One of the most important features of modern minor satellites is to realize autonomous moving. The performance of the satellite autonomous computer operating system acting as the control center is utmost important. Th...One of the most important features of modern minor satellites is to realize autonomous moving. The performance of the satellite autonomous computer operating system acting as the control center is utmost important. The recent trend in operating system development is adopting microkernel architecture which holds such advantages as microminiaturization, modularity, portability and extendibility. The performance of I/O subsystem is currently receiving considerable research attention. Object-orientation offers an approach to application development in which software system can be constructed by composing and refining the pre-designed plug-compatible software components.It also starts with some basic notions fairly well accepted in computer science, namely encapsulation and reuse. In this paper, a new object-oriented real-time I/O subsystem model has been designed.In this model, the traditional I/O subsystem framework is discarded and a stream mechanism based on the object-oriented concept is introduced. In addition, the I/O requests are classified according to their time emergency to obtain real-time performance. So, this model meets such satelliteperformance requirements as reliability, flexibility, portability and real-time performance.展开更多
Satellite-based Precipitation Estimates(SPEs)have gained importance due to enhanced spatial and temporal resolution,particularly in Indus basin,where raingauge network has fewer observation stations and drainage area ...Satellite-based Precipitation Estimates(SPEs)have gained importance due to enhanced spatial and temporal resolution,particularly in Indus basin,where raingauge network has fewer observation stations and drainage area is laying in many countries.Formulation of SPEs is based on indirect mechanism,therefore,assessment and correction of associated uncertainties is required.In the present study,disintegration of uncertainties associated with four prominent real time SPEs,IMERG,TMPA,CMORPH and PERSIANN has been conducted at grid level,regional scale,and summarized in terms of regions as well as whole study area basis.The bias has been disintegrated into hit,missed,false biases,and Root Mean Square Error(RMSE)into systematic and random errors.A comparison among gauge-and satellite-based precipitation estimates at annual scale,showed promising result,encouraging use of real time SPEs in the study area.On grid basis,at daily scale,from box plots,the median values of total bias(-0.5 to 0.5 mm)of the used SPEs were also encouraging although some under/over estimations were noted in terms of hit bias(-0.15 to 0.05 mm/day).Relatively higher values of missed(0.3 to 0.5 mm/day)and false(0.5 to 0.7 mm/day)biases were observed.The detected average daily RMSE,systematic errors,and random errors were also comparatively higher.Regional-scale spatial distribution of uncertainties revealed lower values of uncertainties in plain areas,depicting the better performance of satellite-based products in these areas.However,in areas of high altitude(>4000 m),due to complex topography and climatic conditions(orographic precipitation and glaciated peaks)higher values of biases and errors were observed.Topographic barriers and point scale gauge data could also be a cause of poor performance of SPEs in these areas,where precipitation is more on ridges and less in valleys where gauge stations are usually located.Precipitation system’s size and intensity can also be a reason of higher biases,because Microwave Imager underestimate precipitation in small systems(<200 km^(2))and overestimate in large systems(>2000 km^(2)).At present,use of bias correction techniques at daily time scale is compulsory to utilize real time SPEs in estimation of floods in the study area.Inter comparison of satellite products indicated that IMERG gave better results than the others with the lowest values of systematic errors,missed and false biases.展开更多
One of the most important features of modem minor satellites is to realize autonomous moving. The perfomance of the satellite autonomous computer operating system acting as the control center is of utrnost importance....One of the most important features of modem minor satellites is to realize autonomous moving. The perfomance of the satellite autonomous computer operating system acting as the control center is of utrnost importance. The recent trend in operating system development is adopting microkernel architecture that holds such advantages as microminiaturization, modularity, portability and extendibility. IPC is the key of microkernel design. Message-based IPC mechanism is generally used in existing microkernel Operating system. It is of consistency, safety and reliability.However, it can not provide efficient support for real-time applications in satellite systems and it only applies to loose coupling multi-processor architecture. In this paper, an improvement solution for existing message-based IPC is proposed at first to obtain real-time performance. Then a new IPC mechanism is designed. It particulary applies to shared memory tight coupling multi-processor architecture.展开更多
