LSTM-based lane change prediction using Waymo open motion dataset: The role of vehicle operating space

Lane change prediction is critical for crash avoidance but challenging as it requires the understanding of the instantaneous driving environment.With cutting-edge artificial intelligence and sensing technologies,autonomous vehicles(AVs)are expected to have exceptional perception systems to capture instantaneously their driving environments for predicting lane changes.By exploring the Waymo open motion dataset,this study proposes a framework to explore autonomous driving data and investigate lane change behaviors.In the framework,this study develops a Long Short-Term Memory(LSTM)model to predict lane changing behaviors.The concept of Vehicle Operating Space(VOS)is introduced to quantify a vehicle's instantaneous driving environment as an important indicator used to predict vehicle lane changes.To examine the robustness of the model,a series of sensitivity analysis are conducted by varying the feature selection,prediction horizon,and training data balancing ratios.The test results show that including VOS into modeling can speed up the loss decay in the training process and lead to higher accuracy and recall for predicting lane-change behaviors.This study offers an example along with a methodological framework for transportation researchers to use emerging autonomous driving data to investigate driving behaviors and traffic environments.

Design and Cryogenic Performance of a Hexapod Platform for a Large Ground-based Wide Field Survey Telescope

The thermal gradient is an important factor that causes degradation to the image quality of telescopes. In order to ensure the accurate alignment of the primary focus unit and the primary mirror, the hexapod platform(as a corrector) is investigated in this paper. First, a ground-based telescope with 2.5 m aperture and 3.5 deg field of view is described. The telescope is under construction, and it is expected to be finished in 2023. Second, the hexapod platform with flexure hinges utilized to adjust the primary focus unit is proposed, which is applied as a corrector.Then, the inverse kinematics of the platform is established and an open-loop control system is built based on it.Finally, the cryogenic performance test for the hexapod platform is performed. The experimental results show that the resolution and repeatability of the translation for the hexapod platform can be achieved at the micrometer level.The resolution and repeatability of the rotation can be achieved at the arc-second level. Therefore, the cryogenic performance of the hexapod platform can meet the optical imaging requirements of the wide-field ground-based telescope. The kinematic analysis and cryogenic performance tests in the paper provide a technical reference for the precise alignment of the primary focus unit and the primary mirror, which can improve the imaging quality of the telescope.

Long-term Integration Ability of the Submillimeter Wave Astronomy Satellite(SWAS)Spectral Line Receivers

The Submillimeter Wave Astronomy Satellite(SWAS)was the first space telescope capable of high spectral resolution observations of terahertz spectral lines.We have investigated the integration ability of its two receivers and spectrometer during five and a half years of on-orbit operation.The CI,O_(2),H_(2)O,and^(13)CO spectra taken toward all observed Galactic sources were analyzed.The present results are based on spectra with a total integration time of up to 2.72×10~4hr(■10~8s).The noise in the spectra is generally consistent with that expected from the radiometer equation,without any sign of approaching a noise floor.This noise performance reflects the extremely stable performance of the passively cooled front end as well as other relevant components in the SWAS instrument throughout its mission lifetime.

Fault tolerant control for near space vehicle:a survey and some new results

A review on fault-tolerant control（FTC） for near space vehicle（NSV） is presented.First,the concept of near space is introduced,the background of NSV is emphasized,and the model characteristics of NSV in faulty case are investigated.Then,a comparison of different existing approaches is briefly carried out,and achievements on the current research in this field are also presented in the view of the practical application.Furthermore,several existing advanced FTC results for nonlinear flight control systems are given.Finally,the recent literature of NSV are presented to provide an overall view of future developments in this area.

Adaptive sliding mode backstepping control for near space vehicles considering engine faults

A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is designed.Thirdly, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance.

