China manned space station is designed to operate for over ten years. Long-term and sustainable research on space science and technology will be conducted during its operation. The application payloads must meet the ...China manned space station is designed to operate for over ten years. Long-term and sustainable research on space science and technology will be conducted during its operation. The application payloads must meet the ‘‘long life and high reliability" mission requirement. Gearbox machinery is one of the essential devices in an aerospace utilization system, failure of which may lead to downtime loss even during some disastrous catastrophes. A fault diagnosis of gearbox has attracted attentions for its significance in preventing catastrophic accidents and guaranteeing sufficient maintenance. A novel fault diagnosis method based on the Ensemble Multi-Fault Features Indexing(EMFFI) approach is proposed for the condition monitoring of gearboxes. Different from traditional methods of signal analysis in the one-dimensional space, this study employs a supervised learning method to determine the faults of a gearbox in a two-dimensional space using the classification model established by training the features extracted automatically from diagnostic vibration signals captured. The proposed method mainly includes the following steps. First, the vibration signals are transformed into a bi-spectrum contour map utilizing bi-spectrum technology,which provides a basis for the following image-based feature extraction. Then, Speeded-Up Robustness Feature(SURF) is applied to automatically extract the image feature points of the bi-spectrum contour map using a multi-fault features indexing theory, and the feature dimension is reduced by Linear Discriminant Analysis(LDA). Finally, Random Forest(RF) is introduced to identify the fault types of the gearbox. The test results verify that the proposed method based on the multi-fault features indexing approach achieves the target of high diagnostic accuracy and can serve as a highly effective technique to discover faults in a gearbox machinery such as a two-stage one.展开更多
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping...This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.展开更多
The core module of China’s Space Station(CSS)is scheduled to be launched around the end of 2020,and the experimental module I and II will be launched in the next two years.After on-orbit constructions,CSS will be tra...The core module of China’s Space Station(CSS)is scheduled to be launched around the end of 2020,and the experimental module I and II will be launched in the next two years.After on-orbit constructions,CSS will be transferred into an operation period over 10 years(2022–2032 and beyond)to continuously implement space science missions.At present,based on the project selection and research work in the ground development period of CSS,China is systematically making a utilization mission planning for the operation period,which focuses on the fields of aerospace medicine and human research,space life science and biotechnology,microgravity fluid physics,combustion science,materials science,fundamental physics,space astronomy and astrophysics,Earth science,space physics and space environment,space application technology,etc.In combination with the latest development trend of space science and technology,China will continue to update planning for science research and technology development,carry out project cultivation,payload R&D,and upgrade onboard and ground experiment supporting systems to achieve greater comprehensive benefits in science,technology,economy,and society。展开更多
This paper comprehensively explores the impulsive on-orbit inspection game problem utilizing reinforcement learning and game training methods.The purpose of the spacecraft is to inspect the entire surface of a non-coo...This paper comprehensively explores the impulsive on-orbit inspection game problem utilizing reinforcement learning and game training methods.The purpose of the spacecraft is to inspect the entire surface of a non-cooperative target with active maneuverability in front lighting.First,the impulsive orbital game problem is formulated as a turn-based sequential game problem.Second,several typical relative orbit transfers are encapsulated into modules to construct a parameterized action space containing discrete modules and continuous parameters,and multi-pass deep Q-networks(MPDQN)algorithm is used to implement autonomous decision-making.Then,a curriculum learning method is used to gradually increase the difficulty of the training scenario.The backtracking proportional self-play training framework is used to enhance the agent’s ability to defeat inconsistent strategies by building a pool of opponents.The behavior variations of the agents during training indicate that the intelligent game system gradually evolves towards an equilibrium situation.The restraint relations between the agents show that the agents steadily improve the strategy.The influence of various factors on game results is tested.展开更多
The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture ...The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.展开更多
