Configuration Design and Size Optimization of a High-Precision Novel Parallel Pointing Mechanism Based on Interference Separation

Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high requirements.The pointing mechanism will be affected by external interference when it works.In order to eliminate the impact of interference forces on the output accuracy of the mechanism,firstly,this paper proposes a design method for highprecision pointing mechanisms based on interference separation,aiming at the high-precision pointing requirements of pointing mechanisms.Based on the screw theory,a synthesis method for inner compensation mechanisms has been proposed.And a new type of double-layer parallel mechanism has been designed to compensate for interference forces.Then,the kinematics and dynamics of the mechanism are carried out.An evaluation index for compensating external interference forces is proposed.The interference compensation analysis is conducted for the pointing mechanism.The correctness of the proposed interference force compensation coefficient is verified.Finally,in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism,multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization algorithm.This provides a theoretical basis for the prototype design of the subsequent double-layer parallel mechanism.This double-layer parallel mechanism combines the advantages of large load-bearing capacity,large workspace,and high output accuracy.It can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

Drosophila models used to simulate human ATP1A1 gene mutations that cause Charcot-Marie-Tooth type 2 disease and refractory seizures

Certain amino acids changes in the human Na^(+)/K^(+)-ATPase pump,ATPase Na^(+)/K^(+)transporting subunit alpha 1(ATP1A1),cause Charcot-Marie-Tooth disease type 2(CMT2)disease and refractory seizures.To develop in vivo models to study the role of Na^(+)/K^(+)-ATPase in these diseases,we modified the Drosophila gene homolog,Atpα,to mimic the human ATP1A1 gene mutations that cause CMT2.Mutations located within the helical linker region of human ATP1A1(I592T,A597T,P600T,and D601F)were simultaneously introduced into endogenous Drosophila Atpαby CRISPR/Cas9-mediated genome editing,generating the Atpα^(TTTF)model.In addition,the same strategy was used to generate the corresponding single point mutations in flies(Atpα^(I571T),Atpα^(A576T),Atpα^(P579T),and Atpα^(D580F)).Moreover,a deletion mutation(Atpα^(mut))that causes premature termination of translation was generated as a positive control.Of these alleles,we found two that could be maintained as homozygotes(Atpα^(I571T)and Atpα^(P579T)).Three alleles(Atpα^(A576T),Atpα^(P579)and Atpα^(D580F))can form heterozygotes with the Atpαmut allele.We found that the Atpαallele carrying these CMT2-associated mutations showed differential phenotypes in Drosophila.Flies heterozygous for Atpα^(TTTF)mutations have motor performance defects,a reduced lifespan,seizures,and an abnormal neuronal morphology.These Drosophila models will provide a new platform for studying the function and regulation of the sodium-potassium pump.

MmWave Beamforming for UAV Communications with Unstable Beam Pointing

Millimeter wave(mmWave) communications of unmanned aerial vehicles(UAVs) have drawn dramatic attentions for its flexibility on a variety of applications.Recently,channel tracking base on the spatial features has been proposed to solve the problem of beam misalignments due to the UAV navigation.However,unstable beam pointing caused by the non-ideal beam tracking environment may impact the performance of mmWave systems significantly.In this paper,an improved beamforming method is presented to overcome this shortcoming.Firstly,the effect of the beam deviation is analyzed through the establishment of the equivalent data rate.Then,combining the quantification of spatial angle and the improved orthogonal matching pursuit(OMP) algorithm,an optimized beam corresponding to the beam deviation is obtained.Simulation results show that the optimized beam of the proposed approach can effectively improve the spectral efficiency without improving the complexity when the beam pointing is unstable.

