Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

Computational intelligence interception guidance law using online off-policy integral reinforcement learning

Missile interception problem can be regarded as a two-person zero-sum differential games problem,which depends on the solution of Hamilton-Jacobi-Isaacs(HJI)equa-tion.It has been proved impossible to obtain a closed-form solu-tion due to the nonlinearity of HJI equation,and many iterative algorithms are proposed to solve the HJI equation.Simultane-ous policy updating algorithm(SPUA)is an effective algorithm for solving HJI equation,but it is an on-policy integral reinforce-ment learning(IRL).For online implementation of SPUA,the dis-turbance signals need to be adjustable,which is unrealistic.In this paper,an off-policy IRL algorithm based on SPUA is pro-posed without making use of any knowledge of the systems dynamics.Then,a neural-network based online adaptive critic implementation scheme of the off-policy IRL algorithm is pre-sented.Based on the online off-policy IRL method,a computa-tional intelligence interception guidance(CIIG)law is developed for intercepting high-maneuvering target.As a model-free method,intercepting targets can be achieved through measur-ing system data online.The effectiveness of the CIIG is verified through two missile and target engagement scenarios.

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

U-Net Models for Representing Wind Stress Anomalies over the Tropical Pacific and Their Integrations with an Intermediate Coupled Model for ENSO Studies

El Niño-Southern Oscillation(ENSO)is the strongest interannual climate mode influencing the coupled ocean-atmosphere system in the tropical Pacific,and numerous dynamical and statistical models have been developed to simulate and predict it.In some simplified coupled ocean-atmosphere models,the relationship between sea surface temperature(SST)anomalies and wind stress(τ)anomalies can be constructed by statistical methods,such as singular value decomposition(SVD).In recent years,the applications of artificial intelligence(AI)to climate modeling have shown promising prospects,and the integrations of AI-based models with dynamical models are active areas of research.This study constructs U-Net models for representing the relationship between SSTAs andτanomalies in the tropical Pacific;the UNet-derivedτmodel,denoted asτUNet,is then used to replace the original SVD-basedτmodel of an intermediate coupled model(ICM),forming a newly AI-integrated ICM,referred to as ICM-UNet.The simulation results obtained from ICM-UNet demonstrate their ability to represent the spatiotemporal variability of oceanic and atmospheric anomaly fields in the equatorial Pacific.In the ocean-only case study,theτUNet-derived wind stress anomaly fields are used to force the ocean component of the ICM,the results of which also indicate reasonable simulations of typical ENSO events.These results demonstrate the feasibility of integrating an AI-derived model with a physics-based dynamical model for ENSO modeling studies.Furthermore,the successful integration of the dynamical ocean models with the AI-based atmospheric wind model provides a novel approach to ocean-atmosphere interaction modeling studies.

A stable implicit nodal integration-based particle finite element method(N-PFEM)for modelling saturated soil dynamics

In this study,we present a novel nodal integration-based particle finite element method(N-PFEM)designed for the dynamic analysis of saturated soils.Our approach incorporates the nodal integration technique into a generalised Hellinger-Reissner(HR)variational principle,creating an implicit PFEM formulation.To mitigate the volumetric locking issue in low-order elements,we employ a node-based strain smoothing technique.By discretising field variables at the centre of smoothing cells,we achieve nodal integration over cells,eliminating the need for sophisticated mapping operations after re-meshing in the PFEM.We express the discretised governing equations as a min-max optimisation problem,which is further reformulated as a standard second-order cone programming(SOCP)problem.Stresses,pore water pressure,and displacements are simultaneously determined using the advanced primal-dual interior point method.Consequently,our numerical model offers improved accuracy for stresses and pore water pressure compared to the displacement-based PFEM formulation.Numerical experiments demonstrate that the N-PFEM efficiently captures both transient and long-term hydro-mechanical behaviour of saturated soils with high accuracy,obviating the need for stabilisation or regularisation techniques commonly employed in other nodal integration-based PFEM approaches.This work holds significant implications for the development of robust and accurate numerical tools for studying saturated soil dynamics.

A novel flexible nerve guidance conduit promotes nerve regeneration while providing excellent mechanical properties

Autografting is the gold standard for surgical repair of nerve defects>5 mm in length;however,autografting is associated with potential complications at the nerve donor site.As an alternative,nerve guidance conduits may be used.The ideal conduit should be flexible,resistant to kinks and lumen collapse,and provide physical cues to guide nerve regeneration.We designed a novel flexible conduit using electrospinning technology to create fibers on the innermost surface of the nerve guidance conduit and employed melt spinning to align them.Subsequently,we prepared disordered electrospun fibers outside the aligned fibers and helical melt-spun fibers on the outer wall of the electrospun fiber lumen.The presence of aligned fibers on the inner surface can promote the extension of nerve cells along the fibers.The helical melt-spun fibers on the outer surface can enhance resistance to kinking and compression and provide stability.Our novel conduit promoted nerve regeneration and functional recovery in a rat sciatic nerve defect model,suggesting that it has potential for clinical use in human nerve injuries.

