Predictive control for spacecraft rendezvous in an elliptical orbit using an FPGA

A field programmable gate array (FPGA)-based predictive controller for a spacecraft rendezvous manoeuvre is presented. A linear time varying prediction model is used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of manoeuvres. The resulting constrained optimisation problems are solved using a primal dual interior point algorithm. The majority of the computational demand is in solving a set of linear equations at each iteration of this algorithm. To accelerate this operation, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft core processor. The system is demonstrated in closed loop by linking the FPGA with a simulation of the plant dynamics running in Simulink on a PC, using Ethernet. © 2013 EUCA.

Field programmable gate array based predictive control system for spacecraft rendezvous in elliptical orbits

Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd. Summary A field programmable gate array (FPGA) based model predictive controller for two phases of spacecraft rendezvous is presented. Linear time-varying prediction models are used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of the longer range manoeuvres, whilst a fixed and receding prediction horizon is used for fine-grained tracking at close range. The resulting constrained optimisation problems are solved using a primal-dual interior point algorithm. The majority of the computational demand is in solving a system of simultaneous linear equations at each iteration of this algorithm. To accelerate these operations, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft-core processor on the FPGA, on which the remainder of the system is implemented. Certain logic that can be hard-coded for fixed sized problems is implemented to be configurable online, in order to accommodate the varying problem sizes associated with the variable prediction horizon. The system is demonstrated in closed-loop by linking the FPGA with a simulation of the spacecraft dynamics running in Simulink on a PC, using Ethernet. Timing comparisons indicate that the custom implementation is substantially faster than pure embedded software-based interior point methods running on the same MicroBlaze and could be competitive with a pure custom hardware implementation.

Stable dynamic walking over uneven terrain

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated "dynamic walking" biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not known in advance. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents "transversal" dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design, providing exponential orbital stability of the target trajectory of the original nonlinear system. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to a wide variety of hybrid nonlinear systems. © The Author(s) 2011.

Stable dynamic walking over rough terrain: Theory and experiment

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems. © 2011 Springer-Verlag.

黄土高原(土娄)覆盖层与黏化层的土壤水文效应

黄土高原(土娄)土在《中国土壤系统分类(修订方案)》中属土垫旱耕人为土类的相应亚类,其土壤水分状况是诊断表层所属人为表层类堆垫表层(覆盖层)和诊断表下层(黏化层)的重要诊断特征。以土壤持水性能、蒸发性能和水分移动性能为切入点,对(土娄)土覆盖层和黏化层的土壤水文效应进行研究论证,以期对土垫旱耕人为土类及其亚类的诊断层与诊断特征获取更深层的认识。

Reconstructing the interaction between dark matter and holographic dark energy

We reconstruct the interaction rate between dark matter and the holographic dark energy with the parametrized equation of states and the future event horizon as the infrared cutoff length. It is shown that the observational constraints from the 192 type Ia Supernovae (SnIa) and baryon acoustic oscillation (BAO) measurement permit the negative interaction in the wide region. Moreover, the usual phenomenological descriptions cannot describe the reconstructed interaction well for many cases. The other possible interaction is also discussed.

The generalized second law of thermodynamics in generalized gravity theories

We investigate the generalized second law of thermodynamics (GSL) in generalized theories of gravity. We examine the total entropy evolution with time including the horizon entropy, the non-equilibrium entropy production, and the entropy of all matter, field and energy components. We derive a universal condition to protect the generalized second law and study its validity in different gravity theories. In Einstein gravity (even in the phantom-dominated universe with a Schwarzschild black hole), Lovelock gravity and braneworld gravity, we show that the condition to keep the GSL can always be satisfied. In f ( R) gravity and scalar-tensor gravity, the condition to protect the GSL can also hold because the temperature should be positive, gravity is always attractive and the effective Newton constant should be an approximate constant satisfying the experimental bounds.

