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Reachable set estimation for spacecraft relative motion based on bang-bang principle

Chinese Journal of Aeronautics 2023年第2期36卷 229-240页

作者： Lizhen SHAO Haibin MIAO Renhong HU Hongjin LIU Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China Shunde Graduate School of University of Science and Technology Beijing 100083China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 528399China Beijing Institute of Control Engineering Beijing 100190China Beijing Sunwise Space Technology Ltd. Beijing 100190China

For spacecraft formation flight,the information of relative motion reachable set is very important,which can be used to predict the operating boundary of adjacent spacecraft and thus to ensure the safety of spacecraft *** this paper,we aim at developing a numerical method to approximate the reachable set for spacecraft relative *** particular,we focus on the quality of the approximation and the computational *** on the bang-bang control principle,a polyhedral approximation algorithm is proposed to compute the reachable set of a relative motion spacecraft *** inner approximation and an outer approximation of the reachable set for the system can be *** prove that the approximation quality measured in Hausdorff distance can be *** method is easy to implement and has low computational ***,the effectiveness of the algorithm is demonstrated by experimental simulation.

关键词： Polyhedral approximation Reachable set Spacecraft control Spacecraft relative motion The bang-bang control principle

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET Intelligent Transport Systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET Intelligent Transport Systems published by John Wiley & Sons Ltd on behalf of The Institution of engineering and technology.

关键词： Autonomous vehicles

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In-situ construction of abundant active centers on hierarchically porous carbon electrode toward high-performance phosphate electrosorption: Synergistic effect of electric field and capture sites

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Green Energy & Environment 2024年第1期9卷 126-137页

作者： Peng Zhang Fukuan Li Mingming He Silu Huo Xueli Zhang Benqiang Cen Dezhi Fang Kexun Li Hao Wang College of Environmental Science and Engineering Nankai UniversityTianjin300350China MOE Key Laboratory of Pollution Processes and Environmental Criteria Tianjin Key Laboratory of Environmental Remediation and Pollution ControlTianjin Key Laboratory of Environmental Technology for Complex Trans-Media PollutionNankai UniversityTianjin300350China State Key Laboratory of Simulation and Regulation of Water Cycles in River Basins China Institute of Water Resources and Hydropower ResearchBeijing100038China

Phosphate removal is crucial for eutrophication control and water quality ***-assisted adsorption,an eco-friendly elec-trosorption process,exhibited a promising potential for wastewater ***,there are few works focused on phosphate electro-sorption,and reported electrodes cannot attach satisfactory removal capacities and ***,electro-assisted adsorption of phosphate via in-situ construction of La active centers on hierarchically porous carbon(LaPC)has been originally *** resulted LaPC composite not only possessed a hierarchically porous structure with uniformly dispersed La active sites,but also provided good conductivity for interfacial electron *** LaPC electrode achieved an ultrahigh phosphate electrosorption capability of 462.01 mg g^(-1) at 1 V,outperforming most existing *** superior phosphate removal performance originates from abundant active centers formed by the coupling of electricﬁeld and capture ***,the stability and selectivity toward phosphate capture were maintained well even under comprehensive ***,a series of kinetics and isotherms models were employed to validate the electrosorption *** work demonstrates a deep understanding and promotes a new level of phosphate electrosorption.

关键词： Electro-assisted adsorption Electrosorption Phosphate removal Active centers MOF-derived carbon

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Self-healable gels in electrochemical energy storage devices

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Nano Research 2024年第4期17卷 3302-3323页

作者： Yang Li PeiPei Ding Yuzhe Gu Sheng Qian Yuncong Pang Lele Wang Jiayang Feng Baoguang Liu Qi Wan Ping Li Zhiwei Liu College of Electronic and Optical Engineering&College of Flexible Electronics(Future Technology) Nanjing University of Posts&Telecommunications(NJUPT)Nanjing 210023China State Key Laboratory of Organic Electronics and Information Displays&Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Nanjing University of Posts and Telecommunications(NJUPT)Nanjing 210023China College of Materials Science&Engineering Beijing University of TechnologyBeijing 100124China Beijing Advanced Innovation Center for Materials Genome Engineering Institute for Advanced Materials and TechnologyUniversity of Science and Technology BeijingBeijing 100083China Pillar of Engineering Product Development Singapore University of Technology and DesignSingapore 487372Singapore School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China