The Solar Upper Transition Region Imager(SUTRI)Onboard the SATech-01 Satellite

The Solar Upper Transition Region Imager(SUTRI)onboard the Space Advanced Technology demonstration satellite(SATech-01),which was launched to a Sun-synchronous orbit at a height of~500 km in 2022 July,aims to test the on-orbit performance of our newly developed Sc/Si multi-layer reflecting mirror and the 2k×2k EUV CMOS imaging camera and to take full-disk solar images at the Ne VII 46.5 nm spectral line with a filter width of~3 nm.SUTRI employs a Ritchey-Chrétien optical system with an aperture of 18 cm.The on-orbit observations show that SUTRI images have a field of view of~416×416 and a moderate spatial resolution of~8″without an image stabilization system.The normal cadence of SUTRI images is 30 s and the solar observation time is about16 hr each day because the earth eclipse time accounts for about 1/3 of SATech-01's orbit period.Approximately15 GB data is acquired each day and made available online after processing.SUTRI images are valuable as the Ne VII 46.5 nm line is formed at a temperature regime of~0.5 MK in the solar atmosphere,which has rarely been sampled by existing solar imagers.SUTRI observations will establish connections between structures in the lower solar atmosphere and corona,and advance our understanding of various types of solar activity such as flares,filament eruptions,coronal jets and coronal mass ejections.

Experiment on diffuse reflection laser ranging to space debris and data analysis

Space debris poses a serious threat to human space activities and needs to be measured and cataloged. As a new technology for space target surveillance, the measurement accuracy of diffuse reflection laser ranging （DRLR） is much higher than that of microwave radar and optoelectronic measurement. Based on the laser ranging data of space debris from the DRLR system at Shanghai Astronomical Observatory acquired in March-April, 2013, the characteristics and precision of the laser ranging data are analyzed and their applications in orbit determination of space debris are discussed, which is implemented for the first time in China. The experiment indicates that the precision of laser ranging data can reach 39 cm-228 cm. When the data are sufficient enough （four arcs measured over three days）, the orbital accuracy of space debris can be up to 50 m.

Analysis of the wide area differential correction for BeiDou global satellite navigation system

The regional BeiDou Satellite System, or BDS2, broadcasts a differential correction as Equivalent Satellite Clock Correction to correct both orbit and satellite clock errors. For the global BDS, or BDS3, satellite orbit and clock corrections conforming with RTCA standards will be broadcast to authorized users. The hybrid constellation and regional monitoring network pose challenges for the high precision separation of orbit and satellite clock corrections. Three correction models of kinematic,dynamic and Two-way Satellite Time Frequency Transfer(TWSTFT)-based dynamic were studied to estimate the satellite orbit and clock corrections. The correction accuracy of the three models is compared and analyzed based on the BDS observation data. Results show that the accuracies(root mean square, RMS) of dual-frequency real-time positioning for the three models are about 1.76 m, 1.78 m and 2.08 m respectively, which are comparable with the performance of WAAS and EGNOS. With dynamic corrections, the precision of Precise Point Positioning(PPP) experiments may reach about 23 cm after convergence.

Operating principles and detection characteristics of the Visible and Near-Infrared Imaging Spectrometer in the Chang'e-3

The Visible and Near-Infrared Imaging Spectrometer （VNIS）, using two acousto-optic tunable filters as dispersive components, consists of a VIS/NIR imag- ing spectrometer （0.45-0.95 μm）, a shortwave IR spectrometer （0.9-2.4 p.m） and a calibration unit with dust-proofing functionality. The VNIS was utilized to detect the spectrum of the lunar surface and achieve in-orbit calibration, which satisfied the re- quirements for scientific detection. Mounted at the front of the Yutu rover, lunar ob- jects that are detected with the VNIS with a 45° visual angle to obtain spectra and ge- ometrical data in order to analyze the mineral composition of the lunar surface. After landing successfully on the Moon, the VNIS performed several explorations and cal- ibrations, and obtained several spectral images and spectral reflectance curves of the lunar soil in the region of Mare Imbrium. This paper describes the working principle and detection characteristics of the VNIS and provides a reference for data processing and scientific applications.