Holographic dual of linear dilaton black hole in Einstein-Maxwell-dilaton-axion gravity

Motivated by the recently proposed Kerr/CFT correspondence, we investigate the holographic dual of the extremal and non-extremal rotating linear dilaton black hole in Einstein-Maxwell-Dilaton-Axion Gravity. For the case of extremal black hole, by imposing the appropriate boundary condition at spatial infinity of the near horizon extremal geometry, the Virasoro algebra of conserved charges associated with the asymptotic symmetry group is obtained. It is shown that the microscopic entropy of the dual conformal field given by Cardy formula exactly agrees with Bekenstein-Hawking entropy of extremal black hole. Then, by rewriting the wave equation of massless scalar field with sufficient low energy as the SLL(2, R) x SLR(2, R) Casimir operator, we find the hidden conformal symmetry of the non-extremal linear dilaton black hole, which implies that the non-extremal rotating linear dilaton black hole is holographically dual to a two dimensional conformal field theory with the non-zero left and right temperatures. Furthermore, it is shown that the entropy of non-extremal black hole can be reproduced by using Cardy formula.

A model study on carbon cycle and phytoplankton dynamical processes in the Bohai Sea

The carbon cycle of lower trophic level in the Bohai Sea is studied with a three-dimension-al biological and physical coupled model. The influences of the processes (including horizontal advection,river nutrient load, active transport etc. ) on the phytoplankton biomass and its evolution are estimated.The Bohai Sea is a weak sink of the CO2 in the atmosphere. During the cycle, 13.7% of the gross pro-duction of the phytoplankton enter the higher trophic level and 76.8 % of it are consumed by the respira-tion itself. The nutrient reproduction comes mainly from the internal biogeochemical loop and the rem-ineralization is an important mechanism of the nutrient transfer from organic form to inorganic. Horizon-tal advection decreases the total biomass and the eutrophication in some sea areas. Change in the nutrientload of a river can only adjust the local system near its estuary. Controlling the input of the nutrient,which limits the alga growth, can be very useful in lessening the phytoplankton biomass.

Ten Years of the Relative Risk Model and Regional Scale Ecological Risk Assessment

It has been 10 years since the publication of the relative risk model (RRM) for regional scale ecological risk assessment. The approach has since been used successfully for a variety of freshwater, marine, and terrestrial environments in North America, South America, and Australia. During this period the types of stressors have been expanded to include more than contaminants. Invasive species, habitat loss, stream alteration and blockage, temperature, change in land use, and climate have been incorporated into the assessments. Major developments in the RRM have included the extensive use of geographical information systems, uncertainty analysis using Monte Carlo techniques, and its application to retrospective assessments to determine causation. The future uses of the RRM include assessments for forestry and conservation management, an increasing use in invasive species evaluation, and in sustainability. Developments in risk communication, the use of Bayesian approaches, and in uncertainty analyses are on the horizon.

黄土高原南部3种农田土壤剖面坚实度的变化规律

为了揭示黄土高原南部地区不同质地类型土壤剖面坚实度的变化及其与土壤含水率的定量关系,以黄墡土、土娄土、裸露在地表的粘化层耕作剖面为研究对象,定位观测其0~45 cm土壤坚实度与含水率的变化。结果表明,黄墡土、土娄土、裸露在地表粘化层耕作剖面的犁底层平均坚实度均大于耕层,犁底层平均坚实度较耕层分别高194.8%,87.3%,10.4%;剖面土壤质地越粘其平均坚实度越大;土壤坚实度与含水率呈负相关关系;土壤坚实度变化速率为0时,以上3种土壤剖面临界含水率分别为0.1712,0.1757,0.1835;质地不同的土壤剖面坚实度时空变化特征有差异,其中黄墡土剖面0~20 cm土层土壤坚实度为350~500 kPa,受土壤含水率变化的影响较小;20~30 cm土层土壤的坚实度为500~1400 kPa,不易受外界环境影响;30 cm以下土层土壤坚实度为700~1600 kPa,受土壤含水率变化影响较大。土娄土剖面0~40 cm土层土壤坚实度为600~1200 kPa,受含水率变化影响较大;40 cm以下土层土壤坚实度稳定在1 800 kPa左右。粘化层剖面0~15 cm土层土壤坚实度在2000 kPa左右,受环境影响较...