Silicon-based optoelectronic heterogeneous integration for optical interconnection

The performance of optical interconnection has improved dramatically in recent years.Silicon-based optoelectronic heterogeneous integration is the key enabler to achieve high performance optical interconnection,which not only provides the optical gain which is absent from native Si substrates and enables complete photonic functionalities on chip,but also improves the system performance through advanced heterogeneous integrated packaging.This paper reviews recent progress of silicon-based optoelectronic heterogeneous integration in high performance optical interconnection.The research status,development trend and application of ultra-low loss optical waveguides,high-speed detectors,high-speed modulators,lasers and 2D,2.5D,3D and monolithic integration are focused on.

Design methodology of a mini-missile considering flight performance and guidance precision

The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.

Metal reflector-enhanced thermoacoustic imaging as a guidance for puncture biopsy

Puncture biopsy is an important clinical technique to obtain diseased tissue for pathological diagnosis,where imaging guidance is critical.In this paper,we describe a metal reflector-enhanced microwave-induced thermoacoustic imaging(TAI)approach capable of guiding puncture biopsy for detection of breast cancer and joint diseases.Numerical experimentations simulating puncture guidance in breast cancer and knee gout models werefirst conducted using(CST STUDIO SUITE)(CST)software,and then ex-vivo experiments were performed followed by qualitative observations and semi-quantitative analysis.The results of both the simulations and ex-vivo experiments showed that our reflector-enhanced TAI could image the puncture needle in high resolution with a large depth of>12 cm.

Unified numerical predictor-corrector guidance based on characteristic model

Aerocapture is one of the key technologies for low-cost transportation,with high demands of autonomy,accuracy,and robustness of guidance and control,due to its high reliability requirements for only one chance of trying.A unified numerical predictor-corrector guidance method based on characteristic models for aerocapture is proposed.The numerical predictor-corrector guidance method is used to achieve autonomy and high accuracy,and the characteristic model control method is introduced to achieve robustness.At the same time,by transforming path constraints,characteristic model equations including apogee deviation and altitude differentiation are established.Based on the characteristic model equations,a unified guidance law which can satisfy path constraints and guidance objectives simultaneously is designed.In guidance problems,guidance deviation is not directly obtained from the output of the dynamics at present,but is calculated through integral and algebraic equations.Therefore,the method of directly discretizing differential equations cannot be used to establish characteristic models,which brings great difficulty to characteristic modeling.A method for characteristic modeling of guidance problems is proposed,and convergence analysis of the proposed guidance law is also provided.Finally,a joint numerical simulation of guidance and control considering navigation deviation and various uncertainties is conducted to verify the effectiveness of the proposed method.The proposed unified method can be extended to general aerodynamic entry guidance designs,providing theoretical and methodological support for them.

Recorded recurrent deep reinforcement learning guidance laws for intercepting endoatmospheric maneuvering missiles

This work proposes a recorded recurrent twin delayed deep deterministic(RRTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with uncertainties and observation noise.The attack-defense engagement scenario is modeled as a partially observable Markov decision process(POMDP).Given the benefits of recurrent neural networks(RNNs)in processing sequence information,an RNN layer is incorporated into the agent’s policy network to alleviate the bottleneck of traditional deep reinforcement learning methods while dealing with POMDPs.The measurements from the interceptor’s seeker during each guidance cycle are combined into one sequence as the input to the policy network since the detection frequency of an interceptor is usually higher than its guidance frequency.During training,the hidden states of the RNN layer in the policy network are recorded to overcome the partially observable problem that this RNN layer causes inside the agent.The training curves show that the proposed RRTD3 successfully enhances data efficiency,training speed,and training stability.The test results confirm the advantages of the RRTD3-based guidance laws over some conventional guidance laws.

