Enabling Energy Efficient Sensory Data Collection Using Multiple Mobile Sink

Mobile sink is the challenging task for wireless sensor networks （WSNs）. In this paper we propose to design an efficient routing protocol for single mobile sink and multiple mobile sink for data gathering in WSN. In this process, a biased random walk method is used to determine the next position of the sink. Then, a rendezvous point selection with splitting tree technique is used to find the optimal data transmission path. If the sink moves within the range of the rendezvous point, it receives the gathered data and if moved out, it selects a relay node from its neighbours to relay packets from rendezvous point to the sink. Proposed algorithm reduces the signal overhead and improves the triangular routing problem. Here the sink acts as a vehicle and collect the data from the sensor. The results show that the proposed model effectively supports sink mobility with low overhead and delay when compared with Intelligent Agent-based Routing protocol （IAR） and also increases the reliability and delivery ratio when the number of sources increases.     

无人机空中加油自主会合导引律研究

针对自主空中加油技术中的会和阶段的理论研究,提出一种带有终端偏航角约束的导引问题。通过对三维空间中重新设计偏置项,来同时约束俯仰与偏航角,将期望的会合点作为跟踪目标,并在制导末端结合纯追踪法,实现终端航向的控制。最后,以匀速直线运动和作U型机动的加油机为例,对无人机（UAV）选取不同的初始位置和航向来检验所提出的制导律实现会合的能力。仿真结果表明,所设计的自主会合制导律有效实现无人机空中加油自主会合,解决了现有一类自主会合制导律设计复杂、需预先已知加油机轨迹及大量在线规划计算的问题。     

自主空中加油会合过程中飞行制导律设计

针对目前自主空中加油亟需解决的会合问题,采用带有末端角约束的比例导引方法,实现了受油机导引进入加油区域,加油机采用非线性制导算法跟踪赛马场跑道线飞行,并给出了有风条件下非线性制导算法可能失效的解决办法。引入虚拟目标和虚拟加油机的概念,保持受油机和加油机在会合上的时间同步,设计了相应的速度控制器。利用Matlab/Simulink搭建仿真平台对空中加油会合制导律进行了仿真验证,仿真结果表明设计的制导律能满足自主空中加油的会合要求。     

Necessary and sufficient conditions of the rendezvous between a single spacecraft and three non-coplanar Walker constellation satellites

The probability of the rendezvous between a single spacecraft and three non-coplanar constellation satellites is studied,and the necessary and sufficient conditions of the rendezvous without orbital maneuver are deduced.The rendezvous orbit design can be transformed into the patching of two spacecraft orbits,either of which can achieve the rendezvous with two satellites.Firstly,due to the precious quality of spherical geometry,the unique existence of the rendezvous orbit for two constellation satellites is ...     

基于滑模的空中加油受油机会合制导与控制

为实现空中加油过程中受油机与加油机自主会合,建立满足会合要求的滑模控制面,设计相应制导律.根据受油机与加油机相对位置与速度得出受油机前向加速度指令.基于六自由度受油机动力学模型,采用时标分离将受油机的角运动系统分为快慢回路,采用动态逆方法分别进行系统设计和设计满足追踪会合要求的速度控制律,并以无人机自主跟踪加油机实现会合为例进行仿真.结果表明:该系统能引导受油机实现与加油机的会合,具有良好的动态性能.     

认知无线电网络信道交汇研究综述

认知无线电技术被认为是解决目前频谱资源利用率低下问题最有前景的技术,基于该技术,认知无线电网络采用动态频谱接入方式有效地提高了授权频段的利用率.然而,动态变化的信道可用性极大地增加了认知无线电网络组网的难度.信道交汇旨在为用户通信提供公共传输媒介,是实现无线网络组网的基础.介绍了认知无线电网络信道交汇的基本概念和特点,并阐述了信道交汇策略设计面临的挑战以及应考虑的性能指标.提出了信道交汇策略的分类标准和系统模型,根据该分类标准,详细剖析了当前信道交汇策略相关的研究工作.最后,讨论了认知无线电网络信道交汇研究的开放性问题,以期为未来的研究指出可能的方向和重点.     

Adaptive control for spacecraft rendezvous subject to actuator faults and saturations

An adaptive saturated fault-tolerant controller is proposed for a spacecraft rendezvous maneuver with a cooperative target spacecraft. The six-degree-of-freedom (6-DOF) relative dynamics subject to unknown inertial parameters, external disturbances, actuator faults and saturations are formulated in the pursuer's body-fixed frame. To design controller satisfying asymmetric magnitude constraints, a modified smooth hyperbolic tangent function is applied to approximate the non-differentiable saturation function. Based on the augmented system technique, an adaptive fault-tolerant saturated controller is designed for the pursuer by using a Nussbaum function matrix compensating for the nonlinear term arising from the input saturations. In addition, a Levant differentiator is introduced to obtain the derivative of the virtual control in finite time that avoids the complicated calculation. It is proved via Lyapunov stability theory that all the signals in the closed-loop augmented system are bounded and the relative errors asymptotically converge to zero. Numerical simulations are performed to illustrate effectiveness of the proposed controller.     

基于星间测量的航天器精密定轨技术研究

在我国自主实施的交会对接任务中,2个空间目标进行了数次对接试验,在近距离导引段使用星间测量数据进行自主导引。针对2个航天器对接过程中的星间测量数据建立观测模型,并设计了多目标定轨的算法,将单目标的绝对测量融合到两目标联合定轨的技术中,实现了对空间多个目标的精确定轨。最终分析表明,星间测量数据优于地面测量精度,多目标定轨达到了地面精确测控的水平,同时避免了由于多目标同时跟踪而导致的地面测控资源分配的问题,为后续载人航天任务的测控模式提供了借鉴。     

考虑非线性模型不确定性的航天器自主交会控制

考虑航天器交会模型不确定性的问题,提出基于一般非线性相对运动方程的自适应控制策略. 针对复杂非线性系统中由外部扰动及目标星轨道参数引起的线性与非线性不确定性问题,通过自适应神经网络对模型结构进行参数化近似. 结合自适应反推技术和李雅普诺夫稳定方法进行自适应控制器设计,能够实现控制目标,保证所得闭环系统的渐近稳定性. 为了探究同时存在模型不确定性和输入约束的情况下航天器相对运动的自适应控制设计,提出辅助控制系统来分析和解决输入约束的影响. 针对相对运动提出的自适应控制策略保证了闭环系统的稳定性,使得模型未知参数的自适应估计满足最终一致有界性. 对不同案例分析比较的数值仿真结果验证了提出控制方法的有效性.     

空间交会对接用激光雷达敏感器

本文讨论了在航天飞行器的空间交会对接(RVD)技术中采用激光雷达敏感器的可行性。提出在航天飞行器的自主交会对接技术中,应采用一种简单、实用的单目标系统。