Energy-Based Current Control for Stabilizing a Flexible Electrodynamic Tether System

An energy-based controller of electric current is synthesized for the libration stabilization of an electrodynamic tether system,which consists of a relatively large main-satellite and a sub-satellite of much smaller size.Two dynamic models with different levels of accuracy are considered in this work.First,a dumbbell model of the system is used for the controller design,which aims at damping injection on the libration motions via the real-time regulation of the electric current.Furthermore,the efficacy and performance of the proposed scheme are numerically verified by using a more complex multi-body model which accounts for not only the tether flexibility but also the attitude of the main-satellite.

Anti-Disturbance Control for Tethered Aircraft System With Deferred Output Constraints

In this paper,we investigate the peaking issue of extended state observers and the anti-disturbance control problem of tethered aircraft systems subject to the unstable flight of the main aircraft,airflow disturbances and deferred output constraints.Independent of exact initial values,a modified extended state observer is constructed from a shifting function such that not only the peaking issue inherently in the observer is circumvented completely but also the accurate estimation of the lumped disturbance is guaranteed.Meanwhile,to deal with deferred output constraints,an improved output constrained controller is employed by integrating the shifting function into the barrier Lyapunov function.Then,by combining the modified observer and the improved controller,an anti-disturbance control scheme is presented,which ensures that the outputs with any bounded initial conditions satisfy the constraints after a pre-specified finite time,and the tethered aircraft tracks the desired trajectory accurately.Finally,both a theoretical proof and simulation results verify the effectiveness of the proposed control scheme.

Advances in dynamics and control of tethered satellite systems

The concept of tethered satellite system （TSS） promises to revolutionize many aspects of space exploration and exploitation. It provides not only numerous possible and valuable applications, but also challenging and interesting problems related to their dynamics, control, and physical implementation. Over the past decades, this exciting topic has attracted significant attention from many researchers and gained a vast number of analytical, numerical and experimental achievements with a focus on the two essential aspects of both dynamics and control. This review article presents the historic background and recent hot topics for the space tethers, and introduces the dynamics and control of TSSs in a progressive manner, from basic operating principles to the state-of-the-art achievements.

Review of deployment technology for tethered satellite systems

Tethered satellite systems（TSSs） have attracted significant attention due to their potential and valuable applications for scientific research. With the development of various launched on-orbit missions, the deployment of tethers is considered a crucial technology for operation of a TSS. Both past orbiting experiments and numerical results have shown that oscillations of the deployed tether due to the Coriolis force and environmental perturbations are inevitable and that the impact between the space tether and end-body at the end of the deployment process leads to complicated nonlinear phenomena. Hence, a set of suitable control methods plays a fundamental role in tether deployment. This review article summarizes previous work on aspects of the dynamics, control, and ground-based experiments of tether deployment. The relevant basic principles, analytical expressions, simulation cases, and experimental results are presented as well.

Nonlinear dynamics of flexible tethered satellite system subject to space environment

The paper studies the nonlinear dynamics of a flexible tethered satellite system subject to space environments, such as the J2 perturbation, the air drag force, the solar pressure, the heating effect, and the orbital eccentricity. The flexible tether is modeled as a series of lumped masses and viscoelastic dampers so that a finite multi- degree-of-freedom nonlinear system is obtained. The stability of equilibrium positions of the nonlinear system is then analyzed via a simplified two-degree-freedom model in an orbital reference frame. In-plane motions of the tethered satellite system are studied numerically, taking the space environments into account. A large number of numerical simulations show that the flexible tethered satellite system displays nonlinear dynamic characteristics, such as bifurcations, quasi-periodic oscillations, and chaotic motions.

Dynamics and rebound behavior analysis of flexible tethered satellite system in deployment and station-keeping phases

The tether deployment of a tethered satellite system involves the consideration of complex dynamic properties of the tether,such as large deformation,slack,and even rebound,and therefore,the dynamic modelling of the tether is necessary for performing a dynamic analysis of the system.For a variablelength tether element,the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrange-Euler(ALE)description was used to develop a precise dynamic model of a tethered satellite.The model considered the gravitational gradient force and Coriolis force in the orbital coordinate frame,and it was validated through numerical simulation.In the presence of dynamic constraints,a deployment velocity of the tether was obtained by an optimal procedure.In the simulation,rebound behavior of the tethered satellite system was observed when the ANCF-ALE model was employed.Notably,the rebound behavior cannot be predicted by the traditional dumbbell model.Furthermore,an improved optimal deployment velocity was developed.Simulation results indicated that the rebound phenomenon was eliminated,and smooth deployment as well as a stable state of the station-keeping process were achieved.Additionally,the swing amplitude in the station-keeping phase decreased when a deployment strategy based on the improved optimal deployment velocity was used.

