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High-precision magnetic field measurement system based on a coherent population trapping magnetometer onboard the SATech-01 satellite

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Science China(Technological Sciences) 2025年第2期68卷 227-242页

作者： Hongbo XUE Wei SONG Haoran ZHAO Yiteng ZHANG Shanzhi YE Jindong WANG Ran TAO Peng SANG Keli CHEN Xingzi BI Bingjun CHENG Bin ZHOU Yongliang XUE Yingying TANG Liu LIU Jinsong LI Xiaocheng ZHU Baoquan LI Jinguo LIU Wen CHEN Xiaofeng ZHANG Yonghe ZHANG Lei LI State Key Laboratory of Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Solar Activity and Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Electronics and Information Technology for Space Systems National Space Science CenterChinese Academy of SciencesBeijing 100190China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 201304China

On July 27,2022,a high-precision system for measuring the magnetic field based on a coherent population trapping magnetometer(referred to as the CPT system)was launched onboard the Space Advanced technology demonstration satellite(SATech-01)by a ZK-1A *** payload comprises a scalar coherent population trapping magnetometer(CPTM),triaxial anisotropic magnetoresistance magnetometer(AMRM),and nano star tracker mounted on a non-magnetic telescopic tubular *** configuration enables synchronized measurement of scalar and vector geomagnetic fields,as well as the attitude,making the payload with its compact sensors suitable for applications on miniature satellite *** November 7,2022,the novel telescopic tubular mast was deployed in orbit,extending to a length of 5.28 *** CPTM,an absolute scalar magnetometer with an omnidirectional sensor,is the first China-developed quantum/atomic magnetometer successfully operating in *** orbit,the CPTM has sensitivity of~10 pT/Hz^(1/2) and can automatically operate under complex magnetic field *** difference between the scalar fields obtained using the CPTM and CHAOS model has a mean deviation of -3.73 nT and a standard deviation of 26.11 nT(1σ),without on-orbit calibration or *** miniaturized AMRM has a sensitivity of~0.3 nT/Hz^(1/2) and maintains stable and reliable operation in *** low-power and miniaturized nano star tracker has a measurement uncertainty of 14.23″(1σ)in *** mission has realized the on-orbit technical verification of the integrated and synchronized detection of the vector magnetic field and attitude and fully validated the system’s performance,automation level,and reliability.

关键词： magnetic field measurement system coherent population trapping magnetometer anisotropic magnetoresistance magnetometer nano star tracker non-magnetic telescopic tubular mast satellite

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Wide-Sense Nonblocking Conditions for Flex-grid OXC-Clos Networks

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IEEE Journal on Selected Areas in Communications 2025年第5期43卷 1809-1822页

作者： Yao, Yibei Ye, Tong Deng, Ning Shanghai Jiao Tong University State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai China Great Bay University School of Computing and Information Technology Guangdong China

The emerging high-capacity optical networks make it urgent to design large-scale flexible mesh optical cross-connect (OXC). Though Clos networks are the theory for building scalable and cost-effective switching fabrics, the nonblocking conditions for flex-grid optical Clos networks without wavelength conversion remain unknown. This paper studies the nonblocking conditions for the flex-grid OXC-Clos network, which is constructed from a number of small-size standard OXCs. We first show that a strictly nonblocking (SNB) OXC-Clos network will incur a high cost, as small-granularity lightpaths may abuse central modules (CMs), rendering them unavailable for large-granularity requests due to frequency conflicts. Hence, we propose a granularity differential routing (GDR) strategy, the idea of which is to restrict the set of CMs that can be utilized by the lightpaths of each granularity. Under the GDR strategy, we investigate two system models, called granularity-port binding and unbinding models, and prove the wide-sense nonblocking (WSNB) conditions. We show that the cost of WSNB network is remarkably smaller than that of SNB network, and find that the granularity-port unbinding model can offer more flexible network-bandwidth utilization compared to the binding model, with a slight cost associated with switching fabrics. © 1983-2012 IEEE.

关键词： Cross connections (water distribution)

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Adaptive Closed-Loop Functional Electrical Stimulation System with Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical Robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object *** paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system’s potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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On-orbit attitude planning for Earth observation imaging with star-based geometric calibration

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Science China(Technological Sciences) 2025年第2期68卷 243-256页

作者： Di HUANG Zhifu WANG Jianya GONG Haoran JI Institute of Aerospace Science and Technology School of Remote Sensing and Information EngineeringWuhan UniversityWuhan 430072China State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingSchool of Remote Sensing and Information EngineeringWuhan UniversityWuhan 430072China National Key Laboratory of Air-based Information Perception and Fusion Luoyang 471009China Intelligent Game and Decision Laboratory Beijing 100071China

To improve the quality of remote sensing images,a novel on-orbit attitude planning method for Earth observation imaging with star-based geometric calibration is presented in this *** traditional imaging processes,the proposed method includes both pre-calibration and post-calibration stages to enhance the accuracy of satellite geometric positioning.A multiple-constraint attitude planning algorithm was developed to ensure star-based calibration,wherein the satellite camera and star sensors simultaneously capture the images of *** integration of cameras and multiple star sensors enables effective attitude *** the Earth imaging stage,a fast on-orbit attitude planning algorithm was developed to determine the satellite attitude and the optimal imaging times for ground *** with existing methods,the fast on-orbit attitude planning algorithm can significantly reduce computational time and resource consumption via initial value selection and *** demonstrate the effectiveness of the proposed attitude planning method,which was successfully applied to Wuhan 1 satellite.

