Relative Position and Attitude Control for Drag-Free Satellite with Prescribed Performance and Actuator Saturation

An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.

Controlling N-methyl-D-aspartate receptor subunit 1 with calcitonin gene related peptide after cerebral ischemic injury

BACKGROUND: Activation of N-methyl-D-aspartate receptor (NMDAR) is a key link of exitotoxicity at the phase of cerebral ischemic injury. Because NMDAR is a main way to mediate internal flow of Ca2+ among glutamic acid receptors, over-excitation can cause neuronal apoptosis. Calcitonin gene related peptide has a strongly biological activity. On one hand, it can protect ischemic neurons through inhibiting the expression of NMDAR1 mRNA; on the other hand, it can play the protective effect through down-regulating the expression of NMDAR1 mRNA by exogenous calcitonin gene related peptide. OBJECTIVE: To observe the expression of NMDAR1 and the regulatory effect of calcitonin gene related peptide on the expression of NMDAR1 mRNA and protein in the cerebral cortex of rats with focal cerebral ischemia/reperfusion (I/R). DESIGN: Randomized controlled animal study. SETTING: China Medical University. MATERIALS: A total of 216 healthy male Wistar rats, general grade, weighing 250-280 g, were selected in this study. Twelve rats were randomly selected to regard as control group; meanwhile, other 204 rats were used to establish middle cerebral artery occlusion/reperfusion (MACO) models. The main reagents were detailed as follows: calcitonin gene related peptide (Sigma Company); calcitonin gene related peptide kit (Boster Company); antibody Ⅰ, Ⅱ and antibody β-actin Ⅰ, Ⅱ of NMDAR1 mRNA and chemiluminescence reagent (Santa Cruz Company, USA). METHODS: The experiment was carried out in the Laboratory of Neurobiology of China Medical University from August 2005 to June 2006. ① Right MCAO models of rats were established to cause focal ischemia and scored based on Zea Longa five-grade scale. If the scores were 1, 2 and 3 after wakefulness, the MACO models were established successfully and involved in the experiment. A total of 120 rats with successful modeling were randomly divided into I/R group and administration group with 60 in each group. All rats in the both groups were observed at five time points, including 6, 12, 24, 48 and 72 hours after reperfusion and after 2-hour ischemia, with 12 experimental animals at each time point. Six rats were prepared for detection of hybridization in situ, and the other 6 were used for Western blotting histochemical detection. Rats in the control group were opened their skin to separate common carotid artery and not treated with line and drugs. In addition, rats in the I/R group were treated with 1 mL saline at 2 hours after focal cerebral ischemia, and then, rats in the administration group were treated with 1 mL (1 g/L) calcitonin gene related peptide at 2 hours after focal cerebral ischemia. ② The expression of NMDAR1 mRNA was detected with hybridization in situ at various time points; moreover, the expression of NMDAR1 protein was measured with Western blotting method at various time points. The results were analyzed with Metamoph imaging analytical system. MAIN OUTCOME MEASURES: The expression of NMDAR1 mRNA and its protein in cortical neurons of rats at various time points. RESULTS: A total of 84 rats were excluded because of non-symptoms, exanimation or death; and then, 132 rats were involved in the final analysis. The expression of NMDAR1 mRNA and its protein in cortical neurons of rats in the control group was 0.205±0.001 and 0.184±0.001, respectively; after I/R, expression of NMDAR1 mRNA and its protein was up-regulated, especially, expression of mRNA at 6, 12, 24, 48 and 72 hours was 0.245±0.003, 0.287±0.004, 0.354±0.008, 0.284±0.002 and 0.217±0.006, respectively; moreover, expression of protein at 6, 12, 24, 48 and 72 hours was 0.222±0.003, 0.261±0.028, 0.311±0.004, 0.259±0.013 and 0.210±0.008, respectively. There was significant difference between the two groups (0.205±0.001, P < 0.01). The expression was up-related in the former 24 hours, reached peak at 24 hours, down-regulated, and decreased to the level of control group at 72 hours. Except 72 hours, the expression of NMDAR1 mRNA and its protein was lower in administration group than that in I/R group at other four time points. In addition, the expression of mRNA at 6, 12, 24, 48 and 72 hours was 0.223±0.005, 0.243±0.001, 0.292±0.002, 0.250±0.003 and 0.213±0.003, respectively; moreover, the expression of protein at 6, 12, 24, 48 and 72 hours was 0.216±0.006, 0.245±0.025, 0.276±0.003, 0.241±0.045 and 0.202±0.013, respectively. There was significant difference at various time points (P < 0.05). CONCLUSION: The expressions of NMDAR1 mRNA and its protein of peripheral cortical neurons are up-related in ischemic area after focal cerebral I/R. Meanwhile, exogenous calcitonin gene related peptide can protect cortical neurons through inhibiting expression of NMDAR1 mRNA and its protein after focal cerebral I/R.