China scheduled to complete the assembly of the T-shaped Tiangong Space Station in 2022,and will enter a new stage of utilization.There are more than 20 experiment racks inside the modules,and more than 50 external on...China scheduled to complete the assembly of the T-shaped Tiangong Space Station in 2022,and will enter a new stage of utilization.There are more than 20 experiment racks inside the modules,and more than 50 external onboard payloads mounting spaces,which will support large-scale science and technology experiments during the operation.The development of internal experiment racks and external research accommodations approved during the construction has been completed,of which 4 racks in Tianhe core module,including High Microgravity Level research Rack(HMLR)and Container-less Materials Processing Rack(CMPR),have finished on-orbit tests;while other racks in Wentian and Mengtian experiment modules are under comprehensive ground tests.The Chinese Space Survey Telescope(CSST)has advanced much in the last two years with 24 pre-launch research projects funded and 4 joint science center built in preparation for CSST’s future scientific observations and operations.The systematic research planning for China’s Space Station(CSS)during 2022-2032 is updated with the researches classified into four important areas:space life sciences and human research,microgravity physical sciences,space astronomy and Earth science,and new space technologies and applications.According to the planning,more than 1000 experiments are expected to perform in CSS during the operating period.Overall,the CSS utilization missions are proceeding as planned,which will contribute to the major scientific or application output and have a positive impact on the quality of life on Earth.展开更多
Space sciences and application projects arranged in Tiangong-2 space laboratory and Tianzhou-1 cargo ship have been described in detail,covering research areas of the fundamental physics,space astronomy,microgravity f...Space sciences and application projects arranged in Tiangong-2 space laboratory and Tianzhou-1 cargo ship have been described in detail,covering research areas of the fundamental physics,space astronomy,microgravity fluid physics and materials science,space life science,and earth science.These experiments and researches will hopefully produce great scientific results and social benefits in several fields,including:universe evolution,quantum communication,material development,global climate change and earth environment,etc.展开更多
Chinese Space Station(CSS)has been fully deployed by the end of 2022,and the facility has entered into the application and development phase.It has conducted scientific research projects in various fields,such as spac...Chinese Space Station(CSS)has been fully deployed by the end of 2022,and the facility has entered into the application and development phase.It has conducted scientific research projects in various fields,such as space life science and biotechnology,space materials science,microgravity fundamental physics,fluid physics,combustion science,space new technologies,and applications.In this review,we introduce the progress of CSS development and provide an overview of the research conducted in Chinese Space Station and the recent scientific findings in several typical research fields.Such compelling findings mainly concern the rapid solidification of ultra-high temperature alloy melts,dynamics of fluid transport in space,gravity scaling law of boiling heat transfer,vibration fluidization phenomenon of particulate matter,cold atom interferometer technology under high microgravity and related equivalence principle testing,the full life cycle of rice under microgravity and so forth.Furthermore,the planned scientific research and corresponding prospects of Chinese space station in the next few years are presented.展开更多
The knowledge of crack type and dislocation orientation is helpful for the lifetime prediction of thin plates on aircrafts.The moment-tensor inversion utilizes the Acoustic Emission(AE)signals to detect cracks and the...The knowledge of crack type and dislocation orientation is helpful for the lifetime prediction of thin plates on aircrafts.The moment-tensor inversion utilizes the Acoustic Emission(AE)signals to detect cracks and the source mechanisms can be interpreted by the decomposition of moment tensors.Since the traditional moment-tensor inversion is implemented for the AE sources inside infinite elastic bodies,the inversion needs to be modified for the cracks in thin plates.In this study,the moment tensors of cracks in thin plates are derived and the inversion equation is provided based on the Green's function of second kind.A method of modifying the moment tensors to adapt to the existing decomposition processes and source-type plots is provided.By employing the Finite Element Method(FEM),the wave fields generated by the AE sources are computed.The AE sources continuously changing from pure tensile type(Model I)to shear type(Model II)are achieved in the FE models and the moment tensors are recovered.By the comparison between the reference values and recovered solutions,the source type can be accurately identified in the source-type plot and the applicability of the moment-tensor inversion for cracks in thin plates is confirmed.展开更多
The capture operation performed by a snare-type end-effector mainly relies on three flexible cables.This paper solves the dynamics modeling problems of flexible cable used in the snare-type end-effector and provides a...The capture operation performed by a snare-type end-effector mainly relies on three flexible cables.This paper solves the dynamics modeling problems of flexible cable used in the snare-type end-effector and provides a contact tracking control strategy for the impact phase of snare capture.To describe the motion of flexible cable,a dynamics model is established by considering both tensile and bending resistance properties.On this basis,a virtual spring concept is introduced to represent the contact between flexible cables and the target grapple shaft,and a contact dynamics model is established approximately by polynomial function with the variables of penetration and start-end distance of flexible cable.Thereafter,a contact tracking control strategy is proposed to improve the reliability of space snare capture.The target grapple shaft and flexible cable can keep in contact at the initial contact point during the whole capture process and thus reduce the possibility of pushing the target away.Experiments are carried out to verify the effectiveness of the proposed method.展开更多