With the continuous improvement of the performance and the increasing variety of optical mapping and remote sensing satellites,they have become an important support for obtaining global accurate surveying and mapping ...With the continuous improvement of the performance and the increasing variety of optical mapping and remote sensing satellites,they have become an important support for obtaining global accurate surveying and mapping remote sensing information.At present,optical mapping and remote sensing satellites already have sub-meter spatial resolution capabilities,but there is a serious lag problem in mapping and remote sensing information services.It is urgent to develop intelligent mapping and remote sensing satellites to promote the transformation and upgrading to real-time intelligent services.Firstly,based on the three imaging systems of the optical mapping and remote sensing satellites and their realization methods and application characteristics,this paper analyzes the applicable system of the intelligent mapping and remote sensing satellites.Further,according to the application requirements of real-time,intelligence,and popularization,puts forward the design concept of integrated intelligent remote sensing satellite integrating communication,navigation,and remote sensing and focuses on the service mode and integrated function composition of intelligent remote sensing satellite.Then expounds on the performance and characteristics of the Luojia-301 satellite,a new generation of intelligent surveying and mapping remote sensing scientific test satellite.And finally summarizes and prospects the development and mission of intelligent mapping remote sensing satellites.Luojia-301 satellite integrates remote sensing and communication functions.It explores an efficient and intelligent service mode of mapping and remote sensing information from data acquisition to the application terminal and provides a real service verification platform for on-orbit processing and real-time transmission of remote sensing data based on space-ground internet,which is of great significance to the construction of China’s spatial information network.展开更多
In this paper,we demonstrate a high-sensitivity and real-time heterodyne coherent optical transceiver for intraplane satellite communication,without digital-to-analog converter(DAC)devices and an optical phase lock lo...In this paper,we demonstrate a high-sensitivity and real-time heterodyne coherent optical transceiver for intraplane satellite communication,without digital-to-analog converter(DAC)devices and an optical phase lock loop(OPLL).Based on the scheme,a real-time sensitivity of-49 dBm is achieved at 5 Gbps QPSK.Because DAC is not needed at the transmitter,as well as OPLL at the receiver,this reduces the system cost.Furthermore,the least required Rx ADC bit-width is also discussed.Through theoretical analysis and experimental results,our cost-effective transceiver satisfies the scenario and could be a promising component for future application.展开更多
Analyses the interrelation between satellite attitude and equipment failures, presents the way of animation simulation of satellite attitude control based upon the virtual reality thought, and realizes on a microcompu...Analyses the interrelation between satellite attitude and equipment failures, presents the way of animation simulation of satellite attitude control based upon the virtual reality thought, and realizes on a microcomputer the attitude control animation demonstration system for a remote sensing satellite.展开更多
A real-time RT-PCR assay using Taq Man-MGB probes was developed to detect and type the bovine viral diarrhea virus(BVDV) in cattle.Universal primers and Taq Man-MGB probes were designed from the 5′-untranslated reg...A real-time RT-PCR assay using Taq Man-MGB probes was developed to detect and type the bovine viral diarrhea virus(BVDV) in cattle.Universal primers and Taq Man-MGB probes were designed from the 5′-untranslated region of known pestiviral sequences.Prior to optimizing the assay, c RNAs were transcribed in vitro from the BVDV 1 and BVDV 2 RTPCR products to make standard curves.The detection limit of the assay was 1.72×102 copies for BVDV 1 and 2.14×102copies for BVDV 2.The specificity of the assay evaluated on several BVDV strains including bovine herpesvirus 1(BHV 1), foot and mouth disease virus(FMDV) and several classical swine fever virus(CSFV) strains showed specific detection of the positive virus over 40 cycles.The assay was highly reproducible with the coefficient of variance ranging from 1.04 to 1.33% for BVDV 1 and from 0.83 to 1.48% for BVDV 2, respectively.Using this method, we tested a total of 2 327 cattle from three dairy farms for the presence of BVDV persistently infected(PI) animals.In this assay, each RT-PCR template contained a mixture of ten samples from different animals.The occurrence rate of PI cattle in three farms ranging from 0.9 to 2.54% could represent partly the PI rates in cattle farm in China.In conclusion, using our real-time PCR assay, we could effectively detect and type BVDV and identify PI cattle in a rapid and cost-effective manner.展开更多
