Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were di...Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.展开更多
The control law design for a near-space hypersonic vehicle（NHV） is highly challenging due to its inherent nonlinearity,plant uncertainties and sensitivity to disturbances.This paper presents a novel functional link ...The control law design for a near-space hypersonic vehicle（NHV） is highly challenging due to its inherent nonlinearity,plant uncertainties and sensitivity to disturbances.This paper presents a novel functional link network（FLN） control method for an NHV with dynamical thrust and parameter uncertainties.The approach devises a new partially-feedback-functional-link-network（PFFLN） adaptive law and combines it with the nonlinear generalized predictive control（NGPC） algorithm.The PFFLN is employed for approximating uncertainties in flight.Its weights are online tuned based on Lyapunov stability theorem for the first time.The learning process does not need any offline training phase.Additionally,a robust controller with an adaptive gain is designed to offset the approximation error.Finally,simulation results show a satisfactory performance for the NHV attitude tracking,and also illustrate the controller＇s robustness.展开更多
This research paper describes the design and implementation of the Consultative Committee for Space Data Systems (CCSDS) standards REF _Ref401069962 \r \h \* MERGEFORMAT [1] for Space Data Link Layer Protocol (SDLP). ...This research paper describes the design and implementation of the Consultative Committee for Space Data Systems (CCSDS) standards REF _Ref401069962 \r \h \* MERGEFORMAT [1] for Space Data Link Layer Protocol (SDLP). The primer focus is the telecommand (TC) part of the standard. The implementation of the standard was in the form of DLL functions using C++ programming language. The second objective of this paper was to use the DLL functions with OMNeT++ simulating environment to create a simulator in order to analyze the mean end-to-end Packet Delay, maximum achievable application layer throughput for a given fixed link capacity and normalized protocol overhead, defined as the total number of bytes transmitted on the link in a given period of time (e.g. per second) divided by the number of bytes of application data received at the application layer model data sink. In addition, the DLL was also integrated with Ground Support Equipment Operating System (GSEOS), a software system for space instruments and small spacecrafts especially suited for low budget missions. The SDLP is designed for rapid test system design and high flexibility for changing telemetry and command requirements. GSEOS can be seamlessly moved from EM/FM development (bench testing) to flight operations. It features the Python programming language as a configuration/scripting tool and can easily be extended to accommodate custom hardware interfaces. This paper also shows the results of the simulations and its analysis.展开更多
Utilizing graph neural networks for knowledge embedding to accomplish the task of knowledge graph completion(KGC)has become an important research area in knowledge graph completion.However,the number of nodes in the k...Utilizing graph neural networks for knowledge embedding to accomplish the task of knowledge graph completion(KGC)has become an important research area in knowledge graph completion.However,the number of nodes in the knowledge graph increases exponentially with the depth of the tree,whereas the distances of nodes in Euclidean space are second-order polynomial distances,whereby knowledge embedding using graph neural networks in Euclidean space will not represent the distances between nodes well.This paper introduces a novel approach called hyperbolic hierarchical graph attention network(H2GAT)to rectify this limitation.Firstly,the paper conducts knowledge representation in the hyperbolic space,effectively mitigating the issue of exponential growth of nodes with tree depth and consequent information loss.Secondly,it introduces a hierarchical graph atten-tion mechanism specifically designed for the hyperbolic space,allowing for enhanced capture of the network structure inherent in the knowledge graph.Finally,the efficacy of the proposed H2GAT model is evaluated on benchmark datasets,namely WN18RR and FB15K-237,thereby validating its effectiveness.The H2GAT model achieved 0.445,0.515,and 0.586 in the Hits@1,Hits@3 and Hits@10 metrics respectively on the WN18RR dataset and 0.243,0.367 and 0.518 on the FB15K-237 dataset.By incorporating hyperbolic space embedding and hierarchical graph attention,the H2GAT model successfully addresses the limitations of existing hyperbolic knowledge embedding models,exhibiting its competence in knowledge graph completion tasks.展开更多
基金Supported by the National Natural Science Foundation of China(11372073,11072061)Industrial Robot Basic Component Technology Research and Development Platform,Fujian,China(2014H21010011)。
文摘Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.
基金supported by the National Natural Science Foundation of China (9071602860974106)
文摘The control law design for a near-space hypersonic vehicle（NHV） is highly challenging due to its inherent nonlinearity,plant uncertainties and sensitivity to disturbances.This paper presents a novel functional link network（FLN） control method for an NHV with dynamical thrust and parameter uncertainties.The approach devises a new partially-feedback-functional-link-network（PFFLN） adaptive law and combines it with the nonlinear generalized predictive control（NGPC） algorithm.The PFFLN is employed for approximating uncertainties in flight.Its weights are online tuned based on Lyapunov stability theorem for the first time.The learning process does not need any offline training phase.Additionally,a robust controller with an adaptive gain is designed to offset the approximation error.Finally,simulation results show a satisfactory performance for the NHV attitude tracking,and also illustrate the controller＇s robustness.
文摘This research paper describes the design and implementation of the Consultative Committee for Space Data Systems (CCSDS) standards REF _Ref401069962 \r \h \* MERGEFORMAT [1] for Space Data Link Layer Protocol (SDLP). The primer focus is the telecommand (TC) part of the standard. The implementation of the standard was in the form of DLL functions using C++ programming language. The second objective of this paper was to use the DLL functions with OMNeT++ simulating environment to create a simulator in order to analyze the mean end-to-end Packet Delay, maximum achievable application layer throughput for a given fixed link capacity and normalized protocol overhead, defined as the total number of bytes transmitted on the link in a given period of time (e.g. per second) divided by the number of bytes of application data received at the application layer model data sink. In addition, the DLL was also integrated with Ground Support Equipment Operating System (GSEOS), a software system for space instruments and small spacecrafts especially suited for low budget missions. The SDLP is designed for rapid test system design and high flexibility for changing telemetry and command requirements. GSEOS can be seamlessly moved from EM/FM development (bench testing) to flight operations. It features the Python programming language as a configuration/scripting tool and can easily be extended to accommodate custom hardware interfaces. This paper also shows the results of the simulations and its analysis.
基金the Beijing Municipal Science and Technology Program(No.Z231100001323004).
文摘Utilizing graph neural networks for knowledge embedding to accomplish the task of knowledge graph completion(KGC)has become an important research area in knowledge graph completion.However,the number of nodes in the knowledge graph increases exponentially with the depth of the tree,whereas the distances of nodes in Euclidean space are second-order polynomial distances,whereby knowledge embedding using graph neural networks in Euclidean space will not represent the distances between nodes well.This paper introduces a novel approach called hyperbolic hierarchical graph attention network(H2GAT)to rectify this limitation.Firstly,the paper conducts knowledge representation in the hyperbolic space,effectively mitigating the issue of exponential growth of nodes with tree depth and consequent information loss.Secondly,it introduces a hierarchical graph atten-tion mechanism specifically designed for the hyperbolic space,allowing for enhanced capture of the network structure inherent in the knowledge graph.Finally,the efficacy of the proposed H2GAT model is evaluated on benchmark datasets,namely WN18RR and FB15K-237,thereby validating its effectiveness.The H2GAT model achieved 0.445,0.515,and 0.586 in the Hits@1,Hits@3 and Hits@10 metrics respectively on the WN18RR dataset and 0.243,0.367 and 0.518 on the FB15K-237 dataset.By incorporating hyperbolic space embedding and hierarchical graph attention,the H2GAT model successfully addresses the limitations of existing hyperbolic knowledge embedding models,exhibiting its competence in knowledge graph completion tasks.
