Space range estimate for battery-powered vertical take-off and landing aircraft

A novel method for estimating the space range of battery-powered vertical take-off and landing(VTOL) aircraft is presented. The method is based on flight parameter optimization and numerical iteration. Subsystem models including required thrust, required power and battery discharge models are presented. The problem to be optimized is formulated, and then case study simulation is conducted using the established method for quantitative analysis. Simulation results show that the space range of battery-powered VTOL aircraft in a vertical plane is an oblate curve, which appears horizontally long but vertically short, and the peak point is not located on the vertical climb path. The method and results are confirmed by parameter analysis and validations.

Problems and Barriers Impeding the Implementation of MagLev Assisted Aircraft Take-Off and Landing Concept

Nowadays, the success of the new technology development and deployment process depends not only on technical, technological solutions, but also on solving the non-technological problems and crossing the societal and psychological barriers. A large international European projects, GABRIEL1 had developed a maglev assisted aircraft take-off and landing, that was applied to conceptual design of aircraft and required on-board and ground systems, had analysed all impacts (effects of concept deployment on effectiveness, safety, security, noise, emissions) and had demonstrated the safe applicability by concept validation. The applied methodology, used methods and the results of the Gabriel projects had been described and discussed by 55 project deliverables. This paper has a special goal: investigating the problems and barriers of possible implementing of the radically new technology, aircraft MagLev assisted take-off and landing. The study was started by identification and classification of the problems and barriers. After it, the problems were systematically analysed by use of special methodology containing the understanding (description) of the problems, investigation of the possible solutions and discussing their applicability (mainly by use of the Gabriel project results). The paper has three major sections: 1) description of the Gabriel concept and project results, 2) introducing some related thoughts on general aspects of new technology developments, and 3) discussion on the problems and their solutions. The major classes of the problems are the 1) technical, technological problems as developing a radically new solution, landing the undercarriage-less aircraft on the magnetic tracks, 2) stakeholders’ problems as decision makers kicking against supporting the developments of so radically new technologies and 3) society barriers like society worrying on and fear of future passengers on flying by aircraft have not conventional undercarriage systems. The paper will show that these problems have safe and cost-effective solutions.

The Influence of Climate Change and Variability on Aircraft Take-off and Landing Performance;a Case Study of the Abeid Amani Karume International Airport-Zanzibar

Climate change (CC) and variability have been world widely reported to pose number of risks in aviation industry including accidents, astray, and other operational difficulties. The impact of weather on landing and take-off performances has been several times experienced at Abeid Amani Karume International Airport (AAKIA);however, the influence of climate change and variability to the aircraft performance needs to be assessed. Thus, this study investigated the influence of climate change and variability on aircrafts take-off and landing performances. Specifically, the study investigated;i) the influence of climate change on Take-off Distance Required (TODR) and Maximum Take-off Mass (MTOM) for different types of aircraft;ii) the influence of climate variability to the aircraft landing performance on light, medium and heavy aircraft and lastly, iii) the study investigated the seasonal and annual variability on aircraft landing performance due to climate variability. The datasets used in this study include the eight years (2014-2021), aircraft operational records (diversion and missed approach events) and Aviation Routine Weather Reports (METAR) records which were utilized as the indicators for landing performance, the long-term (1990-2020) annual maximum temperatures (Tmax) which was used to determine the TODR and MTOM. Statistical tools including mean, percentage changes, correlations, regression, and the chi-square test were used for analysis and hypotheses testing. The results revealed that light and medium aircraft categories were significantly most affected on diversion events as compared to the heavy categories;however, for the missed approach events the impact was vice versa. Moreover, the seasonal and annual variability on diversion and missed approach events were significantly different (at p ≤ 0.001). As for the take-off performance, results show that the TODR and MTOM were significantly increasing and decreasing (at p ≤ 0.001), based on increasing air temperatures. Therefore, the study concludes that the changing climate has significantly affected aircraft by increasing the TODR and decreasing the MTOM, while the climate variability has significantly affected landing performance by influencing the diversion and missed approach events. Thus, the study recommends (i) further research works including the feasibility study on runway extension for the safety of future aircraft operations at the AAKIA and (ii) proper maintenance and improvement of the Instrumental Landing Systems (ILS) as an adaptation measures to the landing aircraft during bad weather events.