A new calibration model for pointing a radio telescope that considers nonlinear errors in the azimuth axis

A new calibration model of a radio telescope that includes pointing error is presented, which considers nonlinear errors in the azimuth axis. For a large radio telescope, in particular for a telescope with a turntable, it is difficult to correct pointing errors using a traditional linear calibration model, because errors produced by the wheel-on-rail or center bearing structures are generally nonlinear. Fourier expansion is made for the oblique error and parameters describing the inclination direction along the azimuth axis based on the linear calibration model, and a new calibration model for pointing is derived. The new pointing model is applied to the 40 m radio telescope administered by Yunnan Observatories, which is a telescope that uses a turntable. The results show that this model can significantly reduce the residual systematic errors due to nonlinearity in the azimuth axis compared with the linear model.

A Magnetically Levitated Precise Pointing Mechanism for Application to Optical Communication Terminals

Increasing data bandwidth requirements from spacecraft systems is beginning to pressure existing microwave communications systems. Free-Space optical communications allows for larger bandwidths for lower relative power consumption, smaller size and weight when compared to the microwave equivalent. However optical communication does have a formidable challenge that needs to be overcome before the advantages of the technology can be fully utilized. In order for the communication to be successful the transmitter and receiver terminals need to be pointed with a high accuracy (generally in the order of ≤10 μradians) for the duration of communication. In this paper we present a new concept for the precise pointing of optical communications terminals (termed the Precise Pointing Mechanism). In this new concept we combine the separate pointing mechanisms of a conventional optical terminal into a single mechanism, reducing the complexity and cost of the optical bench. This is achieved by electromagnetically actuating the whole telescope assembly in 6 degrees-of-freedom with an angular resolution of less than ±3 μradians within a 10 (Az. El.) field of view and linear resolution of ±2 μm. This paper presents the new pointing mechanism and discusses the modelling, simulation and experimental work undertaken using the bespoke engineering model developed.

A Precise Calibration Method on Phase Center of Uplink Antenna Array Considering Its Actual Pointing

With regard to the inferior techniques and low accuracy of phase center calibration of an antenna array, this paper proposes a new calibration method considering the actual antenna pointing by introducing a precise engineering surveying technique to measure the real state of antennas. First, an industrial photogrammetric system is utilized to obtain the coordinates of points on antenna panels in different postures, and the actual pointing of the mechanical axis is obtained via least-squares fitting. Then, based on this, the coordinates of antenna rotation center are obtained by seeking the intersection of mechanical axes via using the matrix method. Finally, the mechanical axis in arbitrary postures is estimated based on the inverse-angle weighting interpolation method, and the reliable phase center is obtained by moving a fixed length from the projective center along the mechanical axis. An uplink antenna array including three ? 3 m antennas is taken as experimental object, and all photogrammetric coordinate systems are unified by the engineering control network, with each antenna phase center precisely calibrated via the proposed method. The results of electrical signal synthesis indicate that this method can effectively overcome the influence of gravity deformation and mechanical installation error, and enhance the synthetic signal magnitude of the uplink antenna array.

On the Innovation,Design,Construction,and Experiments of OMEGA-Based SSPS Prototype:The Sun-Chasing Project

This study systematically introduces the development of the world’s first full-link and full-system ground demonstration and verification system for the OMEGA space solar power satellite(SSPS).First,the OMEGA 2.0 innovation design was proposed.Second,field-coupling theoretical models of sunlight concentration,photoelectric conversion,and transmitting antennas were established,and a systematic optimization design method was proposed.Third,a beam waveform optimization methodology considering both a high beam collection efficiency and a circular stepped beam shape was proposed.Fourth,a control strategy was developed to control the condenser pointing toward the sun while maintaining the transmitting antenna toward the rectenna.Fifth,a high-efficiency heat radiator design method based on bionics and topology optimization was proposed.Sixth,a method for improving the rectenna array’s reception,rectification,and direct current(DC)power synthesis efficiencies is presented.Seventh,high-precision measurement technology for high-accuracy beam-pointing control was developed.Eighth,a smart mechanical structure was designed and developed.Finally,the developed SSPS ground demonstration and verification system has the capacity for sun tracking,a high concentration ratio,photoelectric conversion,microwave conversion and emission,microwave reception,and rectification,and thus satisfactory results were obtained.

Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://github.com/yahuiliu99/PointC onT.

Material point method simulation of hydro-mechanical behaviour in twophase porous geomaterials: A state-of-the-art review

The material point method(MPM)has been gaining increasing popularity as an appropriate approach to the solution of coupled hydro-mechanical problems involving large deformation.In this paper,we survey the current state-of-the-art in the MPM simulation of hydro-mechanical behaviour in two-phase porous geomaterials.The review covers the recent advances and developments in the MPM and their extensions to capture the coupled hydro-mechanical problems involving large deformations.The focus of this review is aiming at providing a clear picture of what has or has not been developed or implemented for simulating two-phase coupled large deformation problems,which will provide some direct reference for both practitioners and researchers.

3D reconstruction and defect pattern recognition of bonding wire based on stereo vision

Non-destructive detection of wire bonding defects in integrated circuits(IC)is critical for ensuring product quality after packaging.Image-processing-based methods do not provide a detailed evaluation of the three-dimensional defects of the bonding wire.Therefore,a method of 3D reconstruction and pattern recognition of wire defects based on stereo vision,which can achieve non-destructive detection of bonding wire defects is proposed.The contour features of bonding wires and other electronic components in the depth image is analysed to complete the 3D reconstruction of the bonding wires.Especially to filter the noisy point cloud and obtain an accurate point cloud of the bonding wire surface,a point cloud segmentation method based on spatial surface feature detection(SFD)was proposed.SFD can extract more distinct features from the bonding wire surface during the point cloud segmentation process.Furthermore,in the defect detection process,a directional discretisation descriptor with multiple local normal vectors is designed for defect pattern recognition of bonding wires.The descriptor combines local and global features of wire and can describe the spatial variation trends and structural features of wires.The experimental results show that the method can complete the 3D reconstruction and defect pattern recognition of bonding wires,and the average accuracy of defect recognition is 96.47%,which meets the production requirements of bonding wire defect detection.

Two-Staged Method for Ice Channel Identification Based on Image Segmentation and Corner Point Regression

Identification of the ice channel is the basic technology for developing intelligent ships in ice-covered waters,which is important to ensure the safety and economy of navigation.In the Arctic,merchant ships with low ice class often navigate in channels opened up by icebreakers.Navigation in the ice channel often depends on good maneuverability skills and abundant experience from the captain to a large extent.The ship may get stuck if steered into ice fields off the channel.Under this circumstance,it is very important to study how to identify the boundary lines of ice channels with a reliable method.In this paper,a two-staged ice channel identification method is developed based on image segmentation and corner point regression.The first stage employs the image segmentation method to extract channel regions.In the second stage,an intelligent corner regression network is proposed to extract the channel boundary lines from the channel region.A non-intelligent angle-based filtering and clustering method is proposed and compared with corner point regression network.The training and evaluation of the segmentation method and corner regression network are carried out on the synthetic and real ice channel dataset.The evaluation results show that the accuracy of the method using the corner point regression network in the second stage is achieved as high as 73.33%on the synthetic ice channel dataset and 70.66%on the real ice channel dataset,and the processing speed can reach up to 14.58frames per second.

Mobility and dynamic erosion process of granular flow:insights from numerical investigation using material point method