关键词： attitude planning Earth observation imaging geometric calibration attitude constraints

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Sensorless Force Observer and Impedance Control for Physical Human-Robot Interaction 14th

Sensorless Force Observer and Impedance Control for Physical...

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14th International Workshop of Advanced Manufacturing and Automation, IWAMA 2024

作者： Chao, Tan Huan, Zhao Yuan, Chao Li, Ding Wentao, Shan Guohong, Dai Han, Ding School of Mechanical Engineering Jiangsu University of Technology ChangZhou China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9789819626243

This paper presents a model-based scheme for controlling an industrial robot without using any external sensors for physical human-robot interaction. The scheme consists of two major modules: force observation and compliance control. First, an accurate dynamic model involving the friction and rotor inertia of the robot is constructed and identified. Then, a novel generalized momentum combining the second-order moments and rotor inertias is developed. This generalized momentum contributes to estimating the external force without information on the joint acceleration, where the external force is transformed into the joint space under Jacobian operators. Finally, independent position-based impedance control is adopted to implement the physical interaction. Compared with the traditional force estimation methods, the presented scheme only requires joint angles and joint torques, which makes it more accurate in force estimation, more stable and universal for commercial robots. Simulations and experiments on the ROKAE XB4 platform validate the effectiveness of the proposed scheme. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Human robot interaction

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An adjustment-free laser resonator based on micron-scale corner cube array

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Chinese Physics B 2025年第3期34卷 382-387页

作者： Pengyuan Chang Xinrong Huang Caolei Fu Aiping Liu Duo Pan Zhiyang Wang Jingbiao Chen Institute of Quantum Information and Technology Nanjing University of Posts and TelecommunicationsNanjing 210003China State Key Laboratory of Advanced Optical Communication Systems and Networks Institute of Quantum ElectronicsSchool of ElectronicsPeking UniversityBeijing 100087China Hefei National Laboratory Hefei 230088China

The topic of improving the mechanical stability of external cavity diode lasers(ECDLs)has recently attracted widespread attention and *** use of corner-cube-array(CCA)-based resonators provides a potential solution for this purpose,although continuous oscillation at super large incident angle remains *** this work,we employ the CCA resonator to generate continuous oscillation within±20°angular misalignment of cavity mirror in *** the basis of retroreflection theory,the retroreflectivity of a CCA is analyzed by using optical simulation ***,the experiment verifies the advantage of using a CCA over a plane mirror in laser resonator,thereby providing a promising approach for *** threshold characteristic curves measured at different incident angles in the experiment verify that the CCA possesses an obvious anti-angle misalignment *** research introduces an alternative solution of using CCA resonator instead of parallel plane cavity,thereby realizing an adjustment-free ECDL with enhanced mechanical stability.

关键词： laser resonant cavity corner cube array external cavity diode laser threshold curve

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Fairness-Aware Budgeted Edge Server Placement for Connected Autonomous Vehicles

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IEEE Transactions on Mobile Computing 2025年第6期24卷 4762-4776页

作者： Wu, Jintao Xu, Xiaolong Cui, Guangming Zhang, Yiwen Qi, Lianyong Dou, Wanchun Cai, Zhipeng Nanjing University of Information Science & Technology Jiangsu Province Engineering Research Center of Advanced Computing and Intelligent Services School of Software Nanjing210044 China Jilin University Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Changchun130012 China Nanjing University of Information Science & Technology Jiangsu Province Engineering Research Center of Advanced Computing and Intelligent Services School of Software China Nanjing University State Key Laboratory for Novel Software Technology China Anhui University School of Computer Science and Technology Anhui230031 China College of Computer Science and Technology Qingdao266580 China Nanjing University State Key Laboratory for Novel Software Technology Nanjing210023 China Georgia State University Department of Computer Science United States

Mobile edge computing (MEC) considerably enhances the capabilities and performance of connected autonomous vehicles (CAVs) by deploying edge servers (ESs) on roadside units (RSUs) near CAVs, thereby ensuring low-latency services. Given the constrained and costly nature of ES resources (computing, storage, and bandwidth), equitable ES utilization is critical for CAV operations. However, fairness considerations are often overlooked in current budgeted edge server placement (ESP) strategies, potentially worsening resource imbalances and compromising user experience. This paper investigates the fairness-aware budgeted edge server placement (FESP) problem within RSUs, proving its NP-hardness. To address FESP, we first propose FESP-O, an integer programming-based optimal approach for small-scale problems, followed by FESP-APX, an approximation approach for large-scale scenarios that provides near-optimal solutions. We analyze the time complexity and approximation ratio of our proposed algorithms and validate their efficacy through experiments on real-world datasets. Extensive experimental results demonstrate significant performance improvements over baseline and state-of-the-art methods, indicating practical suitability and efficiency. © 2002-2012 IEEE.