The reconstruction of spacecraft cluster based on local information and distributed strategy is investigated.Each spacecraft is an intelligent individual that can detect information within a limited range and can dete...The reconstruction of spacecraft cluster based on local information and distributed strategy is investigated.Each spacecraft is an intelligent individual that can detect information within a limited range and can determine its behavior based on surrounding information.The objective of the cluster is to achieve the formation reconstruction with minimum fuel consumption.Based on the principle of dual pulse rendezvous maneuver,three target selection strategies are designed for collision avoidance.Strategy-1 determines the target point’s attribution according to the target’s distance when the target point conflicts and uses a unit pulse to avoid a collision.Strategy-2 changes the collision avoidance behavior.When two spacecraft meet more than once,the strategy switches the target points of the two spacecraft.In Strategy-3,the spacecraft closer to the target has higher priority in target allocation.Strategy-3 also switches the target points when two spacecraft encounter more than once.The three strategies for a given position,different completion times,and random position are compared.Numerical simulations show that all three strategies can accomplish the spacecraft cluster's reconfiguration under the specified requirements.Strategy-3 is better than Strategy-1 in all simulation cases in the sense of less fuel consumption with different completion times and given location,and it is more effective than Strategy-2 in most of the completion time.With a random initial position and given time,Strategy-3 is better than Strategy-1 in about 70%of the cases and more stable.展开更多
Activities of space materials science research in China have been continuously supported by two main national programs.One is the China Space Station(CSS)program since 1992,and the other is the Strategic Priority Prog...Activities of space materials science research in China have been continuously supported by two main national programs.One is the China Space Station(CSS)program since 1992,and the other is the Strategic Priority Program(SPP)on Space Science since 2011.In CSS plan in 2019,eleven space materials science experimental projects were officially approved for execution during the construction of the space station.In the SPP Phase Ⅱ launched in 2018,seven pre-research projects are deployed as the first batch in 2018,and one concept study project in 2019.These pre-research projects will be cultivated as candidates for future selection as space experiment projects on the recovery of scientific experimental satellites in the future.A new apparatus of electrostatic levitation system for ground-based research of space materials science and rapid solidification research has been developed under the support of the National Natural Science Foundation of China.In order to promote domestic academic activities and to enhance the advancement of space materials science in China,the Space Materials Science and Technology Division belong to the Chinese Materials Research Society was established in 2019.We also organized scientists to write five review papers on space materials science as a special topic published in the journal Scientia Sinica to provide valuable scientific and technical references for Chinese researchers.展开更多
The utilization of lunar resources is critical for the long-term sustainability of China's lunar exploration missions.In-situ manufacturing and construction using lunar regolith as the primary feedstock can provid...The utilization of lunar resources is critical for the long-term sustainability of China's lunar exploration missions.In-situ manufacturing and construction using lunar regolith as the primary feedstock can provide essential support for establishing,operating,and maintaining lunar bases.This paper presents a comprehensive review of current lunar regolith forming technologies.These methods fall into two main categories,depending on whether Earth-based additives are required during the forming process.Direct forming technologies rely entirely on local materials and require minimal or no external input.In contrast,indirect forming technologies depend on additional binders or components transported from Earth.The advantages and limitations of each approach are analyzed across several dimensions,including technical principles,forming speed,forming precision,forming quality,environmental adaptability,energy consumption,and process simplicity.This paper evaluates the application potential of each method in two key lunar use cases:large-scale infrastructure construction and flexible manufacturing of fine-structured components.Based on this analysis,development trends and strategic recommendations are proposed to support the optimization and deployment of in-situ resource utilization-based lunar regolith forming technologies for diverse lunar surface applications.展开更多
This paper addresses the spectral coexistence between LEO constellation and GEO belt for global distributed earth stations. A specific method is introduced to mitigate the in-line interference by tilting the direction...This paper addresses the spectral coexistence between LEO constellation and GEO belt for global distributed earth stations. A specific method is introduced to mitigate the in-line interference by tilting the direction normal of phased array antennas of LEO satellites, and the optimal direction is found by solving a non-linear programming problem. The simulation results prove that the proposed approach leads to greater link availability while guaranteeing the desired received signal level especially for low-latitude earth stations.展开更多