Modeling and simulations of orbital capture with space tether-net system

A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.

Equilibrium configurations of the tethered three-body formation system and their nonlinear dynamics

This paper considers nonlinear dynamics of teth- ered three-body formation system with their centre of mass staying on a circular orbit around the Earth, and applies the theory of space manifold dynamics to deal with the nonlinear dynamical behaviors of the equilibrium configurations of the system. Compared with the classical circular restricted three body system, sixteen equilibrium configurations are obtained globally from the geometry of pseudo-potential energy sur- face, four of which were omitted in the previous research. The periodic Lyapunov orbits and their invariant manifolds near the hyperbolic equilibria are presented, and an iteration procedure for identifying Lyapunov orbit is proposed based on the differential correction algorithm. The non-transversal intersections between invariant manifolds are addressed to generate homoclinic and heteroclinic trajectories between the Lyapunov orbits. （3,3）- and （2,1）-heteroclinic trajecto- ries from the neighborhood of one collinear equilibrium to that of another one, and （3,6）- and （2,1）-homoclinic trajecto- ries from and to the neighborhood of the same equilibrium, are obtained based on the Poincar6 mapping technique.

Dynamic analysis of tethered space system deployment process

Discusses in detail the deploying strategies and feature of the motion of the Tethered Space System and the effects of some parameters, such as the property and initial length of the tether, the perturbation of the atmosphere, the ellipse of the orbit and the mass distribution of the system and points out the deploying strategy is based on the controlling of tension and the length of tether. And concludes from the computer simulation results of a tethered atmosphere probing satellite deployment that the deploying strategy presented does work well.

基于TCP流RTT测量的Tethering行为检测架构

Tethering行为是一种移动设备通过自身传输介质共享其互联网连接服务的行为,其不仅对移动互联网造成运营压力和收益影响,还对移动互联网隐藏其内部网络结构,造成网络安全隐患。由于Tethering存在诸多混淆和规避方法,现有Tethering行为检测技术难以有效检测。鉴于此,分析了移动互联网通信基站中,Tethering行为终端在数据流量的处理、转发等特征,以及移动互联网用户流量中传输控制协议(TCP)流往返时延(RTT)的相关特性,提出一种基于TCP流RTT测量的Tethering检测架构,构建了所提架构的测试网络环境。实验结果表明:所提架构在检测Tethering行为中具有有效性,实现了利用无监督学习和被动监测网络流量对移动互联网中Tethering行为的有效检测,对Tethering行为检测的准确率达到97.50%。

Anterior vertebral body tethering for idiopathic scoliosis in growing children:A systematic review

BACKGROUND The management of idiopathic scoliosis(IS)in skeletally immature patients should aim at three-dimensional deformity correction,without compromising spinal and chest growth.In 2019,the US Food and Drug Administration approved the first instrumentation system for anterior vertebral body tethering(AVBT),under a Humanitarian Device Exception,for skeletally immature patients with curves having a Cobb angle between 35°and 65°.AIM To summarize current evidence about the efficacy and safety of AVBT in the management of IS in skeletally immature patients.METHODS From January 2014 to January 2021,Ovid Medline,Embase,Cochrane Library,Scopus,Web of Science,Google Scholar and PubMed were searched to identify relevant studies.The methodological quality of the studies was evaluated and relevant data were extracted.RESULTS Seven clinical trials recruiting 163 patients were included in the present review.Five studies out of seven were classified as high quality,whereas the remaining two studies were classified as moderate quality.A total of 151 of 163 AVBT procedures were performed in the thoracic spine,and the remaining 12 tethering in the lumbar spine.Only 117 of 163(71.8%)patients had a nonprogressive curve at skeletal maturity.Twenty-three of 163(14.11%)patients required unplanned revision surgery within the follow-up period.Conversion to posterior spinal fusion(PSF)was performed in 18 of 163(11%)patients.CONCLUSION AVBT is a promising growth-friendly technique for treatment of IS in growing patients.However,it has moderate success and perioperative complications,revision and conversion to PSF.