A solution using only electromagnetic coils for relative pose control in satellite docking

This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellite has a main coil;the chaser satellite possesses a main coil of the same size accompanied by six and four evenly arranged secondary coils inside and outside the main coil,respectively.The coil on the target satellite is DC energized,while the currents in the coils of the chaser satellite are regulated.To remove the coupling between the pitch/yaw torque and translational force,the internal and external secondary coils of the chaser satellite interact with the main coil of the target satellite to perform the control of relative pitch/yaw and relative translation,respectively,so relative pose control can be achieved.The torque and force vectors exerted by the secondary coils of the chaser satellite are synthesized onto the pitch and yaw axes of the body frame.According to their spatial composition relationship,the formulas are proposed,which obtain the magnetic moment vectors of the coils from the set torques and forces.The controllers regulating pitch/yaw,translation,and distance utilize a three-loop cascaded structure that consists of an outer position loop,a middle velocity loop and an inner current loop.The control strategy is verified by dynamics simulation.

Relative roll control of satellite docking using electromagnetic coils

An electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device,have been proposed for the relative roll control of two satellites in space.The target satellite and the chaser satellite are respectively embarked with four and six coils evenly arranged around the docking axis.All the coils on the target satellite are Direct Current(DC)energized,while the currents in the coils of the chaser satellite are regulated to achieve the relative roll control.The electromagnetic force/torque model is built by utilizing the frequentlyused far field model.Based on the fundamental components extracted from that model,this paper proposes a real-time magnetic moment vector distribution formula that simply generates a constant roll torque.This paper not only presents an equation for calculating the relative roll angle through the Euler angles of two satellites,but also an equation that converts the roll torque setpoint to the setpoints of the coil currents.A 3-closed-loop positioning controller composed of angle,angular velocity,and current loop is developed.The proposed topology is verified by finite element simulation,and the control strategy is validated by dynamics simulation and ground-based tests.

Elliptical formation control based on relative orbit elements

A new set of relative orbit elements（ROEs）is used to derive a new elliptical formation flying model.In-plane and out-of-plane motions can be completely decoupled,which benefts elliptical formation design.The inverse transformation of the state transition matrix is derived to study the relative orbit control strategy.Impulsive feedback control laws are developed for both in-plane and out-of-plane relative motions.Control of in-plane and out-of-plane relative motions can be completely decoupled using the ROE-based feedback control law.A tangential impulsive control method is proposed to study the relationship of fuel consumption and maneuvering positions.An optimal analytical along-track impulsive control strategy is then derived.Different typical orbit maneuvers,including formation establishment,reconfguration,long-distance maneuvers,and formation keeping,are taken as examples to demonstrate the performance of the proposed control laws.The effects of relative measurement errors are also considered to validate the high accuracy of the proposed control method.

Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

This paper deals with the problem of position and attitude tracking control for a rigid spacecraft.A fully actuated system(FAS)model for the six degree-of-freedom(6DOF)spacecraft motion is derived first from the state-space model by variable elimination.Considering the uncertainties from external disturbance,unknown motion information,and uncertain inertia properties,an extended state observer(ESO)is designed to estimate the total disturbance.Then,a tracking controller based on FAS approach is designed,and this makes the closed-loop system a constant linear one with an arbitrarily assignable eigenstructure.The solution to the parameter matrices of the observer and controller is given subsequently.It is proved via the Lyapunov stability theory that the observer errors and tracking errors both converge into the neighborhood of the origin.Finally,numerical simulation demonstrates the effectiveness of the proposed controller.

Automated extraction of attributes from natural language attribute-based access control(ABAC)Policies

The National Institute of Standards and Technology(NIST)has identified natural language policies as the preferred expression of policy and implicitly called for an automated translation of ABAC natural language access control policy(NLACP)to a machine-readable form.To study the automation process,we consider the hierarchical ABAC model as our reference model since it better reflects the requirements of real-world organizations.Therefore,this paper focuses on the questions of:how can we automatically infer the hierarchical structure of an ABAC model given NLACPs;and,how can we extract and define the set of authorization attributes based on the resulting structure.To address these questions,we propose an approach built upon recent advancements in natural language processing and machine learning techniques.For such a solution,the lack of appropriate data often poses a bottleneck.Therefore,we decouple the primary contributions of this work into:(1)developing a practical framework to extract authorization attributes of hierarchical ABAC system from natural language artifacts,and(2)generating a set of realistic synthetic natural language access control policies(NLACPs)to evaluate the proposed framework.Our experimental results are promising as we achieved-in average-an F1-score of 0.96 when extracting attributes values of subjects,and 0.91 when extracting the values of objects’attributes from natural language access control policies.

Automated extraction of attributes from natural language attribute-based access control(ABAC)Policies

The National Institute of Standards and Technology(NIST)has identified natural language policies as the preferred expression of policy and implicitly called for an automated translation of ABAC natural language access control policy(NLACP)to a machine-readable form.To study the automation process,we consider the hierarchical ABAC model as our reference model since it better reflects the requirements of real-world organizations.Therefore,this paper focuses on the questions of:how can we automatically infer the hierarchical structure of an ABAC model given NLACPs;and,how can we extract and define the set of authorization attributes based on the resulting structure.To address these questions,we propose an approach built upon recent advancements in natural language processing and machine learning techniques.For such a solution,the lack of appropriate data often poses a bottleneck.Therefore,we decouple the primary contributions of this work into:(1)developing a practical framework to extract authorization attributes of hierarchical ABAC system from natural language artifacts,and(2)generating a set of realistic synthetic natural language access control policies(NLACPs)to evaluate the proposed framework.Our experimental results are promising as we achieved-in average-an F1-score of 0.96 when extracting attributes values of subjects,and 0.91 when extracting the values of objects’attributes from natural language access control policies.