Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space

Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.

Method to generate training samples for neural network used in target recognition

Training neural network to recognize targets needs a lot of samples.People usually get these samples in a non-systematic way,which can miss or overemphasize some target information.To improve this situation,a new method based on virtual model and invariant moments was proposed to generate training samples.The method was composed of the following steps：use computer and simulation software to build target object＇s virtual model and then simulate the environment,light condition,camera parameter,etc.;rotate the model by spin and nutation of inclination to get the image sequence by virtual camera;preprocess each image and transfer them into binary image;calculate the invariant moments for each image and get a vectors＇ sequence.The vectors＇ sequence which was proved to be complete became the training samples together with the target outputs.The simulated results showed that the proposed method could be used to recognize the real targets and improve the accuracy of target recognition effectively when the sampling interval was short enough and the circumstance simulation was close enough.

Coordinated target localization base on pseudo measurement for clustered space robot

This paper presents a coordinated target localization method for clustered space robot.According to the different measuring capabilities of cluster members,the master-slave coordinated relative navigation strategy for target localization with respect to slavery space robots is proposed;then the basic mathematical models,including coordinated relative measurement model and cluster centralized dynamics,are established respectively.By employing the linear Kalman flter theorem,the centralized estimator based on truth measurements is developed and analyzed frstly,and with an intention to inhabit the initial uncertainties related to target localization,the globally stabilized estimator is designed through introduction of pseudo measurements.Furthermore,the observability and controllability of stochastic system are also analyzed to qualitatively evaluate the convergence performance of pseudo measurement estimator.Finally,on-orbit target approaching scenario is simulated by using semi-physical simulation system,which is used to verify the convergence performance of proposed estimator.During the simulation,both the known and unknown maneuvering acceleration cases are considered to demonstrate the robustness of coordinated localization strategy.

Quantitative law of diffusion induced fracture

Through dimension analysis, an almost analytical model for the maximum diffusion induced stress（DIS）and critical temperature（or concentration） difference at which cracks begin to initiate in the diffusion process is developed. It interestingly predicts that the spacing of diffusioninduced cracks is constant, independent of the thickness of specimen and the temperature difference. These conclusions are validated by our thermal shock experiments on alumina plates. Furthermore, the proposed model can interpret observed hierarchical crack patterns for high temperature jump cases, and a three-stage relation between the residual strength and the temperature difference. The prediction for crack spacing can guide the biomimetic thermal-shockfailure proof design, in which the hard platelets smaller than the predicted diffusion induced by constant crack-spacing are embedded in a soft matrix, and, therefore, no fracture will happen. This may guide the design of the thermal protection system and the lithium ion battery. Finally we present the maximum normalized DISes for various geometry and boundary conditions by single-variable curves for the stressindependent diffusion process and two-variable contour plots for the stress-dependent diffusion process, which can provideengineers and materialists a simple and easy way to quickly evaluate the reliability of related materials and devices.

Universal D'Alembert Principle and Equation of Motion for Any Order Nonholonomic Systems in Derivative Space

The important development has been made in studying nonholonomic systems, but many theoretical and practical problems still need to be solved. In order to suit development of analytical mechanism itself and the need of wide-ranging application to other subjects and modem engineering technology, its research method, the mathematical models got with this method and final forms of differential equations of motion still need to be further studied. This article gives up the traditional method which was used to study the nonholonomic systems in 3N dimensional Euclid space "E3N".

First attempt to overcome the disaster of Dirac sea in imaginary time step method

Efforts have been made to solve the Dirac equation with axially deformed scalar and vector WoodsSaxon potentials in the coordinate space with the imaginary time step method. The results of the singleparticle energies thus obtained are consistent with those calculated with the basis expansion method, which demonstrates the feasibility of the imaginary time step method for the relativistic static problems.