China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:li...China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:life science and biotechnology,microgravity fluid physics and combustion science,space material science,fundamental physics,space astronomy and astrophysics,earth sciences and application,space physics and space environment,experiments of new space technology.The research facilities,experiment racks,and supporting system planned in CSS have been described,including:multifunctional optical facility,research facility of quantum and optic transmission,and a dozen of research racks for space sciences in pressurized module,etc.In the next decade,significant breakthroughs in space science and utilization will hopefully be achieved,and great contributions will be made to satisfy the need of the social development and people's daily life.展开更多
This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the trans...This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the transient and steady-state responses of orbit tracking error system,a continuous performance function is devised via using a quartic polynomial.Then,integrating backstepping control technique and barrier Lyapunov function leads to a quasi fixed-time convergent orbit tracking controller without using any fractional state information and symbolic functions.Finally,two groups of illustrative examples are employed to test the effectiveness of the proposed orbit control method.展开更多
With the complete success of the 2nd stage of Chinese Manned Space Program(CMSP),several science researches have been performed on Tiangong-1 experimental spacelab, which was docked with three Shenzhou spaceships one ...With the complete success of the 2nd stage of Chinese Manned Space Program(CMSP),several science researches have been performed on Tiangong-1 experimental spacelab, which was docked with three Shenzhou spaceships one after another. The China's real spacelab, Tiangong-2 will be launched in 2015, docked with a Shenzhou spaceship soon. After six months, it will be docked with the first Chinese cargo ship(Tianzhou-1). More space science researches, involving with space biology, fluid physics, fundamental physics, materials science, Earth science, astronomy and space environmental science, will be operated on Tiangong-2 spacelab, and crewed and cargo spaceships. Furthermore, the considerable large-scale space utilization of Shina's Space Station is planned. The research fields include yet not limited to space medicine and physiology, space life science and biotechnology, fluid physics and combustion in microgravity, space material science,and fundamental physics in microgravity, space astronomy, Earth science, space physics and space environment utilization, technology demonstration.展开更多
In the evaluation of some simulation systems, only small samples data are gotten due to the limited conditions. In allusion to the evaluation problem of small sample data, an interval estimation approach with the impr...In the evaluation of some simulation systems, only small samples data are gotten due to the limited conditions. In allusion to the evaluation problem of small sample data, an interval estimation approach with the improved grey confidence degree is proposed.On the basis of the definition of grey distance, three kinds of definition of the grey weight for every sample element in grey estimated value are put forward, and then the improved grey confidence degree is designed. In accordance with the new concept, the grey interval estimation for small sample data is deduced. Furthermore,the bootstrap method is applied for more accurate grey confidence interval. Through resampling of the bootstrap, numerous small samples with the corresponding confidence intervals can be obtained. Then the final confidence interval is calculated from the union of these grey confidence intervals. In the end, the simulation system evaluation using the proposed method is conducted. The simulation results show that the reasonable confidence interval is acquired, which demonstrates the feasibility and effectiveness of the proposed method.展开更多
An improved wave-plate demister equipped with vortex generators(VGs)has been proposed for wet flue gas desulfurization systems(WFGD)in this work.Numerical and experimental methods were used to evaluate the effect of V...An improved wave-plate demister equipped with vortex generators(VGs)has been proposed for wet flue gas desulfurization systems(WFGD)in this work.Numerical and experimental methods were used to evaluate the effect of VGs on the separation of small droplets.Five types of wave-plate demister with different VGs were analyzed.The vortex generators in question included rectangular plates,semi-elliptical plates,square tubes,round tubes,and triangular tubes,respectively.In order to explain the strengthening mechanism,the distribution of flow field,secondary flow,and droplet trajectory were shown,and the effect of VGs on the flow field in the demister was discussed in depth.The simulation results show that the separation performances of the demisters with VGs were significantly improved over that of the initial demister,and the accompanying pressure drop was small.For the vortex generators studied,the rectangular plate fully demonstrated its superior separation performance,followed by semi-elliptical plate.The strengthening effect of VGs was tested through experiments.Experimental data reveal that the average droplet diameter(D_(50))at the outlet of the demister with a vortex generator can be reduced to 23.13μm,whereas this value for the initial demister can be maintained at 32.07μm.Moreover,compared with the original demister 0.81,the overall separation efficiency of the improved demister was improved to 0.92.展开更多