A guidance strategy for rendezvous and docking to the space station in the Earth-Moon NRHO orbit

With the development of space technology,it is possible to build a space station in Earth-Moon space as a transit for Earth-Moon round-trip and entering in the deep space.Rendezvous and docking is one of the key technologies for building an Earth-Moon space station.A guidance strategy for rendezvous and docking from the Earth orbit to the space station in the Earth-Moon NRHO orbit is proposed in this paper,which is suitable for engineering applications.Firstly,the rendezvous and docking process is divided into three sections,i.e.,the large-range orbit transfer section,far-range guidance section,and close-range approaching section.The suitable terminal of large-range orbit transfer is selected according to the eigenvalue of NRHO orbit state transition matrix.The two-impulse guidance method based on the relative motion equation in the three-body problem is adopted for the far-range guidance section.The impulse time and amplitude are solved with the optimization algorithm.The linear constant three-body relative motion equation is proposed for the close-range approaching section,and the rendezvous and docking is completed by a two-stage linear approximation.Finally,a simulation analysis is carried out,and the simulation results show that the adopted dynamics equations and the designed guidance law are effective,and the three flight phases are naturally connected to accomplish the rendezvous and docking mission from the Earth orbit to the space station on the Earth-Moon NRHO.

Carbon nanotube integrated circuit technology:purification,assembly and integration

As the manufacturing process of silicon-based integrated circuits(ICs)approaches its physical limit,the quantum effect of silicon-based field-effect transistors(FETs)has become increasingly evident.And the burgeoning carbon-based semiconductor technology has become one of the most disruptive technologies in the post-Moore era.As one-dimensional nanomaterials,carbon nanotubes(CNTs)are far superior to silicon at the same technology nodes of FETs because of their excellent electrical transport and scaling properties,rendering them the most competitive material in the next-generation ICs technology.However,certain challenges impede the industrialization of CNTs,particularly in terms of material preparation,which significantly hinders the development of CNT-based ICs.Focusing on CNT-based ICs technology,this review summarizes its main technical status,development trends,existing challenges,and future development directions.

SOME PROPERTIES OF THE INTEGRATION OPERATORS ON THE SPACES F(p,q,s)

We study the closed range property and the strict singularity of integration operators acting on the spaces F(p,pα-2,s).We completely characterize the closed range property of the Volterra companion operator I_(g)on F(p,pα-2,s),which generalizes the existing results and answers a question raised in[A.Anderson,Integral Equations Operator Theory,69(2011),no.1,87-99].For the Volterra operator J_(g),we show that,for 0<α≤1,J_(g)never has a closed range on F(p,pα-2,s).We then prove that the notions of compactness,weak compactness and strict singularity coincide in the case of J_(g)acting on F(p,p-2,s).

High-intensity spatial-mode steerable frequency up-converter toward on-chip integration

Integrated photonic devices are essential for on-chip optical communication,optical-electronic systems,and quantum information sciences.To develop a high-fidelity interface between photonics in various frequency domains without disturbing their quantum properties,nonlinear frequency conversion,typically steered with the quadratic(χ2)process,should be considered.Furthermore,another degree of freedom in steering the spatial modes during theχ2 process,with unprecedent mode intensity is proposed here by modulating the lithium niobate(LN)waveguide-based inter-mode quasi-phasematching conditions with both temperature and wavelength parameters.Under high incident light intensities(25 and 27.8 dBm for the pump and the signal lights,respectively),mode conversion at the sum-frequency wavelength with sufficient high output power(−7–8 dBm)among the TM01,TM10,and TM00 modes is realized automatically with characterized broad temperature(ΔT≥8°C)and wavelength windows(Δλ≥1 nm),avoiding the previous efforts in carefully preparing the signal or pump modes.The results prove that high-intensity spatial modes can be prepared at arbitrary transparent wavelength of theχ2 media toward on-chip integration,which facilitates the development of chip-based communication and quantum information systems because spatial correlations can be applied to generate hyperentangled states and provide additional robustness in quantum error correction with the extended Hilbert space.

Digital Twin Technology of Human-Machine Integration in Cross-Belt Sorting System

The Chinese express delivery industry processes nearly 110 billion items in 2022,averaging an annual growth rate of 200%.Among the various types of sorting systems used for handling express items,cross-belt sorting systems stand out as the most crucial.However,despite their high degree of automation,the workload for operators has intensified owing to the surging volume of express items.In the era of Industry 5.0,it is imperative to adopt new technologies that not only enhance worker welfare but also improve the efficiency of cross-belt systems.Striking a balance between efficiency in handling express items and operator well-being is challenging.Digital twin technology offers a promising solution in this respect.A realization method of a human-machine integrated digital twin is proposed in this study,enabling the interaction of biological human bodies,virtual human bodies,virtual equipment,and logistics equipment in a closed loop,thus setting an operating framework.Key technologies in the proposed framework include a collection of heterogeneous data from multiple sources,construction of the relationship between operator fatigue and operation efficiency based on physiological measurements,virtual model construction,and an online optimization module based on real-time simulation.The feasibility of the proposed method was verified in an express distribution center.