In the green energy and carbon-neutral technology,electrochemical energy storage devices have received continuously increasing attention ***,due to the unavoidable volume expansion/shrinkage of key materials or irreversible mechanical damages during application,the stability of energy storage and delivery as well as the lifetime of these devices are severely shortened,leading to serious performance degradation or even safety ***,the utilization of self-healable gels into electrochemical energy storage devices,such as electrodes,binders,and electrolytes,is proven as an effective method to realize long-term stable operation of these devices via the self-repairing of mechanical and electrochemical ***,this review first summarizes the feature and fabrication of different gels,paying special attention to hydrogels,organohydrogels,and ***,basic concepts and figure of merit of self-healable gels are analyzed with a detailed discussion at the healing mechanisms,from reversible dynamic bonds to physical molecular diffusion,and to external healing *** we introduce all the important parts of electrochemical energy storage devices,which could be replaced by healable gels to enhance the durability,including electrodes,binders,and ***,the critical challenges and future perspectives regarding the future development of healable gels based high-performance electrochemical energy storage devices or electronics are provided.

关键词： self-healable gels healing mechanisms electrodes binders gel electrolytes

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Precise orbit determination for Tianwen-1 during mapping phase

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Astrodynamics 2024年第3期8卷 471-481页

作者： Shanhong Liu Jing Kong Jianfeng Cao Hao Huang Haijun Man Jianguo Yan Xie Li National Key Laboratory of Science and Technology on Aerospace Flight Dynamics Beijing100094China Beijing Aerospace Control Center Beijing100094China Institute for Frontiers in Astronomy and Astrophysics Bejing Normal UniversityBeijing100875China Astronomy Department Bejing Normal UniversityBeijing100875China State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhan430079China

The mapping phase is a key stage of the Tianwen-1 orbiter. It has the longest exploration time and gathers abundant radio tracking data via the Chinese deep space network. Thus, it also provides opportunities for radio science research topics such as the Mars gravity field model, ephemeris, and radio occultation experiments. At this stage, the need for imaging takes the highest priority, leading to frequent attitude adjustments for the spacecraft, which presents challenges for Precise Orbit Determination (POD). To improve the accuracy of the spacecraft’s orbit, this study analyzes the effects of arc length, the empirical acceleration, and the solar radiation pressure parameters on POD, considering the limited number of radio tracking observations. For one-day arcs, the POD is not able to adequately account for wheel off-loading and a few unknown forces with limited observations, but reasonable fitting is performed for the wheel off-loading occurring during tracking periods or the gap between two tracking periods. When extending the POD arc to three days, the estimated empirical acceleration can be well-fitted and reflects the aggregation feature, but the solar radiation pressure parameter has little impact on POD results. The root mean square of two-way range-rate residuals after POD is about 0.18-0.35 mm/s;the orbital position accuracy of 60% of the arcs is better than 100 m.

关键词： empirical acceleration mapping phase precise orbit determination(POD) radio science

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A collaborative guidance method based on state regulator for multiple missiles with a leader-follower architecture

A collaborative guidance method based on state regulator for...

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第43届中国控制会议

作者： Yuan Kangsheng Tang Daoguang Pu Yuhui An Yaru Yang Haorui School of Aerospace Engineering Beijing Institute of Technology Beijing Key Laboratory of UAV Autonomous Control Beijing Institute of Technology School of Electrical and Control Engineering North University of China

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this article,a collaborative guidance method is proposed to achieve a simultaneous attack on a maneuvering target at desired terminal *** guidance command of the leader missile consists of tangential acceleration along the line of sight(LOS) and normal acceleration perpendicular to the LOS *** former satisfies the constraint of impact time,while the latter realizes terminal angle-constraint ***,a fixed-time observer is proposed to estimate the unknown maneuvering target acceleration disturbances and compensate for them in the design of the guidance method.A virtual sphere with an adaptive radius is then created,centered on a point along the line connecting the target and the leader ***,a state regulator is designed based on modern control theory to guide the follower missiles towards and track virtual *** approach ultimately enables the missiles to achieve multi-directional coverage and effectively block the maneuvering ***,the advantages and effectiveness of the collaborative guidance method proposed have been validated in simulation scenarios,where the maneuvering target is hit simultaneously by all missiles at the desired LOS angles.

关键词： leader-follower simultaneous attack state regulator

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Battery state of Health Estimation for Real-world Vehicles Based on Ensemble Learning 16

Battery State of Health Estimation for Real-world Vehicles B...