The high-speed movement of satellites makes it not feasible to directly apply the mature routing scheme on the ground to the satellite network.DT-DVTR in the snapshot-based connectionoriented routing strategy is one o...The high-speed movement of satellites makes it not feasible to directly apply the mature routing scheme on the ground to the satellite network.DT-DVTR in the snapshot-based connectionoriented routing strategy is one of the representative solutions,but it still has room for improvement in terms of routing stability.In this paper,we propose an improved scheme for connection-oriented routing strategy named the Minimal Topology Change Routing based on Collaborative Rules(MTCR-CR).The MTCR-CR uses continuous time static topology snapshots based on satellite status to search for intersatellite link(ISL)construction solutions that meet the minimum number of topology changes to avoid route oscillations.The simulation results in Beidou-3 show that compared with DT-DVTR,MTCR-CR reduces the number of routing changes by about 92%,the number of path changes caused by routing changes is about38%,and the rerouting time is reduced by approximately 47%.At the same time,in order to show our algorithm more comprehensively,the same experimental index test was also carried out on the Globalstar satellite constellation.展开更多
基金supported by Chinese Academy of Sciences(CAS)Pioneer Hundred Talents Program(No.2017-112)
文摘China manned space station is designed to operate for over ten years. Long-term and sustainable research on space science and technology will be conducted during its operation. The application payloads must meet the ‘‘long life and high reliability" mission requirement. Gearbox machinery is one of the essential devices in an aerospace utilization system, failure of which may lead to downtime loss even during some disastrous catastrophes. A fault diagnosis of gearbox has attracted attentions for its significance in preventing catastrophic accidents and guaranteeing sufficient maintenance. A novel fault diagnosis method based on the Ensemble Multi-Fault Features Indexing(EMFFI) approach is proposed for the condition monitoring of gearboxes. Different from traditional methods of signal analysis in the one-dimensional space, this study employs a supervised learning method to determine the faults of a gearbox in a two-dimensional space using the classification model established by training the features extracted automatically from diagnostic vibration signals captured. The proposed method mainly includes the following steps. First, the vibration signals are transformed into a bi-spectrum contour map utilizing bi-spectrum technology,which provides a basis for the following image-based feature extraction. Then, Speeded-Up Robustness Feature(SURF) is applied to automatically extract the image feature points of the bi-spectrum contour map using a multi-fault features indexing theory, and the feature dimension is reduced by Linear Discriminant Analysis(LDA). Finally, Random Forest(RF) is introduced to identify the fault types of the gearbox. The test results verify that the proposed method based on the multi-fault features indexing approach achieves the target of high diagnostic accuracy and can serve as a highly effective technique to discover faults in a gearbox machinery such as a two-stage one.
基金supported by the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(No.LSU-YKZX-2017-02)
文摘This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
文摘The core module of China’s Space Station(CSS)is scheduled to be launched around the end of 2020,and the experimental module I and II will be launched in the next two years.After on-orbit constructions,CSS will be transferred into an operation period over 10 years(2022–2032 and beyond)to continuously implement space science missions.At present,based on the project selection and research work in the ground development period of CSS,China is systematically making a utilization mission planning for the operation period,which focuses on the fields of aerospace medicine and human research,space life science and biotechnology,microgravity fluid physics,combustion science,materials science,fundamental physics,space astronomy and astrophysics,Earth science,space physics and space environment,space application technology,etc.In combination with the latest development trend of space science and technology,China will continue to update planning for science research and technology development,carry out project cultivation,payload R&D,and upgrade onboard and ground experiment supporting systems to achieve greater comprehensive benefits in science,technology,economy,and society。
文摘This paper comprehensively explores the impulsive on-orbit inspection game problem utilizing reinforcement learning and game training methods.The purpose of the spacecraft is to inspect the entire surface of a non-cooperative target with active maneuverability in front lighting.First,the impulsive orbital game problem is formulated as a turn-based sequential game problem.Second,several typical relative orbit transfers are encapsulated into modules to construct a parameterized action space containing discrete modules and continuous parameters,and multi-pass deep Q-networks(MPDQN)algorithm is used to implement autonomous decision-making.Then,a curriculum learning method is used to gradually increase the difficulty of the training scenario.The backtracking proportional self-play training framework is used to enhance the agent’s ability to defeat inconsistent strategies by building a pool of opponents.The behavior variations of the agents during training indicate that the intelligent game system gradually evolves towards an equilibrium situation.The restraint relations between the agents show that the agents steadily improve the strategy.The influence of various factors on game results is tested.
基金co-supported by the National Natural Science Foundation of China(Nos.61403038 and 61573066)the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(Nos.LSU-2016-05-2 and LSUKJTS-2017-02)。
文摘The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.