系绳卫星控制系统可重构性评价指标

针对系绳卫星控制系统,展开系绳卫星控制系统可重构性评价指标的研究。首先建立了由三个子卫星组成的系绳卫星控制系统;然后针对该模型进行可重构性评价,给出可重构性评价指标,该指标不仅描述了系统的重构能力,同时还强化了可重构性评价对重构策略指导的作用,体现了重构设计对可重构性评价方法的依赖性。最后通过数值算例,分析了系绳卫星的可重构性指标,并对故障后的系统重新设计重构控制律使其保持稳定。

肛门直肠畸形合并先天性脊髓栓系综合征的发生情况及治疗探讨

目的探讨肛门直肠畸形(anorectal malformation,ARM)合并先天性脊髓栓系综合征(tethered cord syndrome,TCS)的发生情况及相关治疗。方法回顾性分析2018年2月至2022年2月福建省儿童医院(上海儿童医学中心福建医院)收治的105例ARM患儿病史和影像学资料。按照Wingspread分类法分型,将ARM患儿分为中高位和低位两类;按照Krickenbeck分类法分型,将ARM患儿分为伴瘘管和不伴瘘管两类;根据MRI检查结果,将患儿分为TCS组和无TCS组。统计分析TCS与年龄、ARM分型及合并其他畸形的相关性及相关治疗意义。结果105例ARM患儿中,29例(27.6%)存在TCS,76例(72.4%)无TCS。55例(52.4%)合并其他畸形,其中37例合并1种畸形,18例合并两种及以上畸形。Wingspread分型及合并其他畸形是ARM患儿合并TCS的独立影响因素,中高位ARM合并TCS的概率是低位ARM的3.223倍(OR=3.223,95%CI:1.128~9.210,P=0.029),合并2种及以上其他畸形的患儿患TCS的概率是合并1种其他畸形的10.120倍(OR=10.120,95%CI:2.715~37.729,P=0.001)。无TCS的ARM患儿与合并TCS的ARM患儿比较,两组在切口感染发生率、住院时间、有效率、病死率及术后2个月排便功能上比较,差异无统计学意义(P>0.05)。经治疗后,两组患儿在排便功能改善上差异无统计学意义(P>0.05)。结论中高位ARM患儿及合并多系统畸形的患儿TCS发生率较高。建议ARM患儿常规行腰骶部MRI检查,以尽早发现TCS的类型和严重程度。治疗上,ARM患儿合并TCS应先治疗ARM,建议行脊髓栓系松解术,以防止脊髓损伤进一步加重带来的严重后果。

双控制方式下带缆水下机器人轨迹跟踪与水动力响应分析

本文首先根据已有的脐带缆运动控制方程,通过引入与工作船和水下机器人连接点处边界条件和速度耦合关系,与水下机器人运动方程一同构成完整的水动力数学模型;其次提出收放脐带缆的前馈-反馈控制方法和调节螺旋桨转速的增量式PID(Proportion Integration Differentiation)算法,建立完整的带缆水下机器人系统水动力与控制模型;最后对所提出的模型进行数值模拟实验验证与运动控制操纵下的水动力分析。数值计算结果表明:本文所提出的带缆水下机器人系统水动力与控制模型是有效可靠的,垂向运动控制过程中,水下机器人纵摇角、横摇角和沉深的模拟值与实验值最大误差分别为2°、1°和-50 mm;对于PID算法,调节螺旋桨转速控制水下机器人对给定位置信息的跟踪响应效果,模拟值与实验值相差均不大;轨迹跟踪模拟计算沿水平(X轴)方向和竖直(Z轴)方向最大相对误差分别为10%和15%;水下机器人竖向(沿Z轴)运动主要由调节脐带缆长度的前馈-反馈策略决定,沿水平(X轴)方向的运动主要由调节螺旋桨转速的PID算法控制;机器人水动力载荷受其周围流场变化的影响,而流场的变化主要由机器人运动速度的改变和螺旋桨转速变化二者共同决定。

系留无人机系统冲击张力实验研究

系留无人机中缆绳的松弛-张紧变化可能会产生冲击张力,导致缆绳断裂和无人机失控坠毁,对于该冲击张力现象亟待实验研究.为此,在风洞中开展了系留无人机系统冲击张力实验,通过分析不同结构和环境参数下系留无人机系统动力学响应数据,揭示冲击张力的变化规律.依据光纤布拉格光栅(fiber Bragg grating,FBG)传感器可受拉受压的测试特点,提出判断缆绳松弛-张紧的准则.通过分析缆绳松弛-张紧随位置的分布图发现,随着缆绳长度减小、直径减小或风速增大,发生松弛-张紧的位置会减少或消失.测试了缆绳长度、直径和环境风速对冲击张力的影响,结果发现,缆绳长度越长、缆绳直径越大、环境风速越大,缆绳张力也越大.同时发现,张力在缆绳与无人机的连接点达到最大,该张力作用会影响无人机的稳定运动,不利于系统的正常工作及安全飞行.在实际需求前提下,在结构设计时可选用长度较小或直径较小或抗拉强度较大的缆绳,同时对缆绳和无人机的连接点加强保护,从而确保系统的稳定性和安全性.