The satellite transponder is a widely used module in satellite missions, and the most concerned issue is to reduce the noise of the transferred signal. Otherwise, the telemetry signal will be polluted by the noise con...The satellite transponder is a widely used module in satellite missions, and the most concerned issue is to reduce the noise of the transferred signal. Otherwise, the telemetry signal will be polluted by the noise contained in the transferred signal, and the additional power will be consumed. Therefore, a method based on wavelet packet de-noising (WPD) is introduced. Compared with other techniques, there are two features making WPD more suit- able to be applied to satellite transponders: one is the capability to deal with time-varying signals without any priori information of the input signals; the other is the capability to reduce the noise in band, even if the noise overlaps with signals in the frequency domain, which provides a great de-noising performance especially for wideband signals. Besides, an oscillation detector and an av- eraging filter are added to decrease the partial oscillation caused by the thresholding process of WPD. Simulation results show that the proposed algorithm can reduce more noises and make less distortions of the signals than other techniques. In addition, up to 12 dB additional power consumption can be reduced at -10 dB signal-to-noise ratio (SNR).展开更多
VRML offers powerful tool for generating 3D scene and realizing real time interactive animation on Web. This paper briefly introduces the related techniques of implementing interactive animation in Web 3D, focusing on...VRML offers powerful tool for generating 3D scene and realizing real time interactive animation on Web. This paper briefly introduces the related techniques of implementing interactive animation in Web 3D, focusing on how to use JavaScript to create Script node for extending VRML functions. This is very useful for virtual product design, product performance simulation, virtual assembly and remote education.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled po...Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.展开更多
In order to facilitate high-precision and real-time Precise Point Positioning(PPP),the International GNSS(Global Navigation Satellite System)Service(IGS),BDS-3(BeiDou-3 Navigation Satellite System),and Galileo navigat...In order to facilitate high-precision and real-time Precise Point Positioning(PPP),the International GNSS(Global Navigation Satellite System)Service(IGS),BDS-3(BeiDou-3 Navigation Satellite System),and Galileo navigation satellite system(Galileo)have provided real-time satellite clock correction,which is updated at a high-frequency.However,the frequent updates pose the challenges of increasing the computational burden and compromising the timeliness of these correction parameters.To address this issue,an improved Real-Time Service(RTS)method is developed using an extrapolation algorithm and a linear model.The results indicate that a 1 h arc length of the satellite clock correction series is optimal for fitting a linear model of the RTS.With this approach,the 1 h extrapolation results for BDS-3 and Galileo are superior to 0.09 ns.Moreover,when these model coefficients are transmitted and updated at the intervals of 1,2,5,and 10 min,the corresponding PPP can converge at the centimeter-level.It is evident that these improved RTS methods outperform the current approach with high-frequency interval transmission,as they effectively mitigate the challenges associated with maintaining the timeliness of correction parameters.展开更多
文摘One of the most important features of modern minor satellites is to realize autonomous moving. The performance of the satellite autonomous computer operating system acting as the control center is utmost important. The recent trend in operating system development is adopting microkernel architecture which holds such advantages as microminiaturization, modularity, portability and extendibility. The performance of I/O subsystem is currently receiving considerable research attention. Object-orientation offers an approach to application development in which software system can be constructed by composing and refining the pre-designed plug-compatible software components.It also starts with some basic notions fairly well accepted in computer science, namely encapsulation and reuse. In this paper, a new object-oriented real-time I/O subsystem model has been designed.In this model, the traditional I/O subsystem framework is discarded and a stream mechanism based on the object-oriented concept is introduced. In addition, the I/O requests are classified according to their time emergency to obtain real-time performance. So, this model meets such satelliteperformance requirements as reliability, flexibility, portability and real-time performance.
