Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

An Excellent Gas Chromatographic Stationary Phase for Separation of Phenol and Cresol Isomers--Heptakis(2,6-di-O-pentyl-3-O-allyl)-β-Cyclodextrin

Heptakis(2.6-di-O-pentyl-3-O-ally)-β-cyclodextrin as an excellent gas chromatographic stationary phase separating phenol and cresol isomers is described.

Eigen-Space Decomposition(ESD)Method for the Design of Internal Model Controller(IMC)from Noisy Input and Output Plant Data

A novel approach to design Internal Model Controller(IMC)is proposed in this paper directly from measuredinput and output plant data,which are assumed to becontaminated by measurement noise.In order to avoidthe complicated structure-identification problem inmost cases,two Finite Impulse Response(FIR)modelsare taken to represent the plant model and the internalmodel controller respectively.Taking account of mea-surement noise both in the plant input and its output,anESD based Total Least Squares(TLS)solution is appliedfor the unbiased identification of the plant model and itsinverse model,the latter constitutes the internal modelcontroller according to the principle that the internalmodel controller approximates the inverse dynamics ofthe plant model.Simulations are given for a testifica-tion.

福建姜黄挥发油化学成分的HS-SPME-GC-MS分析

采用水蒸气蒸馏法提取福建姜黄挥发油,应用顶空固相微萃取进样结合气相色谱-串联质谱联用技术(HS-SPME-GC-MS)分析姜黄挥发油的化学成分。结果表明:姜黄挥发油含有量为7.2%(mL/g),从姜黄挥发油中共分出62个色谱峰,初步鉴定出了其中的51种化学成分,占总挥发油总量的98.41%。在鉴定的化合物中,主要为单萜类化合物和倍半萜类化合物,其中新发现一种主要成分为β-柏木烯,相对含量占比高达26.58%,这可作为福建姜黄挥发油的特征成分和主要品质指标。本研究结果将为福建姜黄植物药材的品质评价提供科学依据。

Stress redistribution in multi-stage hydraulic fracturing of horizontal wells in shales

Multi-stage hydraulic fracturing of horizontal wells is the main stimulation method in recovering gas from tight shale gas reservoirs, and stage spacing deter- mination is one of the key issues in fracturing design. The initiation and propagation of hydraulic fractures will cause stress redistribution and may activate natural fractures in the reservoir. Due to the limitation of the analytical method in calculation of induced stresses, we propose a numerical method, which incorporates the interaction of hydraulic fractures and the wellbore, and analyzes the stress distri- bution in the reservoir under different stage spacing. Simulation results indicate the following： （1） The induced stress was overestimated from the analytical method because it did not take into account the interaction between hydraulic fractures and the horizontal wellbore. （2） The hydraulic fracture had a considerable effect on the redis- tribution of stresses in the direction of the horizontal wellbore in the reservoir. The stress in the direction per- pendicular to the horizontal wellbore after hydraulic frac- turing had a minor change compared with the original in situ stress. （3） Stress interferences among fractures were greatly connected with the stage spacing and the distance from the wellbore. When the fracture length was 200 m, and the stage spacing was 50 m, the stress redistribution due to stage fracturing may divert the original stress pat- tern, which might activate natural fractures so as to generate a complex fracture network.

The use of laser ranging to measure space debris

Space debris is a major problem for all the nations that are currently active in space. Adopting high-precision measuring techniques will help produce a reliable and accurate catalog for space debris and collision avoidance. Laser ranging is a kind of real-time measuring technology with high precision for space debris observation. The first space-debris laser-ranging experiment in China was performed at the Shanghai Observatory in July 2008 with a ranging precision of about 60-80 cm. The experi- mental results showed that the return signals from the targets with a range of 900 km were quite strong, with a power of 40W （2J at 20 Hz） using a 10ns pulse width laser at 532 nm wavelength. The performance of the preliminary laser ranging system and the observed results in 2008 and 2010 are also introduced.