In order to understand the dynamics of granular flow on an erodible base soil,in this paper,a series of material point method-based granular column collapse tests were conducted to investigate numerically the mobility and dynamic erosion process of granular flow subjected to the complex settings,i.e.,the aspect ratio,granular mass,friction and dilatancy resistance,gravity and presence of water.A set of power scaling laws were proposed to describe the final deposit characteristics of granular flow by the relations of the normalized run-out distance and the normalized final height of granular flow against the aspect ratio,being greatly affected by the complex geological settings,e.g.,granular mass,the friction and dilatancy resistance of granular soil,and presence of water in granular flow.An index of the coefficient of friction of granular soil was defined as a ratio of the target coefficient of friction over the initial coefficient of friction to quantify the scaling extent of friction change(i.e.,friction strengthening or weakening).There is a characteristic aspect ratio of granular column corresponding to the maximum mobility of granular flow with the minimum index of the apparent coefficient of friction.The index of the repose coefficient of friction of granular flow decreased gradually with the increase in aspect ratio because higher potential energy of granular column at a larger aspect ratio causes a larger kinetic energy of granular soil to weaken the friction of granular soil as a kind of velocity-related friction weakening.An increase in granular mass reduces gradually the indexes of the apparent and repose coefficients of friction of granular soil to enhance the mobility of granular flow.The mobility of granular flow increases gradually with the decrease in friction angle or increase in dilatancy angle of granular soil.However,the increase of gravity accelerates granular flow but showing the same final deposit profile without any dependence on gravity.The mobility of granular flow increases gradually by lowering the indexes of the apparent and repose coefficients of friction of granular flow while changing the surroundings,in turn,the dry soil,submerged soil and saturated soil,implying a gradually increased excessive mobility of granular flow with the friction weakening of granular soil.Presence of water in granular flow may be a potential catalyzer to yield a long run-out granular flow,as revealed in comparison of water-absent and water-present granular flows.In addition,the dynamic erosion and entrainment of based soil induced by granular flow subjected to the complex geological settings,i.e.,the aspect ratio,granular mass,gravity,friction and dilatancy resistance,and presence of water,were comprehensively investigated as well.

Encroachment drives facilitation at alpine shrublines

Ongoing encroachment is driving recent alpine shrubline dynamics globally,but the role of shrub-shrub interactions in shaping shrublines and their relationships with stem density changes remain poorly understood.Here,the size and age of shrubs from 26 Salix shrubline populations along a 900-km latitudinal gradient(30°-38°N)were measured and mapped across the eastern Tibetan Plateau.Point pattern analyses were used to quantify the spatial distribution patterns of juveniles and adults,and to assess spatial associations between them.Mean intensity of univariate and bivariate spatial patterns was related to biotic and abiotic variables.Bivariate mark correlation functions with a quantitative mark(shrub height,basal stem diameter,crown width)were also employed to investigate the spatial relationships between shrub traits of juveniles and adults.Structural equation models were used to explore the relationships among conspecific interactions,patterns,shrub traits and recruitment dynamics under climate change.Most shrublines showed clustered patterns,suggesting the existence of conspecific facilitation.Clustered patterns of juveniles and conspecific interactions(potentially facilitation)tended to intensify with increasing soil moisture stress.Summer warming before 2010 triggered positive effects on population interactions and spatial patterns via increased shrub recruitment.However,summer warming after2010 triggered negative effects on interactions through reduced shrub recruitment.Therefore,shrub recruitment shifts under rapid climate change could impact spatial patterns,alter conspecific interactions and modify the direction and degree of shrublines responses to climate.These changes would have profound implications for the stability of alpine woody ecosystems.

A Reverse-Design Strategy for the Track Error of the Qi Tai Telescope Based on Pointing Accuracy

The Qi Tai Telescope(QTT),which has a 110 m aperture,is planned to be the largest scale steerable tele-scope in the world.Ideally,the telescope’s repeated pointing accuracy error should be less than 2.5 arc seconds(arcsec);thus,the telescope structure must satisfy ultra-high precision requirements.In this pur-suit,the present research envisages a reverse-design method for the track surface to reduce the difficulty of the telescope’s design and manufacture.First,the distribution characteristics of the test data for the track error were verified using the skewness coefficient and kurtosis coefficient methods.According to the distribution characteristics,the azimuth track error was simulated by a two-scale model.The error of the long period and short amplitude was characterized as large-scale and described by a trigonometric function,while the short period and high amplitude error was characterized as small-scale and simulated by a fractal function.Based on the two-scale model,effect of the error on the pointing accuracy was deduced.Subsequently,the relationship between the root mean square(RMS)of the track error and the RMS of the pointing accuracy error of the telescope was deduced.Finally,the allowable RMS value of the track error was derived from the allowable pointing accuracy errors.To validate the effectiveness of the new design method,two typical radio telescopes(the Green Bank Telescope(GBT)and the Large Millimeter Telescope(LMT))were selected as experimental examples.Through comparison,the theoretical calculated values of the pointing accuracy of the telescope were consistent with the measured values,with a maximum error of less than 10%.