Data processing and initial results of Chang'e-3 lunar penetrating radar

To improve our understanding of the formation and evolution of the Moon, one of the payloads onboard the Chang＇e-3 （CE-3） rover is Lunar Penetrating Radar （LPR）. This investigation is the first attempt to explore the lunar subsurface structure by using ground penetrating radar with high resolution. We have probed the subsur- face to a depth of several hundred meters using LPR. In-orbit testing, data processing and the preliminary results are presented. These observations have revealed the con- figuration of regolith where the thickness of regolith varies from about 4 m to 6 m. In addition, one layer of lunar rock, which is about 330 m deep and might have been accumulated during the depositional hiatus of mare basalts, was detected.

Feasible region and stability analysis for hovering around elongated asteroids with low thrust

This paper investigates properties of low-thrust hovering, including the feasible region and stability, in terms of the dynamical parameters for elongated asteroids. An approximate rotating mass dipole model, by which the description of the rotational gravitational field is reduced to two independent parameters, is employed to construct normalized dynamical equations. The boundaries of the feasible region are determined by contours representing the magnitude of the active control. The effects of a rotating gravitational field and maximal magnitude of the low thrust on the feasible hovering regions are analyzed with numerical results. The stability conditions are derived according to the forms of the eigenvalues of the linearized equation near the hovering position. The stable regions are then determined by a grid search and the effects of the relevant parameters are analyzed in a parametric way. The results show that a close hovering can be easier to realize near the middle of the asteroid than near the two ends in the sense of both required control magnitude and stability.

Application of two special orbits in the orbit determination of lunar satellites

Using inter-satellite range data, the combined autonomous orbit determina- tion problem of a lunar satellite and a probe on some special orbits is studied in this paper. The problem is firstly studied in the circular restricted three-body problem, and then generalized to the real force model of the Earth-Moon system. Two kinds of spe- cial orbits are discussed： collinear libration point orbits and distant retrograde orbits. Studies show that the orbit determination accuracy in both cases can reach that of the observations. Some important properties of the system are carefully studied. These findings should be useful in the future engineering implementation of this conceptual study.

Cassini-Huygens results on Titan's surface

Our understanding of Titan, Saturn＇s largest satellite, has recently been considerably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In particular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan＇s thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn＇s largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology： dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan＇s surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.

Parametric resonance orbit analysis for irregular shaped asteroids based on the perturbed particle-linkage model

There are plentiful asteroids moving periodically around their central primaries, such as the Sun. Due to the perturbation of the central primary, the gravitational force of the perturbed asteroid system varies periodically. In this paper, based on the idea of integrating the solar gravitational force as a part of the system instead of treating it as perturbation, the parametric resonance response is investigated. A novel type of stable parametric resonance orbits has been detected. It is found that the steady-state motion amplitude of parametric resonance orbit is determined by the frequency-response equation. The stability of the novel orbits has also been demonstrated. The new type of orbits may contribute to possible asteroid exploration missions.

Radio frequency compatibility analysis for BDSBAS and GPS/WAAS

Radio frequency signal compatibility is the basis of interoperability of the Satellite eBased Augmentation System(SBAS).SBAS should abide by relative international radio regulations of International Telecommunication Union(ITU) and meet the compatibility requirements of radio frequency signal between the Global Navigation Satellite System(GNSS)/SBAS,in order to avoid negative mutual interference.According to ITU Proposal and related reference and assumptions,the paper made simulation of signal receiving maximum power in the Bei Dou Satellite-Based Augmentation System(BDSBAS)global signal coverage.And then,interference of BDSBAS to Global Positioning System(GPS)/WAAS(Wide Area Augmentation System) on L1/L5 bands were calculated and analyzed,with equivalent carrierto-noise ratio as the evaluation parameter.The result shows that the carrier-to-noise ratio decrease of GPS/WAAS caused by BDSBAS B1 C and B2 a signals are extremely lower than inter-system interference of GPS/WAAS,and thus can be ignored in practical applications.Therefore,BDSBAS will not cause the service performance degradation of GPS and WAAS.