基于谷歌地球引擎和Landsat影像的广西壮族自治区土地覆盖变化及驱动因素研究

基于GEE和随机森林分类算法研究广西壮族自治区在1995—2022年27 a间的土地覆被变化,采用地理探测器对不同土地覆被类型的时空变化及其主要驱动因素进行分析研究。结果表明:1)土地覆被类型分类结果具有较好的分类精度,整体精度在87%~92%。2)1995—2022年,广西壮族自治区的林地和建设用地面积持续增加,增幅分别达75.94%和132.67%。林地面积从85382.72 km^(2)增加到150224.55 km^(2),建设用地面积从2038.73 km^(2)增加到4743.46 km^(2);与此同时,草地及稀疏灌草混交地面积减少了82.46%(66990.97 km^(2));其他土地覆被类型变化则相对稳定。3)通过地理探测器模型的分析结果显示,人为因素是影响土地利用/覆被(LULC)变化的主要驱动因素,经济的快速发展、城市人口的增加和工业扩张是建设用地和林地扩张以及植被减少的主要原因。研究结果对于广西壮族自治区的生态环境管理和土地可持续利用规划具有参考价值。

The Mode of Promoting Industrial Targeted Poverty Alleviation through Land Circulation in Western Mountainous Region of China——A Case Study of Luquan Yi and Miao Autonomous County in Yunnan Province

In the industrial targeted poverty alleviation,land circulation is a key process. Based on the national strategy of targeted poverty alleviation,this paper combined the industrial development of targeted poverty alleviation with land circulation. According to the field survey on the current situation of land circulation and promotion of the industrial poverty alleviation in the typical project area of Zhongping Village in Zhongping Town and Jiaowuying Village in Jiulong Town in Luquan Yi and Miao Autonomous County in Yunnan Province,located in the high mountain canyon area of Jinsha River in the upper reaches of the Yangtze River in the west of China. This paper summarized and analyzed the organization and operation mechanism,basic practices and main results of the land circulation and promotion of industrial poverty alleviation model in the typical project area of the county. It also summarized the innovation and successful experience of the model,and then came up with measures to further promote the implementation of the model,so as to provide necessary reference for the implementation of land circulation and industrial targeted poverty alleviation for the poverty-stricken counties in Yunnan Province and similar provinces( cities,regions).

Land Suitability Evaluation of Zanthoxylum schinifolium in Dry and Hot Valley of Jinsha River: A Case Study of Jiaopingdu Town of Luquan Yi and Miao Autonomous County,Yunnan Province

According to the recent practice in Laopingzi Village,Jiaopingdu Town,Luquan Yi and Miao Autonomous County(Luquan County hereinafter)in dry and hot valley of Jinsha River,the development of Zanthoxylum schinifolium Sieb.et Zucc planting industry can help farmers gradually get rid of poverty and achieve a virtuous cycle of ecological environment.It is a sustainable poverty alleviation way.Based on the three aspects of soil properties,climatic conditions,and topographical conditions influencing the growth of Z.schinifolium,this paper selected eight evaluation factors to establish a suitability evaluation system for Z.schinifolium,used the analytic hierarchy process to determine the indicator,and determined the weight of the evaluation indicators.Besides,it calculated the comprehensive suitability index of land suitability of Z.schinifolium and evaluated the suitability of Z.schinifolium land in Jiaopingdu Town of Luquan County.The results showed that the suitable area for the cultivation of Z.schinifolium in Jiaopingdu Town reached 7270.78 ha,accounting for 88.69%of the study area;the area of unsuitable land was 922.07 ha,accounting for 11.31%of the study area.Among the suitable land areas,the high suitability area reached562.99 ha,accounting for 7.79%;the moderate suitability area was 2206.76 ha,accounting for 28.61%;the low suitability area was4599.03 ha,accounting for 63.6%.Based on the results of suitability evaluation,it came up with pertinent recommendations for the development of Z.schinifolium industry in Jiaopingdu Town.

Monocular Vision Based Relative Localization For Fixed⁃wing Unmanned Aerial Vehicle Landing

Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.