文摘Satellite-based Precipitation Estimates(SPEs)have gained importance due to enhanced spatial and temporal resolution,particularly in Indus basin,where raingauge network has fewer observation stations and drainage area is laying in many countries.Formulation of SPEs is based on indirect mechanism,therefore,assessment and correction of associated uncertainties is required.In the present study,disintegration of uncertainties associated with four prominent real time SPEs,IMERG,TMPA,CMORPH and PERSIANN has been conducted at grid level,regional scale,and summarized in terms of regions as well as whole study area basis.The bias has been disintegrated into hit,missed,false biases,and Root Mean Square Error(RMSE)into systematic and random errors.A comparison among gauge-and satellite-based precipitation estimates at annual scale,showed promising result,encouraging use of real time SPEs in the study area.On grid basis,at daily scale,from box plots,the median values of total bias(-0.5 to 0.5 mm)of the used SPEs were also encouraging although some under/over estimations were noted in terms of hit bias(-0.15 to 0.05 mm/day).Relatively higher values of missed(0.3 to 0.5 mm/day)and false(0.5 to 0.7 mm/day)biases were observed.The detected average daily RMSE,systematic errors,and random errors were also comparatively higher.Regional-scale spatial distribution of uncertainties revealed lower values of uncertainties in plain areas,depicting the better performance of satellite-based products in these areas.However,in areas of high altitude(>4000 m),due to complex topography and climatic conditions(orographic precipitation and glaciated peaks)higher values of biases and errors were observed.Topographic barriers and point scale gauge data could also be a cause of poor performance of SPEs in these areas,where precipitation is more on ridges and less in valleys where gauge stations are usually located.Precipitation system’s size and intensity can also be a reason of higher biases,because Microwave Imager underestimate precipitation in small systems(<200 km^(2))and overestimate in large systems(>2000 km^(2)).At present,use of bias correction techniques at daily time scale is compulsory to utilize real time SPEs in estimation of floods in the study area.Inter comparison of satellite products indicated that IMERG gave better results than the others with the lowest values of systematic errors,missed and false biases.
文摘One of the most important features of modem minor satellites is to realize autonomous moving. The perfomance of the satellite autonomous computer operating system acting as the control center is of utrnost importance. The recent trend in operating system development is adopting microkernel architecture that holds such advantages as microminiaturization, modularity, portability and extendibility. IPC is the key of microkernel design. Message-based IPC mechanism is generally used in existing microkernel Operating system. It is of consistency, safety and reliability.However, it can not provide efficient support for real-time applications in satellite systems and it only applies to loose coupling multi-processor architecture. In this paper, an improvement solution for existing message-based IPC is proposed at first to obtain real-time performance. Then a new IPC mechanism is designed. It particulary applies to shared memory tight coupling multi-processor architecture.
基金National Natural Science Foundation of China(Nos.91738302,91838303)。
文摘With the continuous improvement of the performance and the increasing variety of optical mapping and remote sensing satellites,they have become an important support for obtaining global accurate surveying and mapping remote sensing information.At present,optical mapping and remote sensing satellites already have sub-meter spatial resolution capabilities,but there is a serious lag problem in mapping and remote sensing information services.It is urgent to develop intelligent mapping and remote sensing satellites to promote the transformation and upgrading to real-time intelligent services.Firstly,based on the three imaging systems of the optical mapping and remote sensing satellites and their realization methods and application characteristics,this paper analyzes the applicable system of the intelligent mapping and remote sensing satellites.Further,according to the application requirements of real-time,intelligence,and popularization,puts forward the design concept of integrated intelligent remote sensing satellite integrating communication,navigation,and remote sensing and focuses on the service mode and integrated function composition of intelligent remote sensing satellite.Then expounds on the performance and characteristics of the Luojia-301 satellite,a new generation of intelligent surveying and mapping remote sensing scientific test satellite.And finally summarizes and prospects the development and mission of intelligent mapping remote sensing satellites.Luojia-301 satellite integrates remote sensing and communication functions.It explores an efficient and intelligent service mode of mapping and remote sensing information from data acquisition to the application terminal and provides a real service verification platform for on-orbit processing and real-time transmission of remote sensing data based on space-ground internet,which is of great significance to the construction of China’s spatial information network.
基金supported in part by the National Key Research and Development Program of China(No.2021YFB2900800)the Science and Technology Commission of Shanghai Municipality(Nos.22511100902,22511100502,20511102400,and 20ZR1420900)the 111 Project(No.D20031)。
文摘In this paper,we demonstrate a high-sensitivity and real-time heterodyne coherent optical transceiver for intraplane satellite communication,without digital-to-analog converter(DAC)devices and an optical phase lock loop(OPLL).Based on the scheme,a real-time sensitivity of-49 dBm is achieved at 5 Gbps QPSK.Because DAC is not needed at the transmitter,as well as OPLL at the receiver,this reduces the system cost.Furthermore,the least required Rx ADC bit-width is also discussed.Through theoretical analysis and experimental results,our cost-effective transceiver satisfies the scenario and could be a promising component for future application.