The deconvolution of lunar brightness temperature based on the maximum entropy method using Chang'e-2 microwave data

A passive and multi-channel microwave sounder onboard the Chang＇e-2 orbiter has successfully acquired microwave observations of the lunar surface and subsurface structure. Compared with the Chang＇e-1 orbiter, the Chang＇e-2 orbiter obtained more accurate and comprehensive microwave brightness temperature data, which are helpful for further research. Since there is a close relationship between mi- crowave brightness temperature data and some related properties of the lunar regolith, such as the thickness, temperature and dielectric constant, precise and high resolution brightness temperature data are necessary for such research. However, through the detection mechanism of the microwave sounder, the brightness temperature data ac- quired from the microwave sounder are weighted by the antenna radiation pattern, so the data are the convolution of the antenna radiation pattern with the lunar brightness temperature. In order to obtain the real lunar brightness temperature, a deconvolution method is needed. The aim of this paper is to solve the problem associated with per- forming deconvolution of the lunar brightness temperature. In this study, we introduce the maximum entropy method （MEM） to process the brightness temperature data and achieve excellent results. The paper mainly includes the following aspects： first, we introduce the principle of the MEM; second, through a series of simulations, the MEM has been verified as an efficient deconvolution method; and third, the MEM is used to process the Chang＇e-2 microwave data and the results are significant.

Ground experiments and performance evaluation of the Low-Frequency Radio Spectrometer onboard the lander of Chang’e-4 mission

The Low-Frequency Radio Spectrometer(LFRS)is a scientific payload onboard the Chang’e-4 lunar lander launched in December 2018.The LFRS provides in-situ measurements of the low-frequency radio phenomena on the far-side of theMoon for the first time in human history.To evaluate the performance of the LFRS,a series of ground experiments are conducted using an engineering model of the LFRS.It is not easy to perform the experiments because the Electro Magnetic Interference(EMI)from the Chang’e-4 lunar lander itself and the environment is very intense.The results after EMI mitigation show that the sensitivity of the LFRS may be 10^(−18)W m^(−2)Hz^(−1).

A new source extraction algorithm for optical space debris observation

Specific challenges arise in the task of real-time automatic data reduction of optical space debris observations. Here we present an automatic technique that optimally detects and measures the sources from images of optical space debris ob- servations. We show that highly reliable and accurate results can be obtained on most images produced by our specific sensors, and due to optimizations, the whole pipeline works fast and efficiently. Tests demonstrate that the technique performs better than SExtractor from the point of view of fast and accurate detection, therefore it is well suited for data reduction of optical space debris observations.

Photometric Calibration of the Lunar-based Ultraviolet Telescope for Its First Six Months of Operation on the Lunar Surface

We describe the photometric calibration of the Lunar-based Ultraviolet Telescope（LUT）, the first robotic astronomical telescope working on the lunar surface, for its first six months of operation on the lunar surface. Two spectral datasets（set A and B） from near-ultraviolet（NUV） to the optical band were constructed with 44 International Ultraviolet Explorer（IUE） standards, because of the LUT＇s relatively wide wavelength coverage. Set A was obtained by extrapolating the IUE NUV spectra（λ 〈 3200 ） to the optical band based upon the theoretical spectra of stellar atmosphere models. Set B was composed of theoretical spectra from 2000 to 8000 extracted from the same model grid. In total, seven standards have been observed in15 observational runs until May 2014. The calibration results show that the photometric performance of LUT is highly stable in its first six months of operation. The magnitude zero points obtained from the two spectral datasets are also consistent with each other, i.e., zp = 17.54 ± 0.09 mag（set A） and zp = 17.52 ± 0.07 mag（set B）.

Data processing and initial results from the CE-3 Extreme Ultraviolet Camera

The Extreme Ultraviolet Camera （EUVC） onboard the Chang＇e-3 （CE-3） lander is used to observe the structure and dynamics of Earth＇s plasmasphere from the Moon. By detecting the resonance line emission of helium ions （He＋） at 30.4 nm, the EUVC images the entire plasmasphere with a time resolution of 10 min and a spatial resolution of about 0.1 Earth radius （RE） in a single frame. We first present details about the data processing from EUVC and the data acquisition in the commissioning phase, and then report some initial results, which reflect the basic features of the plas- masphere well. The photon count and emission intensity of EUVC are consistent with previous observations and models, which indicate that the EUVC works normally and can provide high quality data for future studies.