融合语义分割与模糊推理的无人机应急降落选址算法

随着无人机的应用领域从娱乐摄影拓展到物流、军事和灾害响应,对于无人机的自主智能化要求也越来越高。针对无人机紧急情况下自主降落区域复杂难以保证着陆安全的问题,提出了一种实时语义分割网络与模糊推理相结合的降落选址算法(STDC-LSSNet)。考虑到潜在危险因素在航拍图像上占比小、易被错误分割的问题,提出了小目标特征提取模块(small target feature capture module,STFCM),通过计算不同尺度特征的相似性并进行权重分配,强化小目标特征的表达。考虑到安全区域与危险区域边界混淆会导致无人机降落存在巨大风险,提出了边界特征融合模块(boundary feature fusion module,BFFM),将浅层网络由拉普拉斯卷积得到的边界信息与深层网络的语义信息进行特征融合,引入注意力机制,增强边界区域特征的表达。通过对分割得到的图像进行模糊推理,从而精确识别应急降落地点。所提算法在公开数据集Semantic Drone和AeroScapes上与最先进的算法进行了广泛的对比实验,mIoU提升1.72个百分点和3.89个百分点,实时分割速度达到210 FPS,选址的速度达到58.62 ms,实现了无人机在复杂情况下的应急降落选址。

Development of a Bird-like Flapping-wing Aerial Vehicle with Autonomous Take-off and Landing Capabilities

The lack of autonomous take-off and landing capabilities of bird-like flapping-wing aerial vehicles(BFAVs)seriously restricts their further development and application.Thus,combined with the current research results on the autonomous take-off and landing technology of unmanned aerial vehicles,four types of technologies are studied,including jumping take-off and landing technology,taxiing take-off and landing technology,gliding take-off and landing technology,and vertical take-off and landing(VTOL)technology.Based on the analytic hierarchy process(AHP)-comprehensive evaluation method,a fuzzy comprehensive evaluation model for the autonomous take-off and landing scheme of a BFAV is established,and four schemes are evaluated concretely.The results show that under the existing technical conditions,the hybrid layout VTOL scheme is the best.Furthermore,the detailed design and development of the prototype of a BFAV with a four-rotor hybrid layout are carried out,and the vehicle performance is tested.The results prove that through the four-rotor hybrid layout design,the BFAV has good autonomous take-off and landing abilities.The power consumption analysis shows that for a fixed-point reconnaissance mission,when the mission radius is less than 3.38 km,the VTOL type exhibits longer mission duration than the hand-launched type.

Automated Autonomous Vehicles: Prospects and Impacts on Society

All automobile manufacturing companies, Google and Microsoft have announced recently their production of the Fully Automated Autonomous Vehicles (FAAVs), otherwise known as driverless cars. A few FAAVs would be available in the market as early as in 2018, but mostly in 2020’s. When FAAVs will be available to and become affordable by the average consumers, the implications to the society would be far reaching. The purpose of the paper is to examine the prospect of the popularity of FAAVs and their socio-economic implications to the future society of the World. The paper examines potential impacts on selected sectors of the society including changes in demand for automobiles, its impact on the use of oil, on the environment, and on urban land uses, to list a few.

Changes in Utilization of Contracted Land in Xundian County of Yunnan Province in the Background of Poverty Alleviation

The gradual migration of rural population to cities is an inevitable result of the sustainable development of China’s society and economy.Going out to work is not only a personal behavior of farmers in line with this historical trend,and in the present moment,it is also an important measure to win the battle against poverty.Xundian Yi and Hui Autonomous County is located in the northeast of Yunnan Province.It is one of the key counties in China’s poverty alleviation and development work.Through the implementation of special measures to increase labor income,a total of 125611 rural laborers were employed from 2014 to 2018,and as a result,a large number of farmers have been lifted out of poverty.However,under this model,the transfer of a large number of rural laborers also has an impact on the utilization of contracted land of migrant households,mainly demonstrated by land abandonment,decline in land use efficiency and decline in land productivity,which are not conducive to the sustainable use and protection of land resources.To this end,based on field research,this article analyzes the changes in the utilization of land of migrant households under the poverty alleviation model of working outside,as well as their impact.In addition,the questionnaire survey of the registered poverty-stricken households show that the area and productivity of land owned by households with migrant workers are on a downward trend compared to those before and those of households without migrant workers.Land transfer is a feasible means to solve this problem and to consolidate the achievements of poverty alleviation and sustainable use of land resources.It is suggested that great attention should be paid to the contract and management issue of land left by migrant households,establishment of efficient guarantee mechanism,improvement of land utilization and promotion of saving and intensive use of land resources to bring the land resources to their proper value.

