa Rican EEZ. The longevity of the squid outside the Costa Rican EEZ was less than 10 months, while most of those outside Chilean and Peruvian EEZs were about 1-1.5 years and very few large individuals were 1.5-2 years old. A higher percentage of mature individuals existed outside Costa Rican EEZ implying the region as a potential spawning ground, while lower proportions of mature squid outside the Peruvian and Chilean EEZs indicated that spawning may be occurring outside our study area. Spatial differences in sizes at maturity of the squid are thought to be result from different environmental factors especially different temperature and nutrition among the three areas. Stomach-content analysis showed that cannibalism was important in the diet of D. gigas. Stress generated by jigging may increase the incidence of cannibalism.展开更多
In this paper, the relative orbital configurations of satellites in formation flying with non-perturbation and J<SUB>2</SUB> perturbation are studied, and an orbital elements method is proposed to obtain t...In this paper, the relative orbital configurations of satellites in formation flying with non-perturbation and J<SUB>2</SUB> perturbation are studied, and an orbital elements method is proposed to obtain the relative orbital configurations of satellites in formation. Firstly, under the condition of non-perturbation, we obtain many shapes of relative orbital configurations when the semi-major axes of satellites are equal. These shapes can be lines, ellipses or distorted closed curves. Secondly, on the basis of the analysis of J<SUB>2</SUB> effect on relative orbital configurations, we find out that J<SUB>2</SUB> effect can induce two kinds of changes of relative orbital configurations. They are distortion and drifting, respectively. In addition, when J<SUB>2</SUB> perturbation is concerned, we also find that the semi-major axes of the leading and following satellites should not be the same exactly in order to decrease the J<SUB>2</SUB> effect. The relationship of relative orbital elements and J<SUB>2</SUB> effect is obtained through simulations. Finally, the minimum relation perturbation conditions are established in order to reduce the influence of the J<SUB>2</SUB> effect. The results show that the minimum relation perturbation conditions can reduce the J<SUB>2</SUB> effect significantly when the orbital element differences are small enough, and they can become rules for the design of satellite formation flying.展开更多
Experimental investigation of aerodynamic control on a 35° swept flying wing by means of nanosecond dielectric barrier discharge （NS-DBD） plasma was carried out at subsonic flow speed of 20-40 m/s, correspondin...Experimental investigation of aerodynamic control on a 35° swept flying wing by means of nanosecond dielectric barrier discharge （NS-DBD） plasma was carried out at subsonic flow speed of 20-40 m/s, corresponding to Reynolds number of 3.1 × 10^5-6.2× 10^5. In control condition, the plasma actuator was installed symmetrically on the leading edge of the wing. Lift coefficient, drag coefficient, lift-to-drag ratio and pitching moment coefficient were tested with and without control for a range of angles of attack. The tested results indicate that an increase of 14.5% in maximum lift coefficient, a decrease of 34.2% in drag coefficient, an increase of 22.4% in maximum lift-to-drag ratio and an increase of 2° at stall angle of attack could be achieved compared with the baseline case. The effects of pulsed frequency, amplitude and chord Reynolds number were also investigated. And the results revealed that control efficiency demonstrated strong dependence on pulsed fre- quency. Moreover, the results of pitching moment coefficient indicated that the breakdown of lead- ing edge vortices could be delayed by plasma actuator at low pulsed frequencies.展开更多
This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple f...This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment control.First,under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity,a velocity estimator is designed for each leader spacecraft.Secondly,based on the estimated translational velocity,a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity simultaneously.Then,to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft,a distributed containment control algorithm is designed for follower spacecraft.Moreover,to reduce the dependence of the designed control algorithms on the graph information and increase system robustness,the control gains are changing adaptively and the parametric uncertainties are handled,respectively.Finally,simulation results are provided to illustrate the effectiveness of the theoretical results.展开更多
In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordin...In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordinated controller is designed to keep the closed-loop system states have a finite settling time bounded by some predefined constants.Secondly,another nonsingular terminal sliding mode surface is designed by combining the artificial potential function and the aforementioned sliding surface,which meets the mutual distance constraint during transition process among spacecraft when it is bounded.Then another coordinated controller with fixed-time observer considering mutual distance constraint is presented,which guarantees the closed-loop system states stable also in bounded settling time.Finally,simulation results are shown to validate the correctness of the proposed theorems.It is worth mentioning that the control schemes also work even though there is a properly limit on the control input.展开更多
