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.

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%。

Effect of lengthening alkyl spacer on hydroformylation performance of tethered-phosphine modified Rh/SiO_2 catalyst

Rh/SiO2 catalysts with tethered-phosphines with different alkyl spacer lengths have been prepared,tested and characterized.Lengthening the alkyl spacer of the tethered-phosphine improved the flexibility of tethered-phospine,promoted the formation of active species and enhanced the activity of hydroformylation over other tethered-phosphine modified Rh/SiO2 catalysts.

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.

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.

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.

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.

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.

Hill Instability Analysis of TLP Tether Subjected to Combined Platform Surge and Heave Motions

This paper presents the Hill instability analysis of Tension keg Platform （TLP） tether in deep sea. The 2-D nonlinear beanl model, which is undergoing coupled axial and transverse vibrations, is applied. The governing equations are reduced to nonlinear Hill equation by use of the Galerkin＇ s method and the modes superposition principle. The Hill instability charted up to large parameters is obtained. An important parameter M is defined and can be expressed as the functions of tether length, the platform surge and heave motion amplitudes. Some example studies are performed for various envirotnnental conditions. The results demonstrate that the nonlinear coupling between the axial and transverse vibrations has a significant effect on the response of structure. It needs to be considered for the accurate dynamic analysis of long TI2 tether subjected to the combined platfolna surge and heave motions.

Microsurgical efficacy in 326 children with tethered cord syndrome: a retrospective analysis

Tethered cord syndrome is a progressive disease with a typically insidious onset in infants and children, and which can lead to persistent progress of neurological deficits and a high rate of disability without timely intervention. The purpose of this study was to investigate the curative effect of microsurgery in children with different types of tethered cord syndrome. In this study, we analyzed 326 patients with tethered cord syndrome, aged from 2 months to 14 years old, who were followed for 3-36 months after microscopic surgery. Based on clinical manifestations and imaging findings, these patients were classified into five types： tight ilium terminale （53 cases）, lipomyelome- ningocele （55 cases）, lipomatous malformation （124 cases）, postoperative adhesions （56 cases）, and split cord malformation （38 cases）. All patients underwent microsurgery. Curative effects were measured before and 3 months after surgery by Spina Bifida Neurological Scale based on sensory and motor functions, reflexes, and bladder and bowel function. The results showed that Spina Bifida Neurological Scale scores improved in all five types after surgery. Overall effective rates in these patients were 75%. Effective rates were 91% in tight ilium terminale, 84% in lipomyelomeningocele, 65% in lipomatous malformation, 75% in postoperative adhesion, and 79% in split cord mal- formation. Binary logistic regression analysis revealed that types of tethered cord syndrome （lipoma-type or not） and symptom duration before surgery were independent influencing factors of surgical outcome. These results show that therapeutic effect is markedly different in patients with different types of tethered cord syndrome. Suitable clinical classification for tethered cord syndrome will be helpful in predicting prognosis and guiding treatment. This trial has been registered in the Chinese Clinical Trial Registry （registration number： ChiCTR1800016464）.

An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control(FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics(CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.

Numerical investigation of dynamical behavior of tethered rigid spheres in supersonic flow

The dynamical behavior of two tethered rigid spheres in a supersonic flow is numerically investigated. The tethered lengths and radius ratios of the two spheres are different. The two spheres, which are centroid axially aligned initially, are held stationary first, then released, and subsequently let fly freely in a supersonic flow. The mean qualities of the system and the qualities of the bigger sphere are considered and compared with the situations without the tether. In the separation process, six types of motion caused by the spheres, tether, and fluid interaction are found. The results show that the mean x-velocity of the system changes in a different manner for different radius ratios, and the x-velocity of the bigger sphere is uniformly reduced but through different mechanisms.

Retrieval strategy for failed satellite on tether’s optimal balance swing angle

A retrieval control strategy for failed satellite,which is connected to a servicing spacecraft by a tether,is studied.The Lagrange analytical mechanics based dynamics modeling for the system composed of a servicing spacecraft,a tether and a failed satellite,is presented under the earth center inertia coordinate system,then model simplification is conducted under the assumption that the failed satellite’s mass is far smaller than the servicing spacecraft’s,meanwhile the tether’s length is far smaller than the size of the servicing spacecraft’s orbit.Analysis shows that the retrieval process is intrinsically unstable as the Coriolis force functions is a negative damping.A retrieval strategy based on only the tether’s tension is designed,resulting in the fastest retrieval speed.In the proposed strategy,firstly,the tether’s swing angle amplitude is adjusted to 45?by deploying/retrieving the tether;then the tether swings freely with fixed length until it reaches negative maximum angle–45?;finally,the tether is retrieved by the pre-assigned exponential law.For simplicity,only the coplanar situation,that the tether swings in the plane of the servicing spacecraft’s orbit,is studied.Numerical simulation verifies the effectiveness of the strategy proposed.

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.

Adaptive Optimal Control of Space Tether System for Payload Capture via Policy Iteration

The libration control problem of space tether system(STS)for post-capture of payload is studied.The process of payload capture will cause tether swing and deviation from the nominal position,resulting in the failure of capture mission.Due to unknown inertial parameters after capturing the payload,an adaptive optimal control based on policy iteration is developed to stabilize the uncertain dynamic system in the post-capture phase.By introducing integral reinforcement learning(IRL)scheme,the algebraic Riccati equation(ARE)can be online solved without known dynamics.To avoid computational burden from iteration equations,the online implementation of policy iteration algorithm is provided by the least-squares solution method.Finally,the effectiveness of the algorithm is validated by numerical simulations.

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.

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.

Structure and switching of single-stranded DNA tethered to a charged nanoparticle surface

Using a molecular theory, we investigate the temperature-dependent self-assembly of single-stranded DNA（ss DNA）tethered to a charged nanoparticle surface. Here the size, conformations, and charge properties of ss DNA are taken into account. The main results are as follows： i） when the temperature is lower than the critical switching temperature, the ss DNA will collapse due to the existence of electrostatic interaction between ss DNA and charged nanoparticle surface; ii）for the short ss DNA chains with the number of bases less than 10, the switching of ss DNA cannot happen, and the critical temperature does not exist; iii） when the temperature increases, the electrostatic attractive interaction between ss DNA and charged nanoparticle surface becomes weak dramatically, and ss DNA chains will stretch if the electrostatic attractive interaction is insufficient to overcome the elastic energy of ss DNA and the electrostatic repulsion energy. These findings accord well with the experimental observations. It is predicted that the switching of ss DNA will not happen if the grafting densities are too high.

Calculation of Orbital Elements for Released Tethered Satellite

The tethered satellite system has a great potential and one of its very useful applications is momentum transfer. Raising a payload by deploying it upward from an orbitor on a long tether and then releasing it represents a rather important possible application with significant fael economy. This paper presents a dynamic model set up for a two body tethered satellite system and two control laws of deployment used to simulate the deployment of the system, gives calculation formulas for six orbital elements of two sub satellites and discusses calculation examples.