Land Use Regionalization in Poor Counties in Mountainous Areas Based on Targeted Poverty Alleviation

Land use regionalization is a strategic measure for the rational use,management and protection of land resources based on local conditions.Based on the needs of targeted poverty alleviation and rural revitalization strategy and the analysis on the natural and socioeconomic conditions,characteristics of land resources,and the current status of land use in Luquan County,corresponding regionalization indices were selected from four aspects:economic environment conditions,socioeconomic conditions,land resources and land use structure,and poverty alleviation and development level,a scientific and feasible index system for land use regionalization was constructed,and land use in Luquan County was regionalized by using systematic cluster analysis method.The results show that the 16 townships(towns)of Luquan County were divided into four land use regions,poverty alleviation region for development of new town and characteristic industries in the southwest(I),agricultural development and ecological poverty alleviation region in central mountainous area(II),poverty alleviation region for development of characteristic agriculture and tourism towns in eastern plateau mountainous area(III),and poverty alleviation region for development of characteristic industries and protection of land economy in the northern alpine valley area(IV).In addition,suggestions were put forward for the rational use of land in each region.

Poverty Alleviation in Xundian Hui and Yi Autonomous County by Promoting Labor Migration

The transfer of rural population to urban areas is the inevitable result of China s economic development,and going out to work is an important poverty alleviation model for poor areas to adapt to this historical trend.Studying its typical practices not only has practical guidance and reference for targeted poverty alleviation and poverty alleviation work,but also has important implications for how to rationally allocate regional population,resources,environment and economy.This paper investigates and explores the labor migration-promoting poverty alleviation model in Xundian Hui and Yi Autonomous County in the Wumeng mountainous area,a national concentrated and contiguous poverty-stricken area.On the basis of sorting out the leadership system,training methods,assistance ideas,working mechanism and poverty alleviation achievements,the income of 50 poverty-free households in 2018 was investigated and analyzed specifically.The results show that the poverty alleviation in Xundian County has achieved significant achievements both in macro and individual farmers,and it has played a decisive role in getting rid of poverty for households with migrant workers.In addition,the successful experience of Xundian County to increase income and get rid of poverty is sorted out,and the problems existing in this model are analyzed.It is believed that attention should be paid to the impact of labor migration on rural land use and citizenization of migrant workers.

地外天体软着陆自主导航与控制技术研究进展

软着陆探测是重要的地外天体探测方式,制导、导航与控制(Guidance,Navigation and Control,GNC)是地外天体软着陆成功的关键。首先梳理了国内外月球、火星和小天体等地外天体软着陆任务发展现状;在此基础上,总结了地外天体软着陆任务典型GNC方案及自主导航与控制技术主要进展;最后,针对未来的地外天体精确定点软着陆任务,提出了需要重点关注和发展的自主导航与控制关键技术,为未来技术发展提供借鉴和参考。

基于复合标志的四旋翼无人机自主降落系统

四旋翼无人机能否快速、精确地降落在地面充电装置或回收装置上是实现空地机器人协同的关键步骤之一。提出了一种基于视觉的四旋翼无人机在静止平台上自主降落的模型化框架,设计了基于AprilTag的复合标签着陆标志,将视觉测量与无人机自驾仪提供的状态信息利用卡尔曼滤波器进行融合,提高无人机位姿估计精度。利用PID控制器计算无人机的期望加速度,并将其转化为无人机的姿态指令,使得无人机飞行到期望位置。在专用模拟器下,对提出的无人机自主降落系统进行了多次仿真,仿真结果表明,无人机的平均降落误差小于5cm,验证了无人机自主降落系统的有效性和精确性。

陆地生态系统碳监测卫星自主任务规划研究

低轨遥感卫星往往以全球或全国范围内的特定地物为探测目标。为提高卫星在轨运行的自主性,文章提出了一种面向地物目标属性的遥感卫星自主任务规划方法。首先外推出预报点90 min后的星下点经纬度,并根据星载地图和太阳高度角,得到预报点的阳照/阴影、陆地/海洋、境内/境外属性。对地物目标属性信息进行平滑处理后,根据各载荷的地物目标属性,识别出各载荷的工作任务时间段,可实时实现提前约1个轨道圈的载荷自主任务规划。