Analytical libration control law for electrodynamic tether system with current constraint

This study focuses on stabilizing the libration dynamics of an electrodynamic tether system(EDTS)using generalized torques induced by the Lorentz force.In contrast to existing numerical optimization methods,a novel analytical feedback control law is developed to stabilize the in-plane and out-of-plane motions of a tether by modulating the electric current only.The saturation constraint on the current is accounted for by adding an auxiliary dynamic system to the EDTS.To enhance the robustness of the proposed controller,multiple perturbations of the orbital dynamics,modeling uncertainties,and external disturbances are approximated using a neural network in which the weighting matrix and approximation error are estimated simultaneously,such that these perturbations are well compensated for during the control design of the EDTS.Furthermore,a dynamically scaled generalized inverse is utilized to address the singular matrix in the control law.The closed-loop system is proven to be ultimately bounded based on Lyapunov stability theory.Finally,numerical simulations are performed to demonstrate the effectiveness of the proposed analytical control law.

近地面系留气球-缆绳复杂系统动力学建模方法

为探究系留气球在近地面工作时缆绳系统以及整体动力学响应特性,提出了一种系留气球-缆绳复杂系统动力学建模方法.通过将系留缆绳离散为若干圆柱型刚体,并以轴套力进行连接,描述系留缆绳的柔性多体特性,对系留气球系统在稳态风环境、风廓线环境以及阵风环境下进行了系统动力学建模与仿真.开展了系留气球系统结构以及环境参数对系留气球运动姿态的影响量化分析.研究结果表明,600米高度的系留气球在相同外部载荷下,系留缆绳分段数为320段时,系统的运动响应特性较为理想.

Non-Linear Response of Tethers Subjected to Parametric Excitation in Submerged Floating Tunnels

For the study of the non-linear response of inclined tethers subjected to parametric excitation in submerged floating tunnels, a theoretical model for coupled tube-tether vibration is developed. Upon the assumption that the static equilibri- um position of the tether is a quadratic parabola, the governing differential equations of the tether motion are derived by use of the Hamihon principle. An approximate numerical solution is obtained by use of Galerkin method and Runge-kutta method. The results show that, when the static equilibrium position of the tether is assumed to be. a quadratic parabola, the tether sag effect on its vibration may be reflected; the tether sag results in the asymmetry of tether vibration amplitude ; for the reduction of the tether amplitude, the buoyant unit weight of the tether should approach to zero as far as possible during the design.

Parametric Vibration of Submerged Floating Tunnel Tether Under Random Excitation

For the study of the parametric vibration response of submerged floating tunnel tether under random excitation, a nonlinear random parametric vibration equation of coupled tether and tube of submerged floating tunnel is set up. Subsequently, vibration response of tether in the tether-tube system is analyzed by Monte Carlo method. It may be concluded that when the tube is subjected to zero-mean Gaussian white noise random excitation, the displacement and velocity root mean square responses of tether reach the peak if the circular frequency of tube doubles that of tether; the displacement and velocity root mean square responses of tether increase as the random excitation root mean square increases; owing to the damping force of water, the displacement and velocity root mean square responses of tether decrease rapidly compared with tether in air; increasing the damping of the tether or tube reduces the displacement and velocity root mean square responses of tether; the large-amplitude vibration of tether may be avoided by locating dampers on the tether or tube.

Seismic Response of Submerged Floating Tunnel Tether

A mathematical equation for vibration of submerged floating tunnel tether under the effects of earthquake and parametric excitation is presented. Multi-step Galerkin method is used to simplify this equation and the fourth-order Runge-Kuta integration method is used for numerical analysis. Finally, vibration response of submerged floating tunnel tether subjected to earthquake and parametric excitation is analyzed in a few numerical examples. The results show that the vibration response of tether varies with the seismic wave type; the steady maximum mid-span displacement of tether subjected to seismic wave keeps constant when parametric resonance takes place; the transient maximum mid-span displacement of tether is related to the peak value of input seismic wave acceleration.