Development of Six-Degree-of-Freedom GNSS Seismometer

1 THE DEFICIENCY OF OBSERVATION TECHNIQUES ON STRONG NEARFIELD EARTHQUAKES Catastrophic earthquakes often result in huge loss on people s lives and property.Therefore,techniques concerning earthquake prevention and disaster reduction are closely related to citizens livelihood. It requires that seismologists master the mechanisms of seismic hazards,and perform timely w arning for earthquakes. Unfortunately.

Fused-like angles:replacement for roll-pitch-yaw angles for a six-degree-of-freedom grating interferometer

Representation of orientation is important in a six-degree-of-freedom grating interferometer but only a few studies have focused on this topic.Roll-pitch-yaw angles,widely used in aviation,navigation,and robotics,are now being brought to the field of multi-degree-of-freedom interferometric measurement.However,the roll-pitch-yaw angles are not the exact definitions the metrologists expected in interferometry,because they require a certain sequential order of rotations and may cause errors in describing complicated rotations.The errors increase as the tip and tilt angles of the grating increase.Therefore,a replacement based on fused angles in robotics is proposed and named“fused-like angles.”The fused-like angles are error-free,so they are more in line with the definitions in grating interferometry and more suitable for six-degree-of-freedom measurements.Fused-like angles have already been used in research on the kinematic model and decoupling algorithm of the six-degree-of-freedom grating interferometer.

Autonomous maneuver decision-making for a UCAV in short-range aerial combat based on an MS-DDQN algorithm

To solve the problem of realizing autonomous aerial combat decision-making for unmanned combat aerial vehicles(UCAVs) rapidly and accurately in an uncertain environment, this paper proposes a decision-making method based on an improved deep reinforcement learning(DRL) algorithm: the multistep double deep Q-network(MS-DDQN) algorithm. First, a six-degree-of-freedom UCAV model based on an aircraft control system is established on a simulation platform, and the situation assessment functions of the UCAV and its target are established by considering their angles, altitudes, environments, missile attack performances, and UCAV performance. By controlling the flight path angle, roll angle, and flight velocity, 27 common basic actions are designed. On this basis, aiming to overcome the defects of traditional DRL in terms of training speed and convergence speed, the improved MS-DDQN method is introduced to incorporate the final return value into the previous steps. Finally, the pre-training learning model is used as the starting point for the second learning model to simulate the UCAV aerial combat decision-making process based on the basic training method, which helps to shorten the training time and improve the learning efficiency. The improved DRL algorithm significantly accelerates the training speed and estimates the target value more accurately during training, and it can be applied to aerial combat decision-making.

An Algorithm for Determination of Projectile Attitude Angles in Projectile Trajectory Prediction

A fast and accurate algorithm is established in this paper to increase the precision of ballistic trajectory prediction.The algorithm is based on the six-degree-of-freedom(6 DOF)trajectory equations,to estimate the projectile attitude angles in every measuring time.Hereby,the algorithm utilizes the Davidon-Fletcher-Powell(DFP)method to solve nonlinear equations and Doppler radar trajectory test information containing only position coordinates of the projectile to reconstruct the angular information.The″position coordinates by the test″and″angular displacements by reconstruction″at the end phase of the radar measurement are used as an initial value for the trajectory computation to extrapolate the trajectory impact point.The numerical simulations validate the proposed method and demonstrate that the estimated impact point agrees very well with the real one.Morover,other artillery trajectory can be predicted by the algorithm,and other trajectory models,such as 4 DOF and 5 DOF models,can also be incorporated into the proposed algorithm.

High-fidelity trajectory optimization for aeroassisted vehicles using variable order pseudospectral method

In this study,the problem of time-optimal reconnaissance trajectory design for the aeroassisted vehicle is considered.Different from most works reported previously,we explore the feasibility of applying a high-order aeroassisted vehicle dynamic model to plan the optimal flight trajectory such that the gap between the simulated model and the real system can be narrowed.A highly-constrained optimal control model containing six-degree-of-freedom vehicle dynamics is established.To solve the formulated high-order trajectory planning model,a pipelined optimization strategy is illustrated.This approach is based on the variable order Radau pseudospectral method,indicating that the mesh grid used for discretizing the continuous system experiences several adaption iterations.Utilization of such a strategy can potentially smooth the flight trajectory and improve the algorithm convergence ability.Numerical simulations are reported to demonstrate some key features of the optimized flight trajectory.A number of comparative studies are also provided to verify the effectiveness of the applied method as well as the high-order trajectory planning model.

Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor

For an electrical six-degree-of-freedom Stewart platform,it is difficult to compute the equivalent inertia of each motor in real time,as the inertia is time-varying.In this study,an analysis using Kane's equation is undertaken of the driven torque of the movements of motor systems(including motor friction,movements of motor systems along with the actuators,rotation around axis of rotors and snails),as well as driven torque of the platform and actuators.The electromagnetic torque was calculated according to vector-controlled permanent magnet synchronous motor(PMSM) dynamics.By equalizing the driven torque and electromagnetic torque,a model was established.This method,taking into consideration the influence of counter electromotive force(EMF) and motor friction,could be applied to the real-time dynamic control of the platform,through which the calculation of the time-varying equivalent inertia is avoided.Finally,simulations with typically desired trajectory inputs are presented and the performance of the Stewart platform is determined.With this approach,the multi-body dynamics of the electrical Stewart platform is better understood.