Synergetic optimization operation method for distribution network based on SOP and PV

The integration of distributed generation brings in new challenges for the operation of distribution networks,including out-of-limit voltage and power flow control.Soft open points(SOP)are new power electronic devices that can flexibly control active and reactive power flows.With the exception of active power output,photovoltaic(PV)devices can provide reactive power compensation through an inverter.Thus,a synergetic optimization operation method for SOP and PV in a distribution network is proposed.A synergetic optimization model was developed.The voltage deviation,network loss,and ratio of photovoltaic abandonment were selected as the objective functions.The PV model was improved by considering the three reactive power output modes of the PV inverter.Both the load fluctuation and loss of the SOP were considered.Three multi-objective optimization algorithms were used,and a compromise optimal solution was calculated.Case studies were conducted using an IEEE 33-node system.The simulation results indicated that the SOP and PVs complemented each other in terms of active power transmission and reactive power compensation.Synergetic optimization improves power control capability and flexibility,providing better power quality and PV consumption rate.

Effect of beam-pointing errors on bistatic SAR imaging

The purpose is to conduct a research in the energy variation of echo wave and the imaging effect caused by the aero bistatic SAR pointing errors. Based on the moving geometry configuration of aero bistatic SAR, a model of beam pointing errors is built. Based on this, the azimuth Doppler frequency center estimation caused by these errors and the limitation to the beam pointing synchronization error are studied, and then the imaging result of different errors are analyzed. The computer＇s simulations are provided to prove the validity of the above analysis.

Automatic Extraction Method of 3D Feature Guidelines for Complex Cultural Relic Surfaces Based on Point Cloud

Cultural relics line graphic serves as a crucial form of traditional artifact information documentation,which is a simple and intuitive product with low cost of displaying compared with 3D models.Dimensionality reduction is undoubtedly necessary for line drawings.However,most existing methods for artifact drawing rely on the principles of orthographic projection that always cannot avoid angle occlusion and data overlapping while the surface of cultural relics is complex.Therefore,conformal mapping was introduced as a dimensionality reduction way to compensate for the limitation of orthographic projection.Based on the given criteria for assessing surface complexity,this paper proposed a three-dimensional feature guideline extraction method for complex cultural relic surfaces.A 2D and 3D combined factor that measured the importance of points on describing surface features,vertex weight,was designed.Then the selection threshold for feature guideline extraction was determined based on the differences between vertex weight and shape index distributions.The feasibility and stability were verified through experiments conducted on real cultural relic surface data.Results demonstrated the ability of the method to address the challenges associated with the automatic generation of line drawings for complex surfaces.The extraction method and the obtained results will be useful for line graphic drawing,displaying and propaganda of cultural relics.

Acquisition,Pointing and Tracking System for Shipborne Space Laser Communication without Prior Information

A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are proposed.The target scanning mode is the round-trip triangular wave scanning,and it means that scanning track of the PAN-TILT platform follows the triangular wave repeatedly.For the pointing and tracking algorithm,the beacon laser is used as the auxiliary aiming light source.The position of the beacon laser in the viewfield of the complementary metal oxide semiconductor(CMOS)camera is calculated by the centroid algorithm.In order to realize the target tracking,the joint control method of the angle control and the angular velocity control is used.The simulation and experimental results show that the APT system can achieve full coverage scanning in the scanning area and capture the target in one scanning cycle successfully.After capturing the PAN-TILT platform,the pointing and tracking algorithm can track the PAN-TILT platform quickly and accurately,and the tracking accuracy is up to 0.22 mrad.