Polygonal faults and their implications for hydrocarbon reservoirs in the southern Qiongdongnan Basin, South China Sea

The Polygonal faults were identified in Qiongdongnan Basin, South China Sea, by using the technique of time coherent slice and horizon flattening of high-resolution 3D seismic data. These polygonal faults occur in three tiers of the upper Meishan Formation and the Huangliu Formation. The faults have lengths of 150-1500 m, spacings of 50-3000 m, throws of 10-40 m and dips of 50-90 degrees. Tectonic evolution in the Qiongdongnan Basin can be divided into a rifted stage and a post-rifted stage. Tectonic faults are widely distributed in the rifted sequences, but are not well developed in the post-rifted stage. Few faults in the post-rifted sequences might suggest the absence of a migration pathway for hydrocarbon or other fluids. However, the existence of polygonal faults in the post-rifted sequences can serve as the pathway and promote the hydrocarbon migration and accumulation in the Qiongdongnan Basin during the post-rifted stage. (C) 2010 Elsevier Ltd. All rights reserved.

Soil organic carbon storage and soil CO2 flux in the alpine meadow ecosystem

High-resolution sampling, measurements of organic carbon contents and C-14 signatures of selected four soil profiles in the Haibei Station situated on the northeast Tibetan Plateau, and application of C-14 tracing technology were conducted in an attempt to investigate the turnover times of soil organic carbon and the soil-CO2 flux in the alpine meadow ecosystem. The results show that the organic carbon stored in the soils varies from 22.12x10(4) kg C hm(-2) to 30.75x10(4) kg C hm(-2) in the alpine meadow ecosystems, with an average of 26.86x10(4) kg C hm(-2). Turnover times of organic carbon pools increase with depth from 45 a to 73 a in the surface soil horizon to hundreds of years or millennia or even longer at the deep soil horizons in the alpine meadow ecosystems. The soil-CO2 flux ranges from 103.24 g C m(-2) a(-1) to 254.93 gC m(-2) a(-1), with an average of 191.23 g C m(-2) a(-1). The CO2 efflux produced from microbial decomposition of organic matter varies from 73.3 g C m(-2) a(-1) to 181 g C m(-2) a(-1). More than 30% of total soil organic carbon resides in the active carbon pool and 72.8%. 81.23% of total CO2 emitted from organic matter decomposition results from the topsoil horizon (from 0 cm to 10 cm) for the Kobresia meadow. Responding to global warming, the storage, volume of flow and fate of the soil organic carbon in the alpine meadow ecosystem of the Tibetan Plateau will be changed, which needs further research.

Capacity of soil to protect organic carbon and biochemical characteristics of density fractions in Ziwulin Haplic Greyxems soil

Physical protection is one of the important ways to stabilize organic carbon in soils. In order to understand the role of soils as a carbon sink or source in global climatic change and carbon cycles and properly manage soils as a carbon sink, we ought to know how many organic carbon (OC) in a given soil could be protected. By a density fractionation approach and ultrasonic technique, each soil sample was divided into three fractions: free light fraction (free-LF), occluded fraction (occluded-LF) and heavy fraction (HF). The obtained fractions were analyzed for total OC content, carbohydrate content and recalcitrant OC content. The results showed: (i) In the whole soil profile, dominance of OC consistently decreased in the following order: HF, free-LF, occluded-LF. This suggested that OC in soils were mostly protected. From 0-10 to 60-80 cm horizons, the OC in free-LF decreased from 25.27% to 3.72%, while OC in HF they were increased from 72.57% to 95.39%. The OC in occluded-LF was between 2.16% and 0.89%. (ii) Organic carbon recalcitrance in free-LF was similar to that in HF, and was even higher than that in HF below the surface horizon. This suggested that free-LF was not always the most fresh and non-decomposed fraction. OM quality of HF was higher than that of free-LF in the surface 10 cm below, namely the protected OM had higher quality than free OM in these horizons.