This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher...This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.展开更多
Low-Earth-Orbit（LEO） formation-flying satellites have been widely applied in many kinds of space geodesy. Precise Relative Orbit Determination（PROD） is an essential prerequisite for the LEO formation-flying satell...Low-Earth-Orbit（LEO） formation-flying satellites have been widely applied in many kinds of space geodesy. Precise Relative Orbit Determination（PROD） is an essential prerequisite for the LEO formation-flying satellites to complete their mission in space. The contribution of the BeiDou Navigation Satellite System（BDS） to the accuracy and reliability of PROD of LEO formation-flying satellites based on a Global Positioning System（GPS） is studied using a simulation method. Firstly, when BDS is added to GPS, the mean number of visible satellites increases from9.71 to 21.58. Secondly, the results show that the 3-Dimensional（3 D） accuracy of PROD, based on BDS-only, GPS-only and BDS ＋ GPS, is 0.74 mm, 0.66 mm and 0.52 mm, respectively. When BDS co-works with GPS, the accuracy increases by 29.73%. Geostationary-Earth-Orbit（GEO） satellites and Inclined Geosynchronous-Orbit（IGSO） satellites are only distributed over the Asia-Pacific region; however, they could provide a global improvement to PROD. The difference in PROD results between the Asia-Pacific region and the non-Asia-Pacific region is not apparent. Furthermore, the value of the Ambiguity Dilution Of Precision（ADOP）, based on BDS ＋ GPS, decreases by 7.50% and 8.26%, respectively, compared with BDS-only and GPS-only. Finally, if the relative position between satellites is only a few kilometres, the effect of ephemeris errors on PROD could be ignored. However, for a several-hundred-kilometre separation of the LEO satellites, the SingleDifference（SD） ephemeris errors of GEO satellites would be on the order of centimetres. The experimental results show that when IGSO satellites and Medium-Earth-Orbit（MEO） satellites co-work with GEO satellites, the accuracy decreases by 17.02%.展开更多
The flying squirrels(Pteromyini,Rodentia)are the most diverse and widely distributed group of gliding mammals.Taxonomic boundaries and relationships within flying squirrels remain an area of active research in mammalo...The flying squirrels(Pteromyini,Rodentia)are the most diverse and widely distributed group of gliding mammals.Taxonomic boundaries and relationships within flying squirrels remain an area of active research in mammalogy.The discovery of new specimens of Pteromys(Hylopetes)leonardi Thomas,1921,previously considered a synonym of Hylopetes alboniger,in Yunnan Province,China allowed a morphological and genetic reassessment of the status of this taxon.Phylogenetic reconstruction was implemented using sequences of two mitochondrial(12S ribosomal RNA and 16S ribosomal RNA)and one nuclear(interphotoreceptor retinoid-binding protein)gene fragments.Morphological assessments involved examinations of features preserved on skins,skulls,and penises of museum specimens,supplemented with principal component analysis of craniometric data.Together these assessments revealed that this taxon should be recognized not only as a distinct species,but should also be placed within a new genus,described here as Priapomys gen.nov.展开更多
Based on the biological data of purpleback flying squid(Sthenoteuthis oualaniensis)collected by light falling-net in the southern South China Sea(SCS) during September to October 2012 and March to April 2013,growth an...Based on the biological data of purpleback flying squid(Sthenoteuthis oualaniensis)collected by light falling-net in the southern South China Sea(SCS) during September to October 2012 and March to April 2013,growth and mortality of 'Medium' and 'Dwarf' forms of squid are derived using the Powell-Wetherall,ELEFAN methods and length-converted catch curves(FiSAT package).Given a lack of commercial exploitation,we assume total mortality to be due entirely to natural mortality.We estimate these squid have fast growth,with growth coefficients(k) ranging from 1.42 to 2.39,and high natural mortality(M),with estimates ranging from 1.61 to 2.92.To sustainably exploit these squid stocks,yield per recruitment based on growth and natural mortality was determined using the Beverton-Holt dynamic pool model.We demonstrate squid stocks could sustain high fishing mortality and low ages at first capture,with an optimal fishing mortality >3.0,with the optimal age at first capture increased to 0.4-0.6 years when fishing mortality approached optimal levels.On the basis of our analyses and estimates of stock biomass,we believe considerable potential exists to expand the squid fishery into the open SCS,relieving fishing pressure on coastal waters.展开更多
文摘More than seventy years before airplanes were invented,a twelve⁃year⁃old girl named Ada Lovelace dreamed of flying.She studied birds and experimented with materials to make wings,even writing a guide called Flyology.But her curiosity didnt stop there.