Research on the influence of flexible wheelset rotation effect on wheel rail contact force

Purpose-Under the high-speed operating conditions,the effects of wheelset elastic deformation on the wheel rail dynamic forces will become more notable compared to the low-speed condition.In order to meet different analysis requirements and selecting appropriate models to analyzing the wheel rail interaction,it is crucial to understand the influence of wheelset flexibility on the wheel-rail dynamics under different speeds and track excitations condition.Design/methodology/approach-The wheel rail contact points solving method and vehicle dynamics equations considering wheelset flexibility in the trajectory body coordinate system were investigated in this paper.As for the wheel-rail contact forces,which is a particular force element in vehicle multibody system,a method for calculating the Jacobian matrix of the wheel-rail contact force is proposed to better couple the wheel-rail contact force calculation with the vehicle dynamics response calculation.Based on the flexible wheelset modeling approach in this paper,two vehicle dynamic models considering the wheelset as both elastic and rigid bodies are established,two kinds of track excitations,namely normal measured track irregularities and short-wave irregularities are used,wheel-rail geometric contact characteristic and wheel-rail contact forces in both time and frequency domains are compared with the two models in order to study the influence of flexible wheelset rotation effect on wheel rail contact force.Findings-Under normal track irregularity excitations,the amplitudes of vertical,longitudinal and lateral forces computed by the flexible wheelset model are smaller than those of the rigid wheelset model,and the virtual penetration and equivalent contact patch are also slightly smaller.For the flexible wheelset model,the wheel rail longitudinal and lateral creepages will also decrease.The higher the vehicle speed,the larger the differences in wheel-rail forces computed by the flexible and rigid wheelset model.Under track short-wave irregularity excitations,the vertical force amplitude computed by the flexible wheelset is also smaller than that of the rigid wheelset.However,unlike the excitation case of measured track irregularity,under short-wave excitations,for the speed within the range of 200 to 350 km/h,the difference in the amplitude of the vertical force between the flexible and rigid wheelset models gradually decreases as the speed increase.This is partly due to the contribution of wheelset's elastic vibration under short-wave excitations.For low-frequency wheel-rail force analysis problems at speeds of 350 km/h and above,as well as high-frequency wheel-rail interaction analysis problems under various speed conditions,the flexible wheelset model will give results agrees better with the reality.Originality/value-This study provides reference for the modeling method of the flexible wheelset and the coupling method of wheel-rail contact force to the vehicle multibody dynamics system.Furthermore,by comparative research,the influence of wheelset flexibility and rotation on wheel-rail dynamic behavior are obtained,which is useful to the application scope of rigid and flexible wheelset models.

THREE KINDS OF DENTABILITIES IN BANACH SPACES AND THEIR APPLICATIONS

In this paper,we study some dentabilities in Banach spaces which are closely related to the famous Radon-Nikodym property.We introduce the concepts of the weak^(*)-weak denting point and the weak^(*)-weak^(*)denting point of a set.These are the generalizations of the weak^(*)denting point of a set in a dual Banach space.By use of the weak^(*)-weak denting point,we characterize the very smooth space,the point of weak^(*)-weak continuity,and the extreme point of a unit ball in a dual Banach space.Meanwhile,we also characterize an approximatively weak compact Chebyshev set in dual Banach spaces.Moreover,we define the nearly weak dentability in Banach spaces,which is a generalization of near dentability.We prove the necessary and sufficient conditions of the reflexivity by nearly weak dentability.We also obtain that nearly weak dentability is equivalent to both the approximatively weak compactness of Banach spaces and the w-strong proximinality of every closed convex subset of Banach spaces.