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16th IEEE PES Asia-Pacific Power and Energy engineering Conference, APPEEC 2024

作者： Wang, Haoyu He, Hongwen Wang, Pei Geng, Yiteng Guo, Xuncheng National Engineering Laboratory for Electric Vehicles Beijing China National Key Laboratory of Advanced Vehicle Integration and Control Beijing Institute of Technology Beijing China

ISBN: (纸本)9798350386127

Lithium-ion batteries (LIBs) are important energy storage components for new energy vehicles. Accurately estimating the state of Health (SOH) of LIBs ensures the safe and reliable operation of the power battery. Addressing the challenges of poor data quality, intricate sampling information, and incomplete battery cycles in real-world vehicle data, this paper proposes a pioneering SOH estimation method based on Light Gradient Boost Machine (LGBM) ensemble learning during charging process. A data preprocessing and operating condition reconstruction method is designed to streamline battery operating conditions and enhance overall data quality. The charging segments are extracted, and an aging features extraction method suitable for real-world vehicle data is proposed as well as high-value health indicators are selected using correlation analysis. The Bayesian optimization algorithm is employed to efficiently search for the optimal hyperparameters of the model, and comparisons and validations with other modeling algorithms and optimization methods and the estimation results on different vehicles are also carried out. The results show that LGBM method with Bayesian optimization algorithm achieves an overall superior estimation performance with the mean absolute percentage error limited within 2.71 % and exceptional computational efficiency. © 2024 IEEE.

关键词： state of charge

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Toward the recognition of spacecraft feature components:A new benchmark and a new model

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Astrodynamics 2022年第3期6卷 237-248页

作者： Linwei Qiu Liang Tang Rui Zhong School of Astronautics Beihang UniversityBeijing 100191China Key Laboratory of Space Intelligent Control Technology Beijing Institute of Control EngineeringBeijing 100094China

Countries are increasingly interested in spacecraft surveillance and recognition which play an important role in on-orbit maintenance,space docking,and other *** detection methods,including radar,have many restrictions,such as excessive costs and energy supply *** many on-orbit servicing spacecraft,image recognition is a simple but relatively accurate method for obtaining sufficient position and direction information to offer ***,to the best of our knowledge,few practical machine-learning models focusing on the recognition of spacecraft feature components have been *** addition,it is difficult to find substantial on-orbit images with which to train or evaluate such a *** this study,we first created a new dataset containing numerous artificial images of on-orbit spacecraft with labeled *** base images were derived from 3D Max and STK *** images include many types of satellites and satellite *** real-world illumination conditions and imperfect camera observations,we developed a degradation algorithm that enabled us to produce thousands of artificial images of *** feature components of the spacecraft in all images were labeled *** discovered that direct utilization of the DeepLab V3+model leads to poor edge *** defined edges provide imprecise position or direction information and degrade the performance of on-orbit ***,the edge information of the target was taken as a supervisory guide,and was used to develop the proposed Edge Auxiliary Supervision DeepLab Network(EASDN).The main idea of EASDN is to provide a new edge auxiliary loss by calculating the L2 loss between the predicted edge masks and ground-truth edge masks during *** extensive experiments demonstrate that our network can perform well both on our benchmark and on real on-orbit spacecraft images from the ***,the device usage and processing time m

关键词： spacecraft deep learning feature components semantic segmentation

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Large flexible structure vibration measurement based on machine vision 43

Large flexible structure vibration measurement based on mach...

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43rd Chinese control Conference, CCC 2024

作者： Zhu, Yuanyuan Zhang, Haibo Ning, Zhijie Guo, Yanning Zheng, Lingxi Harbin Institute of Technology Harbin150001 China Beijing Institute of Control Engineering Beijing100000 China National Key Laboratory of Space Intelligent Control Beijing100000 China

ISBN: (纸本)9789887581581

A multi-target synchronous measurement method is proposed for the vibration measurement problem of large flexible structures. Select the appropriate system hardware according to the actual measurement requirements, and the binocular camera is used to acquire the image sequence of multiple points during the vibration process. An innovative method is proposed that combines feature point matching and Maximum Intersection over Union is proposed to achieve one-to-one mapping between multiple points. The vibration information of the flexible structure is obtained by image processing and three-dimensional coordinate calculation. Compared with the results obtained by the Optitrack motion capture system. Measures vibration with a frequency of 3Hz, the relative errors of most measurements are within 5%, which meets the requirements of most vibration measurements. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Vibration measurement

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Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range

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Computer Modeling in engineering & Sciences 2023年第1期134卷 121-134页

作者： Sha Wang Chenglong He Baichun Gong Xin Ding Yanhua Yuan State Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081China Nanjing University of Aeronautics and Astronautics Nanjing210016China Beijing Institute of Control and Electronic Technology Beijing100038China

As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment,a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is ***,the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal ***,the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft,based on which the consensus unscented Kalman filter is ***,the observability analysis is done and the necessary conditions of the sensor offset to make the state observable are ***,digital simulations are conducted to verify the proposed algorithm,where the comparison to the unconstrained case is also *** results show that the estimated error of the relative position converges very quickly,the location error is smaller than 10m under the condition of 10−3 rad level camera and 5m offset.

关键词： Relative navigation spacecraft formation observability analysis angles-only measurement

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