基金supported by the Natural Science Foundation of China(No.52236001)The support from Research Grants Council of Hong Kong,China(No.CityU 15218820)was also appreciated。
文摘The evaporation behaviors are crucial for the flame location estimation in liquid rocketengines.This work,for the first time,experimentally reports the sub-millimeter droplet evaporationcharacteristics of the corrosive dinitrogen tetroxide(NTO,one prevailing hypergolic oxidizer)athigh ambient pressure up to 4.5 MPa.An in-house corrosion-resistant droplet generator is usedto generate isolated flying droplets of sub-millimeter size,which are then exposed in a gas environ-ment with temperatures between 1010 K and 1210 K and pressures in the range between 2.0 MPaand 4.5 MPa,provided by an optical rapid compression machine.Parallelly,a theoretical modelconsidering both the droplet ambient convection and the NTO dissociation is developed.Resultsindicate that firstly,the present theoretical model that considers the transient droplet-ambient con-vection as well as the temperature and pressure dependent rate of dissociation shows good agree-ment with the experimentally observed droplet lifetime.In addition,the flying droplets velocityregress gradually due to momentum exchange with the ambient,which is more prominent at higherpressure.The evaporation caused droplet size reduction is consistent with the classical D^(2)-law pre-diction,in the present temperature and pressure range.Finally,higher temperature and pressureaccelerate the evaporation and an empirical correlation for the temperature and pressure dependentevaporation rate constant is proposed,which shows good agreement with experiment and simula-tion results.
基金supported by the Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research (Grant Nos. 19H02060 , 23H01373 , and 23K26068)the Excellent International Student Scholarship provided by Chiba University
文摘Flying insects demonstrate remarkable control over their body movements and orientation,enabling them to perform rapid maneuvers and withstand external disturbances in just a few wing beats.This fast flight stabilization mechanism has captured the interest of biologists and engineers,driving the exploration of flapping-wing flight control systems and their potential applications in bioinspired flying robots.While many control models have been developed within a rigorous mathematical framework using linear feedback systems,such as proportional(P),integral(I),and derivative(D)-based controllers,the exact mechanisms by which insects achieve the fastest stabilization-despite constraints such as passive aerodynamic damping and feedback delay-remain unclear.In this study,we demonstrate that flying insects employ a novel strategy for fast flight stabilization by minimizing the restoration time under external perturbations.We introduce a versatile PD-based control model that solves the closed-loop dynamics of insect flight and optimizes flight stabilization within a mathematical framework.Our findings reveal that passive aerodynamic damping plays a crucial role in stabilizing flight,acting as derivative feedback without delay,whereas feedback delay hinders stabilization.Additionally,we show that minimizing the restoring time leads to the fastest flight stabilization.Hovering flight analyses of fruit flies,honeybees,hawkmoths,and hummingbirds suggest that restoring time minimization through dynamic oscillatory modes rather than closed-loop time constants is a common strategy among small bioflies for effective maneuvering against disturbances.This strategy,which spans a broad range of Reynolds numbers(on the order of 102 to 104),could offer valuable insights for designing flight controllers in bioinspired flying robots.