基于模糊PID的球形两栖机器人的设计及控制

为了解决移动机器人对工作环境要求严格的问题,设计了一种适用于多变、狭窄环境的轻小型球形陆空两栖机器人,具有地面滚动和空中飞行两种运动模式,可以自主完成运动模式的切换。首先,设计了机器人的结构,包括滚动部分、飞行部分和模式切换部分。基于拉格朗日方法,建立了不同运动模式下的动力学模型,建立了基于欧拉方程的运动学模型。最后,根据机器人的运动模型,设计了飞行模式和地面滚动模式下的姿态控制器,并对控制器进行了仿真对比实验。在实机上进行了测试,实验结果表明,该机器人能够实现自主模式切换,在不同运动模式下运动稳定、姿态可控,在纯地面模式下具有一定的越障能力。在结构、控制方法及控制策略切换方法上对陆空两栖可变形机器人具有一定借鉴作用。

2000—2020年西藏“一江两河”地区人类活动对植被覆盖变化的影响

[目的]探究西藏“一江两河”(雅鲁藏布江、年楚河和拉萨河)地区人类活动对植被覆盖变化的影响机制,为该区开展山水林田湖草沙冰一体化保护与修复工程实施提供理论依据和科学指导。[方法]基于2000—2020年归一化植被指数、土地利用数据、生态工程数据和气象数据,利用GIS技术、残差分析、slope趋势分析和M-K检验等方法,研究“一江两河”地区人类活动对植被覆盖时空变化的影响机制。[结果]①2000—2020年研究区植被NDVI总体呈增加趋势,但表现出显著的空间差异性,NDVI增加区主要集中在河谷两岸。②2000—2020年人类活动对NDVI正向影响区主要集中在雅鲁藏布江和拉萨河等河谷地带,负向影响主要分布在拉萨市区及其周边地区,分布较少,以正向影响为主导。③不同土地利用类型对植被覆盖变化的影响程度不同,草地和灌丛对NDVI变化的贡献率最大,两者共达到92.8%,其中城镇和森林面积急剧增加,城镇生态系统增加面积主要由农田和草地生态系统转入,森林和灌丛生态系统主要由草地和荒漠生态系统转入。④生态工程林是研究区NDVI增加主要原因之一,生态工程林面积变化与NDVI变化率、残差变化率均呈极显著正相关关系,同时生态工程林能够较好地解释残差变化。[结论]人类活动是西藏“一江两河”地区地表植被覆盖变化的重要促进因素,适度的生态工程对植被恢复有重要作用。

A software platform for vision-based UAV autonomous landing guidance based on markers estimation

The paper concentrated on descripting the methods of UAV autonomous landing on moving target. GPS navigation and visionbased navigation were employed during different stage of autonomous landing in the simulation environment and virtual reality.Uncertain markers estimation is the main step for UAV autonomous landing. It contains the convex hull transformation,interference preclusion, ellipse fitting and specific feature matching. Furthermore, the complete visual measurement program and guidance strategy were proposed in this paper. Considerable comprehensive experiments indicated the significance and feasibility of method of vision-based UAV autonomous landing on moving target.

基于微平台的自主起降仿生鸟弹跳机构设计

针对仿生扑翼鸟下肢的弹跳起飞和缓冲降落功能,开展了对其下肢弹跳机构的研究。以鸟类下肢骨骼的尺寸比例为参考,对鸟类起飞的下肢运动特性进行分析;在弹跳下蹲阶段,为了避免翅膀与地面发生干涉,采用基于微平台起降方式的方法对下肢弹跳机构进行了设计;为了提高下肢的仿生性,设计了类平行四边形下肢腿部机构,结合空间D-H表达法,建立了下肢机构的运动学方程;利用拉格朗日方程,建立了下肢机构的动力学方程;利用Adams软件进行装配体弹跳仿真分析,对其下肢腿部机构进行求解。结果表明,装配体质心水平初速度达到了仿生鸟“苍鹰”起飞所需的临界速度条件,可以实现弹跳起飞。