SOME EULER SPACES OF DIFFERENCE SEQUENCES OF ORDER m

Kizmaz [13] studied the difference sequence spaces ∞（A）, c（A）, and co（A）. Several article dealt with the sets of sequences of m-th order difference of which are bounded, convergent, or convergent to zero. Altay and Basar [5] and Altay, Basar, and Mursaleen [7] introduced the Euler sequence spaces e0^r, ec^r, and e∞^r, respectively. The main purpose of this article is to introduce the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））consisting of all sequences whose mth order differences are in the Euler spaces e0^r, ec^r, and e∞^r, respectively. Moreover, the authors give some topological properties and inclusion relations, and determine the α-, β-, and γ-duals of the spaces e0^r△^（m））, ec^r△^（m））, and e∞^r△^（m））, and the Schauder basis of the spaces e0^r△^（m））, ec^r△^（m））. The last section of the article is devoted to the characterization of some matrix mappings on the sequence space ec^r△^（m））.

Cassini-Huygens results on Titan's surface

Our understanding of Titan, Saturn＇s largest satellite, has recently been considerably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In particular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan＇s thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn＇s largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology： dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan＇s surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.

ON THE m^(th) ORDER DIFFERENCE SEQUENCE SPACE OF GENERALIZED WEIGHTED MEAN AND COMPACT OPERATORS

In this article, using generalized weighted mean and difference matrix of order m, we introduce the paranormed sequence space l（u, v, p; △（m））, which consist of the sequences whose generalized weighted △（m）-difference means are in the linear space l（p） defined by I.J.Maddox. Also, we determine the basis of this space and compute its α-, β- and γ-duals. Further, we give the characterization of the classes of matrix mappings from l（u, v, p, △（m）） to l∞, c, and co. Finally, we apply the Hausdorff measure of noncompacness to characterize some classes of compact operators given by matrices on the space lp（U, v, △（m）） （1 ≤ p 〈 ∞）.

Observation of a diverse deviation from macropore-formation theory in silicon electrochemistry

Via anodizing patterned and unpatterned samples with a high HF concentration （[HF]）, the degree of deviation from pore-formation theory was found to be markedly different. Based on the analysis of scanning electron microscope （SEM） micrographs and current-voltage （I - V） curves, the variation of physical and chemical parameters of patterned and unpatterned substrates was found to be crucial to the understanding of the observations. Our results indicate that the initial surface morphology of samples can have a considerable influence upon pore formation. The electric-field effect as well as current-burst-model was employed to interpret the underlying mechanism.

New Investigation on the Space Group of Chevkinite

Chevkinite specimen from a rare-earth mineral deposit in Sichuan, southwest of China have been studied in detail by means of transmission electron microscope (TEM).The selected area electron diffraction (SAED)and convergent beam electron diffraction (CBED) patterns , obtained from different crystal zone axis direction , proved coincidently that the space group of chevkinite is C2/m . Fringe lattice image observation showed the mineral crystal is structurally uniform in microscale , and it is an ideal specimen for electron diffraction analysis . The mineral studied here is similar to the one from Bayan Obo , Inner Mongolia , China , in chemical composition and REE distribution . The chemical formula of the crystal is (Ce , La ,… , Ca) 4 Fe2+ (Fe, Ti, Nb) 2 O8 (Si2O7)2 From our study , we come to the conclusion that the space group of the natural chevkinite is C2/m , instead of P21/a as synthetic one . Up to now , chevkinite compositionally similar to the synthetic one , in which the complete replacements of Ce , La by Nd and Fe by Mg or Co occur , has not been discovered in nature . So we suggest that the name for synthesized chevkinite should be further discussed .

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

An Algorithm of 0-1 Knapsack Problem Based on Economic Model

In order to optimize the knapsack problem further, this paper proposes an innovative model based on dynamic expectation efficiency, and establishes a new optimization algorithm of 0-1 knapsack problem after analysis and research. Through analyzing the study of 30 groups of 0-1 knapsack problem from discrete coefficient of the data, we can find that dynamic expectation model can solve the following two types of knapsack problem. Compared to artificial glowworm swam algorithm, the convergence speed of this algorithm is ten times as fast as that of artificial glowworm swam algorithm, and the storage space of this algorithm is one quarter that of artificial glowworm swam algorithm. To sum up, it can be widely used in practical problems.