文摘The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow control strategy of three-axis control is proposed by using continuous jets for a flapless flying-wing aircraft.The wind tunnel test of two kinds of flying-wing models,namely one flow control model and one mechanical control model,is conducted,and the control effect is analyzed and compared.By simultaneous blowing of the circulation control actuators inboard and differential blowing of the circulation control actuators outboard,the pitch and roll controls are achieved,respectively.It also has an effective control effect at very large angles of attack where the conventional control surface fails.A linear relationship is found between the increment of the controlled aerodynamic force/moment coefficient and the momentum coefficient for circulation control actuators.Moreover,to resolve the difficulty in yaw control,a novel wingtip jet is proposed based on the concept of the all-moving tip and compared with apex jet and circulation control jet.It is found that the wingtip jet is the most efficient actuator,followed by the simultaneous-blowing circulation control jet.Therefore,based on the research above,two optimized fluidic control configurations are proposed.One employs circulation control jet and wingtip jet,and the other is completely dependent on circulation control jet.Finally,the flow control mechanism of circulation control is discussed.Circulation control significantly accelerates the flow on the upper surface of the airfoil in attached flow and reduces the flow separation region in separated flow,leading to aerodynamic performance improvement.These results provide an important theoretic basis for the flapless flight control of flying-wing aircraft.
基金College Student Innovation Training Program Project(S202410225147)。
文摘To address the challenges of long commuting times,traffic congestion,high energy consumption,and emissions in inter-city travel,a new type of flying coach has been developed.This innovation aims to significantly shorten inter-city commuting times,enhance travel efficiency,and simultaneously reduce energy consumption and emissions.The flying coach integrates rail power supply technology,an intelligent operating system,and advanced new materials,comprising a catenary power supply guide rod and various sensor components.Based on analysis of traditional aircraft design principles,the research team simulated the design of the rail-powered flying coach using software such as AutoCAD and SolidWorks for three-dimensional modeling.The analysis results indicate that,compared to traditional aircraft and rail trains,the design of the new flying coach reduces its overall weight while maintaining carrying capacity,thereby improving commuting efficiency and environmental performance.This development lays a solid foundation for creating a greener,more efficient,and convenient inter-city transportation network.
基金supported by the National Laboratory of Space Intelligent Control(No.HTKJ2023KL502007)the Chinese Government Scholarship(CSC)。
文摘In response to the need for a supportive on-orbit platform for future Mars exploration missions,this paper proposes the design and implementation of an autonomous spacecraft formation flying system near the Martian synchronous orbit using fuzzy learning-based intelligent control.A detailed analysis of spacecraft relative motion in the Mars environment is conducted,deducing the necessary conditions to reach the Martian synchronous orbit constraints.The modified Clohessy-Wiltshire(C-W)equation with Martian J_(2)(Oblateness index)perturbation is used as a reference to design a fuzzy learning-based intelligent and robust nonlinear control approach,which helps to autonomously track the desired formation configuration and stabilizes it.An introduction to spacecraft propulsion mechanisms is provided to analyze the feasibility of using electrical thrusters for spacecraft formation configuration tracking and stabilization in Martian synchronous orbits.The simulations show the effectiveness of the proposed control system for long-term on-orbit operations and reveal its reliability for designing intelligent deep-space formation flying configurations,such as an autonomous Mars observatory,a Martian telescope,or an interferometer.
基金co-supported by the National Natural Science Foundation of China(Nos.52272408,U21B2008)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023B1515120018)。
文摘This paper investigates the configuration design associated with boundary-constrained swarm flying.An analytic swarm configuration is identified to ensure the passive safety between each pair of spacecraft in the radial-cross-track plane.For the first time,this work derives the explicit configurable spacecraft amount to clarify the configuration's accommodation capacity while considering the maximum inter-spacecraft separation constraint.For larger-scale design problem that involves hundreds of spacecraft,this paper proposes an optimization framework that integrates a Relative Orbit Element(ROE)affine transformation operation and successional convex optimization.The framework establishes a multi-subcluster swarm structure,allowing decoupling the maintenance issues of each subcluster.Compared with previous design methods,it ensures that the computational cost for constraints verification only scales linearly with the swarm size,while also preserving the configuration optimization capacities.Numerical simulations demonstrate that the proposed analytic configuration strictly meets the design constraints.It is also shown that the proposed framework reduces the handled constraint amount by two orders compared with direct optimization,while achieving a remarkable swarm safety enhancement based on the existing analytic configuration.