文摘Analyses the interrelation between satellite attitude and equipment failures, presents the way of animation simulation of satellite attitude control based upon the virtual reality thought, and realizes on a microcomputer the attitude control animation demonstration system for a remote sensing satellite.
基金supported by the China Agriculture Research System(CARS-37)
文摘A real-time RT-PCR assay using Taq Man-MGB probes was developed to detect and type the bovine viral diarrhea virus(BVDV) in cattle.Universal primers and Taq Man-MGB probes were designed from the 5′-untranslated region of known pestiviral sequences.Prior to optimizing the assay, c RNAs were transcribed in vitro from the BVDV 1 and BVDV 2 RTPCR products to make standard curves.The detection limit of the assay was 1.72×102 copies for BVDV 1 and 2.14×102copies for BVDV 2.The specificity of the assay evaluated on several BVDV strains including bovine herpesvirus 1(BHV 1), foot and mouth disease virus(FMDV) and several classical swine fever virus(CSFV) strains showed specific detection of the positive virus over 40 cycles.The assay was highly reproducible with the coefficient of variance ranging from 1.04 to 1.33% for BVDV 1 and from 0.83 to 1.48% for BVDV 2, respectively.Using this method, we tested a total of 2 327 cattle from three dairy farms for the presence of BVDV persistently infected(PI) animals.In this assay, each RT-PCR template contained a mixture of ten samples from different animals.The occurrence rate of PI cattle in three farms ranging from 0.9 to 2.54% could represent partly the PI rates in cattle farm in China.In conclusion, using our real-time PCR assay, we could effectively detect and type BVDV and identify PI cattle in a rapid and cost-effective manner.
基金supported by the National Natural Science Foundation of China(61401389)
文摘The satellite transponder is a widely used module in satellite missions, and the most concerned issue is to reduce the noise of the transferred signal. Otherwise, the telemetry signal will be polluted by the noise contained in the transferred signal, and the additional power will be consumed. Therefore, a method based on wavelet packet de-noising (WPD) is introduced. Compared with other techniques, there are two features making WPD more suit- able to be applied to satellite transponders: one is the capability to deal with time-varying signals without any priori information of the input signals; the other is the capability to reduce the noise in band, even if the noise overlaps with signals in the frequency domain, which provides a great de-noising performance especially for wideband signals. Besides, an oscillation detector and an av- eraging filter are added to decrease the partial oscillation caused by the thresholding process of WPD. Simulation results show that the proposed algorithm can reduce more noises and make less distortions of the signals than other techniques. In addition, up to 12 dB additional power consumption can be reduced at -10 dB signal-to-noise ratio (SNR).
基金This research is sponsored by the project of the Ministry of Science and Technology.
文摘VRML offers powerful tool for generating 3D scene and realizing real time interactive animation on Web. This paper briefly introduces the related techniques of implementing interactive animation in Web 3D, focusing on how to use JavaScript to create Script node for extending VRML functions. This is very useful for virtual product design, product performance simulation, virtual assembly and remote education.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
基金Supported by the Guizhou Provincial Science and Technology Projects([2020]2Y044)the Science and Technology Projects of China Southern Power Grid Co.Ltd.(066600KK52170074)the National Natural Science Foundation of China(61473144)。
文摘Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.
基金This research is supported by the National Natural Science Foundation of China(NSFC)(Nos.42174019 and 41974025)the Fundamental Research Funds for the Central Universities.
文摘In order to facilitate high-precision and real-time Precise Point Positioning(PPP),the International GNSS(Global Navigation Satellite System)Service(IGS),BDS-3(BeiDou-3 Navigation Satellite System),and Galileo navigation satellite system(Galileo)have provided real-time satellite clock correction,which is updated at a high-frequency.However,the frequent updates pose the challenges of increasing the computational burden and compromising the timeliness of these correction parameters.To address this issue,an improved Real-Time Service(RTS)method is developed using an extrapolation algorithm and a linear model.The results indicate that a 1 h arc length of the satellite clock correction series is optimal for fitting a linear model of the RTS.With this approach,the 1 h extrapolation results for BDS-3 and Galileo are superior to 0.09 ns.Moreover,when these model coefficients are transmitted and updated at the intervals of 1,2,5,and 10 min,the corresponding PPP can converge at the centimeter-level.It is evident that these improved RTS methods outperform the current approach with high-frequency interval transmission,as they effectively mitigate the challenges associated with maintaining the timeliness of correction parameters.