文摘China scheduled to complete the assembly of the T-shaped Tiangong Space Station in 2022,and will enter a new stage of utilization.There are more than 20 experiment racks inside the modules,and more than 50 external onboard payloads mounting spaces,which will support large-scale science and technology experiments during the operation.The development of internal experiment racks and external research accommodations approved during the construction has been completed,of which 4 racks in Tianhe core module,including High Microgravity Level research Rack(HMLR)and Container-less Materials Processing Rack(CMPR),have finished on-orbit tests;while other racks in Wentian and Mengtian experiment modules are under comprehensive ground tests.The Chinese Space Survey Telescope(CSST)has advanced much in the last two years with 24 pre-launch research projects funded and 4 joint science center built in preparation for CSST’s future scientific observations and operations.The systematic research planning for China’s Space Station(CSS)during 2022-2032 is updated with the researches classified into four important areas:space life sciences and human research,microgravity physical sciences,space astronomy and Earth science,and new space technologies and applications.According to the planning,more than 1000 experiments are expected to perform in CSS during the operating period.Overall,the CSS utilization missions are proceeding as planned,which will contribute to the major scientific or application output and have a positive impact on the quality of life on Earth.
文摘Space sciences and application projects arranged in Tiangong-2 space laboratory and Tianzhou-1 cargo ship have been described in detail,covering research areas of the fundamental physics,space astronomy,microgravity fluid physics and materials science,space life science,and earth science.These experiments and researches will hopefully produce great scientific results and social benefits in several fields,including:universe evolution,quantum communication,material development,global climate change and earth environment,etc.
文摘Chinese Space Station(CSS)has been fully deployed by the end of 2022,and the facility has entered into the application and development phase.It has conducted scientific research projects in various fields,such as space life science and biotechnology,space materials science,microgravity fundamental physics,fluid physics,combustion science,space new technologies,and applications.In this review,we introduce the progress of CSS development and provide an overview of the research conducted in Chinese Space Station and the recent scientific findings in several typical research fields.Such compelling findings mainly concern the rapid solidification of ultra-high temperature alloy melts,dynamics of fluid transport in space,gravity scaling law of boiling heat transfer,vibration fluidization phenomenon of particulate matter,cold atom interferometer technology under high microgravity and related equivalence principle testing,the full life cycle of rice under microgravity and so forth.Furthermore,the planned scientific research and corresponding prospects of Chinese space station in the next few years are presented.
基金financial supports provided by the Strategic Priority Research Program of the Chinese Academy of Sciences(No.XDA22000000)National Natural Science Foundation of China(No.41804134)。
文摘The knowledge of crack type and dislocation orientation is helpful for the lifetime prediction of thin plates on aircrafts.The moment-tensor inversion utilizes the Acoustic Emission(AE)signals to detect cracks and the source mechanisms can be interpreted by the decomposition of moment tensors.Since the traditional moment-tensor inversion is implemented for the AE sources inside infinite elastic bodies,the inversion needs to be modified for the cracks in thin plates.In this study,the moment tensors of cracks in thin plates are derived and the inversion equation is provided based on the Green's function of second kind.A method of modifying the moment tensors to adapt to the existing decomposition processes and source-type plots is provided.By employing the Finite Element Method(FEM),the wave fields generated by the AE sources are computed.The AE sources continuously changing from pure tensile type(Model I)to shear type(Model II)are achieved in the FE models and the moment tensors are recovered.By the comparison between the reference values and recovered solutions,the source type can be accurately identified in the source-type plot and the applicability of the moment-tensor inversion for cracks in thin plates is confirmed.
基金supported by the National Natural Science Foundation of China (Nos.11672294, 61903354)
文摘The capture operation performed by a snare-type end-effector mainly relies on three flexible cables.This paper solves the dynamics modeling problems of flexible cable used in the snare-type end-effector and provides a contact tracking control strategy for the impact phase of snare capture.To describe the motion of flexible cable,a dynamics model is established by considering both tensile and bending resistance properties.On this basis,a virtual spring concept is introduced to represent the contact between flexible cables and the target grapple shaft,and a contact dynamics model is established approximately by polynomial function with the variables of penetration and start-end distance of flexible cable.Thereafter,a contact tracking control strategy is proposed to improve the reliability of space snare capture.The target grapple shaft and flexible cable can keep in contact at the initial contact point during the whole capture process and thus reduce the possibility of pushing the target away.Experiments are carried out to verify the effectiveness of the proposed method.
基金supported by the Advanced Research Project of China Manned Space Program.