基金Aeronautical Science Foundation of China (2006ZA51004)Fanzhou Foundation of China(20100506)
文摘During the process of aircraft design, the mathematical model of pilot control behavior characteristics is always used to predict aircraft flying qualities （FQ）. This is one of the important methods to avoid pilot-aircraft adverse coupling. In order to study the FQ criterion based on closed-loop pilot-aircraft systems, first, an experimental database is built, which includes 40 aircraft dynamics configurations and the corresponding flight simulation results. Second, the mathematical pilot models with a set of different aircraft configurations are obtained by this experimental database. Then, two FQ criteria, Neal-Smith criterion and Moscow Aviation Institute （MAI） criterion, are analyzed. And the relationship between the FQ level evaluated by actual pilot and the parameters of closed-loop pilot-aircraft systems is studied. Finally, an improved criterion of aircraft FQ is built based on the above two criteria. This new criterion is further used to predict FQ for four new aircraft dynamics configurations, and the prediction results verify its accuracy and practicability.
文摘In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows consid-ering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot. Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this re-duced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. The objective of this approach is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites, rescuing satellites, and satellite servicing, where it is vital to limit the con-tact force during the robotic operation. Moreover, Inverse dynamics and adaptive inverse dynamics control-lers are designed to achieve the control objectives. Both controllers are found to be effective to meet the specifications and to overcome the un-actuation of the target satellite. Finally, simulation is demonstrated by to verify the analytical results.
文摘Previous studies have confirmed that both honeybee and Drosophila are capable of learning and memory. This study aimed to investigate whether the house fly （Aldrichina grahami）, with strong instincts to adapt their living environment, have the learning ability to associate odor stimulus to avoid electric shock in free flying state using a device developed by the authors. The result showed the learning ability ofA. grahami at the electric shock voltages of 5 V, 25 V and 45 V AC. When 60 V was used, the flies were frequently injured. Our results indicate that A. grahami is a good model to study the neural mechanism of learning and memory. The paradigm in this study has some advantages that can be used in future studies of free insects.
基金Supported by the National Natural Science Foundation of China(No.NSFC41276156)Innovation Program of Shanghai Municipal Education Commission(No.13YE091)+5 种基金Industrialization Project of National Development and Reform Commission(No.2159999)Project of Shanghai Science and Technology Commission(No.12231203900)National High Technology Research and Development Program of China(863 Program)(No.2012AA092303)Shanghai Leading Academic Discipline Project(Fisheries Discipline)National Distant-Water Fisheries Engineering Research Centerthe Scientific Observing and Experimental Station of Oceanic Fishery Resources,Ministry of Agriculture
文摘Although many studies on the fishery biology of jumbo flying squid, Dosidicus gigas, have been conducted in the coastal areas within Exclusive Economic Zones （EEZs） of various countries due to its commercial and ecological importance, limited biological information is available from waters outside these EEZs. In this paper, we examined D. gigas fishery biology from waters outside Chilean, Peruvian and Costa Rican EEZs, based on the fishery data collected by Chinese jigging vessels during 2006 to 2010. The dominant mantle lengths olD. gigas were 350-450 mm, 250-400 mm and 250-350 mm outside Chilean, Peruvian and Costa Rican EEZs, respectively. Size structure analysis show that a medium-sized group existed mostly in the waters outside the Chilean and Peruvian EEZs, whereas a small-sized group occurred mainly in the waters outside the Costa Rican EEZ. The longevity of the squid outside the Costa Rican EEZ was less than 10 months, while most of those outside Chilean and Peruvian EEZs were about 1-1.5 years and very few large individuals were 1.5-2 years old. A higher percentage of mature individuals existed outside Costa Rican EEZ implying the region as a potential spawning ground, while lower proportions of mature squid outside the Peruvian and Chilean EEZs indicated that spawning may be occurring outside our study area. Spatial differences in sizes at maturity of the squid are thought to be result from different environmental factors especially different temperature and nutrition among the three areas. Stomach-content analysis showed that cannibalism was important in the diet of D. gigas. Stress generated by jigging may increase the incidence of cannibalism.