Silk-based nerve guidance conduits with macroscopic holes modulate the vascularization of regenerating rat sciatic nerve

Peripheral nerve injuries induce a severe motor and sensory deficit. Since the availability of autologous nerve transplants for nerve repair is very limited, alternative treatment strategies are sought, including the use of tubular nerve guidance conduits(tNGCs). However, the use of tNGCs results in poor functional recovery and central necrosis of the regenerating tissue, which limits their application to short nerve lesion defects(typically shorter than 3 cm). Given the importance of vascularization in nerve regeneration, we hypothesized that enabling the growth of blood vessels from the surrounding tissue into the regenerating nerve within the tNGC would help eliminate necrotic processes and lead to improved regeneration. In this study, we reported the application of macroscopic holes into the tubular walls of silk-based tNGCs and compared the various features of these improved silk^(+) tNGCs with the tubes without holes(silk^(–) tNGCs) and autologous nerve transplants in an 8-mm sciatic nerve defect in rats. Using a combination of micro-computed tomography and histological analyses, we were able to prove that the use of silk^(+) tNGCs induced the growth of blood vessels from the adjacent tissue to the intraluminal neovascular formation. A significantly higher number of blood vessels in the silk^(+) group was found compared with autologous nerve transplants and silk^(–), accompanied by improved axon regeneration at the distal coaptation point compared with the silk^(–) tNGCs at 7 weeks postoperatively. In the 15-mm(critical size) sciatic nerve defect model, we again observed a distinct ingrowth of blood vessels through the tubular walls of silk^(+) tNGCs, but without improved functional recovery at 12 weeks postoperatively. Our data proves that macroporous tNGCs increase the vascular supply of regenerating nerves and facilitate improved axonal regeneration in a short-defect model but not in a critical-size defect model. This study suggests that further optimization of the macroscopic holes silk^(+) tNGC approach containing macroscopic holes might result in improved grafting technology suitable for future clinical use.

The role of axon guidance molecules in the pathogenesis of epilepsy

Current treatments for epilepsy can only manage the symptoms of the condition but cannot alter the initial onset or halt the progression of the disease. Consequently, it is crucial to identify drugs that can target novel cellular and molecular mechanisms and mechanisms of action. Increasing evidence suggests that axon guidance molecules play a role in the structural and functional modifications of neural networks and that the dysregulation of these molecules is associated with epilepsy susceptibility. In this review, we discuss the essential role of axon guidance molecules in neuronal activity in patients with epilepsy as well as the impact of these molecules on synaptic plasticity and brain tissue remodeling. Furthermore, we examine the relationship between axon guidance molecules and neuroinflammation, as well as the structural changes in specific brain regions that contribute to the development of epilepsy. Ample evidence indicates that axon guidance molecules, including semaphorins and ephrins, play a fundamental role in guiding axon growth and the establishment of synaptic connections. Deviations in their expression or function can disrupt neuronal connections, ultimately leading to epileptic seizures. The remodeling of neural networks is a significant characteristic of epilepsy, with axon guidance molecules playing a role in the dynamic reorganization of neural circuits. This, in turn, affects synapse formation and elimination. Dysregulation of these molecules can upset the delicate balance between excitation and inhibition within a neural network, thereby increasing the risk of overexcitation and the development of epilepsy. Inflammatory signals can regulate the expression and function of axon guidance molecules, thus influencing axonal growth, axon orientation, and synaptic plasticity. The dysregulation of neuroinflammation can intensify neuronal dysfunction and contribute to the occurrence of epilepsy. This review delves into the mechanisms associated with the pathogenicity of axon guidance molecules in epilepsy, offering a valuable reference for the exploration of therapeutic targets and presenting a fresh perspective on treatment strategies for this condition.

Composite Fractional Trapezoidal Rule with Romberg Integration

The aim of this research is to demonstrate a novel scheme for approximating the Riemann-Liouville fractional integral operator.This would be achieved by first establishing a fractional-order version of the 2-point Trapezoidal rule and then by proposing another fractional-order version of the(n+1)-composite Trapezoidal rule.In particular,the so-called divided-difference formula is typically employed to derive the 2-point Trapezoidal rule,which has accordingly been used to derive a more accurate fractional-order formula called the(n+1)-composite Trapezoidal rule.Additionally,in order to increase the accuracy of the proposed approximations by reducing the true errors,we incorporate the so-called Romberg integration,which is an extrapolation formula of the Trapezoidal rule for integration,into our proposed approaches.Several numerical examples are provided and compared with a modern definition of the Riemann-Liouville fractional integral operator to illustrate the efficacy of our scheme.