文摘The reconstruction of spacecraft cluster based on local information and distributed strategy is investigated.Each spacecraft is an intelligent individual that can detect information within a limited range and can determine its behavior based on surrounding information.The objective of the cluster is to achieve the formation reconstruction with minimum fuel consumption.Based on the principle of dual pulse rendezvous maneuver,three target selection strategies are designed for collision avoidance.Strategy-1 determines the target point’s attribution according to the target’s distance when the target point conflicts and uses a unit pulse to avoid a collision.Strategy-2 changes the collision avoidance behavior.When two spacecraft meet more than once,the strategy switches the target points of the two spacecraft.In Strategy-3,the spacecraft closer to the target has higher priority in target allocation.Strategy-3 also switches the target points when two spacecraft encounter more than once.The three strategies for a given position,different completion times,and random position are compared.Numerical simulations show that all three strategies can accomplish the spacecraft cluster's reconfiguration under the specified requirements.Strategy-3 is better than Strategy-1 in all simulation cases in the sense of less fuel consumption with different completion times and given location,and it is more effective than Strategy-2 in most of the completion time.With a random initial position and given time,Strategy-3 is better than Strategy-1 in about 70%of the cases and more stable.
基金Supports by the Strategic Priority Research Program on Space Science,the Chinese Academy of Sciences(XDA15013200,XDA15013700,XDA15013800,XDA15051200)the China’s Manned Space Station Project(TGJZ800-2-RW024)and the National Natural Science Foundation of China(51327901)。
文摘Activities of space materials science research in China have been continuously supported by two main national programs.One is the China Space Station(CSS)program since 1992,and the other is the Strategic Priority Program(SPP)on Space Science since 2011.In CSS plan in 2019,eleven space materials science experimental projects were officially approved for execution during the construction of the space station.In the SPP Phase Ⅱ launched in 2018,seven pre-research projects are deployed as the first batch in 2018,and one concept study project in 2019.These pre-research projects will be cultivated as candidates for future selection as space experiment projects on the recovery of scientific experimental satellites in the future.A new apparatus of electrostatic levitation system for ground-based research of space materials science and rapid solidification research has been developed under the support of the National Natural Science Foundation of China.In order to promote domestic academic activities and to enhance the advancement of space materials science in China,the Space Materials Science and Technology Division belong to the Chinese Materials Research Society was established in 2019.We also organized scientists to write five review papers on space materials science as a special topic published in the journal Scientia Sinica to provide valuable scientific and technical references for Chinese researchers.
基金supported by International Partnership Program of the Chinese Academy of Sciences(Grant No.310GJH2024010GC)National Natural Science Foundation of China(Grant No.52005479),China Building Materials Federation(Grant No.2023JBGS0401)+1 种基金Beijing Municipal Natural Science Foundation(Grant No.2244111)Director’s Fund of Technology and Engineering Center for Space Utilization(Grant No.CAS T4035711XY)。
文摘The utilization of lunar resources is critical for the long-term sustainability of China's lunar exploration missions.In-situ manufacturing and construction using lunar regolith as the primary feedstock can provide essential support for establishing,operating,and maintaining lunar bases.This paper presents a comprehensive review of current lunar regolith forming technologies.These methods fall into two main categories,depending on whether Earth-based additives are required during the forming process.Direct forming technologies rely entirely on local materials and require minimal or no external input.In contrast,indirect forming technologies depend on additional binders or components transported from Earth.The advantages and limitations of each approach are analyzed across several dimensions,including technical principles,forming speed,forming precision,forming quality,environmental adaptability,energy consumption,and process simplicity.This paper evaluates the application potential of each method in two key lunar use cases:large-scale infrastructure construction and flexible manufacturing of fine-structured components.Based on this analysis,development trends and strategic recommendations are proposed to support the optimization and deployment of in-situ resource utilization-based lunar regolith forming technologies for diverse lunar surface applications.
基金supported by the National Natural Science Foundation of China (grant no. 91738101 and 91438206)
文摘This paper addresses the spectral coexistence between LEO constellation and GEO belt for global distributed earth stations. A specific method is introduced to mitigate the in-line interference by tilting the direction normal of phased array antennas of LEO satellites, and the optimal direction is found by solving a non-linear programming problem. The simulation results prove that the proposed approach leads to greater link availability while guaranteeing the desired received signal level especially for low-latitude earth stations.
文摘China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:life science and biotechnology,microgravity fluid physics and combustion science,space material science,fundamental physics,space astronomy and astrophysics,earth sciences and application,space physics and space environment,experiments of new space technology.The research facilities,experiment racks,and supporting system planned in CSS have been described,including:multifunctional optical facility,research facility of quantum and optic transmission,and a dozen of research racks for space sciences in pressurized module,etc.In the next decade,significant breakthroughs in space science and utilization will hopefully be achieved,and great contributions will be made to satisfy the need of the social development and people's daily life.
基金This work was supported in part of the Open Funds from National Key Laboratory of Aerospace Flight Dynamics and Key Laboratory of Space Intelligent Control Technology.