基金The project supported by the National Natural Science Foundation of China(10202008)Specialized Research Fund for the Doctoral Program of Higher Education(20020003024)
文摘In this paper, the relative orbital configurations of satellites in formation flying with non-perturbation and J<SUB>2</SUB> perturbation are studied, and an orbital elements method is proposed to obtain the relative orbital configurations of satellites in formation. Firstly, under the condition of non-perturbation, we obtain many shapes of relative orbital configurations when the semi-major axes of satellites are equal. These shapes can be lines, ellipses or distorted closed curves. Secondly, on the basis of the analysis of J<SUB>2</SUB> effect on relative orbital configurations, we find out that J<SUB>2</SUB> effect can induce two kinds of changes of relative orbital configurations. They are distortion and drifting, respectively. In addition, when J<SUB>2</SUB> perturbation is concerned, we also find that the semi-major axes of the leading and following satellites should not be the same exactly in order to decrease the J<SUB>2</SUB> effect. The relationship of relative orbital elements and J<SUB>2</SUB> effect is obtained through simulations. Finally, the minimum relation perturbation conditions are established in order to reduce the influence of the J<SUB>2</SUB> effect. The results show that the minimum relation perturbation conditions can reduce the J<SUB>2</SUB> effect significantly when the orbital element differences are small enough, and they can become rules for the design of satellite formation flying.
基金supported by the National Natural Science Foundation of China – China (Nos. 51276197, 51207169 and 51336011)
文摘Experimental investigation of aerodynamic control on a 35° swept flying wing by means of nanosecond dielectric barrier discharge （NS-DBD） plasma was carried out at subsonic flow speed of 20-40 m/s, corresponding to Reynolds number of 3.1 × 10^5-6.2× 10^5. In control condition, the plasma actuator was installed symmetrically on the leading edge of the wing. Lift coefficient, drag coefficient, lift-to-drag ratio and pitching moment coefficient were tested with and without control for a range of angles of attack. The tested results indicate that an increase of 14.5% in maximum lift coefficient, a decrease of 34.2% in drag coefficient, an increase of 22.4% in maximum lift-to-drag ratio and an increase of 2° at stall angle of attack could be achieved compared with the baseline case. The effects of pulsed frequency, amplitude and chord Reynolds number were also investigated. And the results revealed that control efficiency demonstrated strong dependence on pulsed fre- quency. Moreover, the results of pitching moment coefficient indicated that the breakdown of lead- ing edge vortices could be delayed by plasma actuator at low pulsed frequencies.
基金supported by the National Natural Science Foundation of China(Nos.61876050,61673135,61603114).
文摘This paper investigates the problem of Spacecraft Formation-Containment Flying Control(SFCFC)when the desired translational velocity is time-varying.In SFCFC problem,there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment control.First,under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity,a velocity estimator is designed for each leader spacecraft.Secondly,based on the estimated translational velocity,a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity simultaneously.Then,to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft,a distributed containment control algorithm is designed for follower spacecraft.Moreover,to reduce the dependence of the designed control algorithms on the graph information and increase system robustness,the control gains are changing adaptively and the parametric uncertainties are handled,respectively.Finally,simulation results are provided to illustrate the effectiveness of the theoretical results.
基金supported by the Major Program of Natural Science Foundation of China(No.61690210)the Science Fund for Excellent Young Scholars of Heilongjiang Province,China(No.YQ2020F007)National Natural Science Foundation of China(No.6191101340)。
文摘In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordinated controller is designed to keep the closed-loop system states have a finite settling time bounded by some predefined constants.Secondly,another nonsingular terminal sliding mode surface is designed by combining the artificial potential function and the aforementioned sliding surface,which meets the mutual distance constraint during transition process among spacecraft when it is bounded.Then another coordinated controller with fixed-time observer considering mutual distance constraint is presented,which guarantees the closed-loop system states stable also in bounded settling time.Finally,simulation results are shown to validate the correctness of the proposed theorems.It is worth mentioning that the control schemes also work even though there is a properly limit on the control input.
文摘This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.