关键词： Integer linear programming

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Recognition and Early Warning of Ride-hailing Vehicle Aggregation Based on Multi-Source Spatiotemporal Data Fusion

Recognition and Early Warning of Ride-hailing Vehicle Aggreg...

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2025 Australian and New Zealand Control Conference, ANZCC 2025

作者： Wu, Yue Zhong, Yuan Yu, Haitao Wang, Jiong Yan, Huaimin Wang, Jingcheng Dai, Xingyuan Zhao, Hongxia Lv, Yisheng Beijing Intelligent Transportation Development Center China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9798331532192

This paper proposes a deep learning-based hierarchical warning method designed to detect and respond to abnormal ride-hailing vehicle clustering. By integrating previously developed traffic forecasting and anomaly detection techniques, the method can differentiate varying degrees of clustering severity and trigger appropriate actions. The proposed approach fuses multi-source traffic data, utilizing a convolution-based spatio-temporal feature extraction module to predict ride-hailing vehicle arrival times, and implements a hierarchical warning system based on predefined thresholds. Validation results show that the proposed method can assess the difference between predicted and actual arrival times to evaluate the model’s confidence. On a real historical dataset from Beijing, significant deviations were used to identify abnormal ride-hailing behavior, achieving accurate graded warnings. © 2025 IEEE.

关键词： Data fusion

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Contact Impact Suppression for Robotic Belt Grinding Based on Model Predictive Control 17th

Contact Impact Suppression for Robotic Belt Grinding Based ...

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17th International Conference on intelligent Robotics and Applications, ICIRA 2024

作者： Chu, Yao Yan, Sijie Wang, Jingyun Yang, Zeyuan Zhu, Jiahui Ye, Songtao Ding, Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China Blade Intelligent Manufacturing Division HUST-Wuxi Research Institute Wuxi214174 China

ISBN: (纸本)9789819607761

The contact impact at the cut-in phase of the robotic belt grinding process is a critical issue that cannot be disregarded, as it is generally accompanied by contact force fluctuation and the over-grinding phenomenon, both of which affect machined surface quality and machining system stability. In this paper, a novel optimization method based on model predictive control (MPC) is presented to address the problem of cut-in contact impact, which can be directly attributed to the inappropriate transition contact state between the belt and the workpiece. Specifically, the local process parameters, including the contact force and contact velocity, as well as the trajectory characterized by the contact position prior to the cut-in stage, are dynamically optimized and planned based on the MPC-based strategy. Additionally, the instantaneous impact energy index (defined as the contact impact strength) is incorporated into the continuous task optimization objectives, which can be divided into different grinding phases, i.e., non-contact, cut-in, normal-cut, and cut-out phases. Finally, both numerical simulations and experiments on the scenario for robotic belt grinding of Ti-6Al-4V workpieces are conducted to evaluate the effectiveness of the proposed optimization methodology, indicating that the method can realize smooth contact transition and contact impact suppression. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Model predictive control

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Analysis for the nonlinear primary resonance behavior and bifurcation characteristics of the hydrostatic spindle

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Nonlinear Dynamics 2025年 1-24页

作者： Zhang, Han Wen Rong, You Min Cui, Hai Long Hu, Hai Dong Huang, Yu State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Guangdong Provincial Key Laboratory of Manufacturing Equipment Digitization Guangdong HUST Industrial Technology Research Institute Dongguan China Institute of Machinery Manufacturing Technology China Academy of Engineering Physics Mianyang621000 China

In order to effectively reduce or avoid the abnormal vibration of the hydrostatic spindle caused by the nonlinear oil film force, it is particularly important to grasp the vibration behavior mechanism. Therefore, the analytical mechanics combined with the elastic mechanics method-assumed modal method is applied to establish the nonlinear dynamics model and the average method is introduced to solve the amplitude-frequency response equation of the primary resonance. Based on amplitude-frequency response equations and singularity theory, a transfer-set root-finding algorithm is proposed to solve the primary resonance bifurcation boundary solution problem of the amplitude-frequency and parameter coupling system. The correctness of the dynamics model and the average solution results are verified by experiments. The effects of spindle stiffness, excitation force and oil film gap on the nonlinear primary resonance behavior of hydrostatic spindle and the bifurcation characteristics of the two-parameter variables are investigated. The results show that: due to the nonlinearity of the supporting oil film force, the nonlinear primary resonance behaviors of oil film oscillation phenomenon, jump phenomenon, multi-solution phenomenon, unstable solution and whirl will appear in the range of dimensionless frequency ratios w = [0.6, 0.8]. The spindle stiffness suppresses the nonlinear phenomena, the excitation force and oil film gap promote the nonlinear phenomena. When the structural parameter combination points fall within the range of the root-finding algorithm of the transfer set, there will be different degrees of bifurcated nonlinear dynamic behavior, and when the structural parameter combination points fall outside, there is basically no nonlinear dynamic behavior. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Bifurcation (mathematics)

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