文摘This paper investigates a novel quasi fixed-time orbit tracking control method for spacecraft around an asteroid in the presence of uncertain dynamics and unknown uncertainties.To quantitatively characterize the transient and steady-state responses of orbit tracking error system,a continuous performance function is devised via using a quartic polynomial.Then,integrating backstepping control technique and barrier Lyapunov function leads to a quasi fixed-time convergent orbit tracking controller without using any fractional state information and symbolic functions.Finally,two groups of illustrative examples are employed to test the effectiveness of the proposed orbit control method.
文摘With the complete success of the 2nd stage of Chinese Manned Space Program(CMSP),several science researches have been performed on Tiangong-1 experimental spacelab, which was docked with three Shenzhou spaceships one after another. The China's real spacelab, Tiangong-2 will be launched in 2015, docked with a Shenzhou spaceship soon. After six months, it will be docked with the first Chinese cargo ship(Tianzhou-1). More space science researches, involving with space biology, fluid physics, fundamental physics, materials science, Earth science, astronomy and space environmental science, will be operated on Tiangong-2 spacelab, and crewed and cargo spaceships. Furthermore, the considerable large-scale space utilization of Shina's Space Station is planned. The research fields include yet not limited to space medicine and physiology, space life science and biotechnology, fluid physics and combustion in microgravity, space material science,and fundamental physics in microgravity, space astronomy, Earth science, space physics and space environment utilization, technology demonstration.
文摘In the evaluation of some simulation systems, only small samples data are gotten due to the limited conditions. In allusion to the evaluation problem of small sample data, an interval estimation approach with the improved grey confidence degree is proposed.On the basis of the definition of grey distance, three kinds of definition of the grey weight for every sample element in grey estimated value are put forward, and then the improved grey confidence degree is designed. In accordance with the new concept, the grey interval estimation for small sample data is deduced. Furthermore,the bootstrap method is applied for more accurate grey confidence interval. Through resampling of the bootstrap, numerous small samples with the corresponding confidence intervals can be obtained. Then the final confidence interval is calculated from the union of these grey confidence intervals. In the end, the simulation system evaluation using the proposed method is conducted. The simulation results show that the reasonable confidence interval is acquired, which demonstrates the feasibility and effectiveness of the proposed method.
基金This work was supported by the Foundation of key Laboratory of Space Utilization,Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences(CSU-QZKT-2018-09)Open Project of Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System under Grant No.KF20181123205.
文摘An improved wave-plate demister equipped with vortex generators(VGs)has been proposed for wet flue gas desulfurization systems(WFGD)in this work.Numerical and experimental methods were used to evaluate the effect of VGs on the separation of small droplets.Five types of wave-plate demister with different VGs were analyzed.The vortex generators in question included rectangular plates,semi-elliptical plates,square tubes,round tubes,and triangular tubes,respectively.In order to explain the strengthening mechanism,the distribution of flow field,secondary flow,and droplet trajectory were shown,and the effect of VGs on the flow field in the demister was discussed in depth.The simulation results show that the separation performances of the demisters with VGs were significantly improved over that of the initial demister,and the accompanying pressure drop was small.For the vortex generators studied,the rectangular plate fully demonstrated its superior separation performance,followed by semi-elliptical plate.The strengthening effect of VGs was tested through experiments.Experimental data reveal that the average droplet diameter(D_(50))at the outlet of the demister with a vortex generator can be reduced to 23.13μm,whereas this value for the initial demister can be maintained at 32.07μm.Moreover,compared with the original demister 0.81,the overall separation efficiency of the improved demister was improved to 0.92.
基金supported by the National Key Research and Development Program of China(No.2020YFB1806000)。
文摘The high-speed movement of satellites makes it not feasible to directly apply the mature routing scheme on the ground to the satellite network.DT-DVTR in the snapshot-based connectionoriented routing strategy is one of the representative solutions,but it still has room for improvement in terms of routing stability.In this paper,we propose an improved scheme for connection-oriented routing strategy named the Minimal Topology Change Routing based on Collaborative Rules(MTCR-CR).The MTCR-CR uses continuous time static topology snapshots based on satellite status to search for intersatellite link(ISL)construction solutions that meet the minimum number of topology changes to avoid route oscillations.The simulation results in Beidou-3 show that compared with DT-DVTR,MTCR-CR reduces the number of routing changes by about 92%,the number of path changes caused by routing changes is about38%,and the rerouting time is reduced by approximately 47%.At the same time,in order to show our algorithm more comprehensively,the same experimental index test was also carried out on the Globalstar satellite constellation.