THE SPACES OF CESRO ALMOST CONVERGENT SEQUENCES AND CORE THEOREMS

As known, the method to obtain a sequence space by using convergence field of an infinite matrix is an old method in the theory of sequence spaces. However, the study of convergence field of an infinite matrix in the space of almost convergent sequences is so new （see [15]）. The purpose of this paper is to introduce the new spaces ^ ～f and fo consisting of all sequences whose Ceshro transforms of order one are in the spaces f and ^ ～ f0, respectively. Also, in this paper, we show that ^ ～f and ^ ～f0 are linearly isomorphic to the spaces f and f0, respectively. The β- and γ-duals of the spaces ^ ～f and 2% are computed. Furthermore, the classes （^ ～f： μ） and （μ ： f） of infinite matrices are characterized for any given sequence space μ, and determined the necessary and sufficient conditions on a matrix A to satisfy Bc-core（Ax） K-core（x）, K-core（Ax） Bg-core（x）, Bc-core（Ax） Be-core（x）, Bc-core（Ax） t-core（x） for all x ∈ t∞.

Long-term effects of main-body's obliquity on satellite formation perturbed by third-body gravity in elliptical and inclined orbit

A new non-simplified model of formation flying is derived in the presence of an oblate main- body and third-body perturbation. In the proposed model, considering the perturbation of the third- body in an inclined orbit, the effect of obliquity （axial tilt） of the main-body is becoming important and has been propounded in the absolute motion of a reference satellite and the relative motion of a follower satellite. From a new point of view, J2 perturbed relative motion equations and considering a disturbing body in an elliptic inclined three dimensional orbit, are derived using Lagrangian mechanics based on accurate introduced perturbed reference satellite motion. To validate the accuracy of the model presented in this study, an auxiliary model was constructed as the Main-body Center based Relative Motion （MCRM） model. Finally, the importance of the main-body＇s obliquity is demonstrated by several examples related to the Earth-Moon system in relative motion and lunar satellite formation keeping. The main-body＇s obliquity has a remarkable effect on formation keeping in the examined in-track and projected circular orbit （PCO） formations.

An image compression method for space multispectral time delay and integration charge coupled device camera

Multispectral time delay and integration charge coupled device （TDICCD） image compression requires a low- complexity encoder because it is usually completed on board where the energy and memory are limited. The Consultative Committee for Space Data Systems （CCSDS） has proposed an image data compression （CCSDS-IDC） algorithm which is so far most widely implemented in hardware. However, it cannot reduce spectral redundancy in mukispectral images. In this paper, we propose a low-complexity improved CCSDS-IDC （ICCSDS-IDC）-based distributed source coding （DSC） scheme for multispectral TDICCD image consisting of a few bands. Our scheme is based on an ICCSDS-IDC approach that uses a bit plane extractor to parse the differences in the original image and its wavelet transformed coefficient. The output of bit plane extractor will be encoded by a first order entropy coder. Low-density parity-check-based Slepian-Wolf （SW） coder is adopted to implement the DSC strategy. Experimental results on space multispectral TDICCD images show that the proposed scheme significantly outperforms the CCSDS-IDC-based coder in each band.

On Common Fixed Point Theorem of Four Self Maps in a Fuzzy Metric Space

In the present paper, we show that there exists a unique common fixed point for four self maps in a fuzzy metric space where two of the maps are reciprocally continuous and the other two maps are z-asymptotically commuting.

烷基化法分离混合间对甲酚联产BHT生产技术及其应用前景

本文阐述了混合间对甲酚的烷基化分离并联产 BHT 的生产新工艺及该工艺技术的应用前景。

SGLT2抑制剂干预心力衰竭相关文献的可视化分析

目的 对钠-葡萄糖协同转运蛋白2抑制剂(SGLT2i)干预心力衰竭的相关文献进行可视 化分析,探讨其研究进展与热点。方法 检索Web of Science Core Collection数据库(WOSCC),将检索 到有关SGLT2i干预心力衰竭的数据导入Cite Space绘制知识图谱,对作者、机构、国家和关键词进行可 视化分析。结果 SGLT2i干预心力衰竭的有关文献发文量从2016年起呈逐年上升趋势。发文量靠前的作 者有Silvio E Inzucchi,Subodh Verma,Darren K Mcguire等,国家有美国、英国、加拿大等,机构有多伦 多大学、哈佛医学院、哈佛大学医学院附属布列根和妇女医院等。关键词分析得出二肽基肽酶4抑制剂 (DPP-4i)和SGLT2i、EMPA-REG OUTCOME研究,胰高血糖素样肽-1受体激动剂(GLP-1RA)和心血 管死亡率预后等为研究热点。结论 通过文献计量学分析,SGLT2i干预心力衰竭领域目前正处于研究高 热期,但发文量不多,需继续完善相关研究,加强各个国家和机构的合作。研究热点更新较快,研究有 很大的发展空间。