基金supported by the National Natural Science Foundation of China (Nos. 91438202, 61370013)
文摘Low-Earth-Orbit（LEO） formation-flying satellites have been widely applied in many kinds of space geodesy. Precise Relative Orbit Determination（PROD） is an essential prerequisite for the LEO formation-flying satellites to complete their mission in space. The contribution of the BeiDou Navigation Satellite System（BDS） to the accuracy and reliability of PROD of LEO formation-flying satellites based on a Global Positioning System（GPS） is studied using a simulation method. Firstly, when BDS is added to GPS, the mean number of visible satellites increases from9.71 to 21.58. Secondly, the results show that the 3-Dimensional（3 D） accuracy of PROD, based on BDS-only, GPS-only and BDS ＋ GPS, is 0.74 mm, 0.66 mm and 0.52 mm, respectively. When BDS co-works with GPS, the accuracy increases by 29.73%. Geostationary-Earth-Orbit（GEO） satellites and Inclined Geosynchronous-Orbit（IGSO） satellites are only distributed over the Asia-Pacific region; however, they could provide a global improvement to PROD. The difference in PROD results between the Asia-Pacific region and the non-Asia-Pacific region is not apparent. Furthermore, the value of the Ambiguity Dilution Of Precision（ADOP）, based on BDS ＋ GPS, decreases by 7.50% and 8.26%, respectively, compared with BDS-only and GPS-only. Finally, if the relative position between satellites is only a few kilometres, the effect of ephemeris errors on PROD could be ignored. However, for a several-hundred-kilometre separation of the LEO satellites, the SingleDifference（SD） ephemeris errors of GEO satellites would be on the order of centimetres. The experimental results show that when IGSO satellites and Medium-Earth-Orbit（MEO） satellites co-work with GEO satellites, the accuracy decreases by 17.02%.
基金supported by the Second Tibetan Plateau Scientific Expedition and Research Program(STEP,2019QZKK0501)National Natural Science Foundation of China(32000304)+4 种基金Yunnan Fundamental Research Projects(202101AT070294)National Key Research and Development Program of China(2017YFC0505200)Strategic Priority Research Program of Chinese Academy of Sciences(XDA20050202)Biodiversity Survey,Monitoring and Assessment(2019HB2096001006)Kadoorie Farm&Botanic Garden。
文摘The flying squirrels(Pteromyini,Rodentia)are the most diverse and widely distributed group of gliding mammals.Taxonomic boundaries and relationships within flying squirrels remain an area of active research in mammalogy.The discovery of new specimens of Pteromys(Hylopetes)leonardi Thomas,1921,previously considered a synonym of Hylopetes alboniger,in Yunnan Province,China allowed a morphological and genetic reassessment of the status of this taxon.Phylogenetic reconstruction was implemented using sequences of two mitochondrial(12S ribosomal RNA and 16S ribosomal RNA)and one nuclear(interphotoreceptor retinoid-binding protein)gene fragments.Morphological assessments involved examinations of features preserved on skins,skulls,and penises of museum specimens,supplemented with principal component analysis of craniometric data.Together these assessments revealed that this taxon should be recognized not only as a distinct species,but should also be placed within a new genus,described here as Priapomys gen.nov.
基金Supported by the National Key Technology R&D Program(No.2013BAD13B06)the Guangdong Provincial Program of Science and Technology(No.2014A020217011)+1 种基金funded by the State Oceanic Administration(No.GASI-02-SCS-YSW)supported by a Special Fund for Youth Training from the South China Sea Fisheries Research Institute
文摘Based on the biological data of purpleback flying squid(Sthenoteuthis oualaniensis)collected by light falling-net in the southern South China Sea(SCS) during September to October 2012 and March to April 2013,growth and mortality of 'Medium' and 'Dwarf' forms of squid are derived using the Powell-Wetherall,ELEFAN methods and length-converted catch curves(FiSAT package).Given a lack of commercial exploitation,we assume total mortality to be due entirely to natural mortality.We estimate these squid have fast growth,with growth coefficients(k) ranging from 1.42 to 2.39,and high natural mortality(M),with estimates ranging from 1.61 to 2.92.To sustainably exploit these squid stocks,yield per recruitment based on growth and natural mortality was determined using the Beverton-Holt dynamic pool model.We demonstrate squid stocks could sustain high fishing mortality and low ages at first capture,with an optimal fishing mortality >3.0,with the optimal age at first capture increased to 0.4-0.6 years when fishing mortality approached optimal levels.On the basis of our analyses and estimates of stock biomass,we believe considerable potential exists to expand the squid fishery into the open SCS,relieving fishing pressure on coastal waters.
