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Investigation into Pilot Handling Qualities in Teleoperation Rendezvous and Docking with Time Delay

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Chinese Journal of Aeronautics 2012年第4期25卷 622-630页

作者： zhou Jianyong zhou jianping JIANG Zicheng LI Haiyang College of Aerospace and Material Engineering National University of Defense TechnologyChangsha 410073China

Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking（RVD） for an unmanned spacecraft when the autonomous system is failure or for guiding the chaser docking with an uncooperative *** theoretical model for analyzing the handling qualities in teleoperation RVD process is established based on the previous studies conducted by National Aeronautics and Space Administration（NASA）.The predictive factor is introduced to describe the pilot＇s predictive ability in the teleoperation tasks with time delay,which interrelates with the skills of a pilot and the predictive assist approach used in the tasks such as the predictive display *** on the semi-physical simulation system in our laboratory,900 experiments at two levels of time delay are carried out by 18 volunteers for validating the established *** experimental results demonstrate the correctness of the theoretical model and indicate that a skilled pilot has a predictive ability of approximately 0.9 in teleoperation RVD *** theoretical analysis shows that the handling qualities are greatly affected by the time delay and the predictive factor,and it is impossible to achieve a teleoperation RVD task for the skilled pilot when the time delay is larger than 9.0 s.

关键词： teleoperation rendezvous and docking handling quality theoretical model time delay experimental validation

Large-scale Vacuum Vessel Design and Finite Element Analysis

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Chinese Journal of Aeronautics 2012年第2期25卷 189-197页

作者： WANG Wenlong CAI Guobiao zhou jianping School of Astronautics Beihang UniversityBeijing 100191China

The vacuum plume effects experimental system （PES） is the first experimental system designed to study the effects of vacuum plume in China. The main equipment, a vacuum chamber of 5.5 m in diameter and 12.8 m in length, and structure design of hinged door are described. The finite element method （FEM） is adopted to analyze the static strength and stability of the PES vacuum chamber. It is demonstrated that the static strength and stability are qualified. For the 5.5 m diameter vacuum chamber door, three design schemes are put forward. After comparisons are made, the single-axis-double-pin hinged door is selected. The FEM is applied to checking its static strength as well as distortions. The results show that the door’s distortion and displacement change mainly due to the gravity of the door which leads to its sinking. The calculated displacement is less than 7.8 mm, while the actual measurement is 5 mm. The single-axis-double-pin hinged door mechanism completely satisfies the design requirements. This innovative structure can be introduced as a reference for the design of large-scale hinged doors.

关键词： vacuum design finite element method buckling chamber hinges

Design of integral sliding mode guidance law based on disturbance observer

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Journal of Systems Engineering and Electronics 2024年第1期35卷 186-194页

作者： zhou jianping ZHANG Wenjie zhou Hang LI Qiang XIA Qunli School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China School of Informatic Engineering Mianyang Techers’CollegeMianyang 62100China Beijing Institute of Electronic System Engineering Beijing 100854China Beijing Institute of Space Long March Vehicle Beijing 100076China

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more *** 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 *** 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 *** proposed system’s stability is proven based on the Lyapunov stability *** 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 ***,ISMGL has a more accurate impact angle and fast convergence speed.

关键词： disturbance observer pilot dynamics integral sliding mode impact angle constraint maneuvering target

Robust missile autopilot design based on dynamic surface control

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Journal of Systems Engineering and Electronics 2023年第1期34卷 160-171页

作者： zhou jianping LI Wei XIA Qunli JIANG Huan School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

Since the dynamical system and control system of the missile are typically nonlinear, an effective acceleration tracking autopilot is designed using the dynamic surface control(DSC)technique in order to make the missile control system more robust despite the uncertainty of the dynamical parameters and the presence of disturbances. Firstly, the nonlinear mathematical model of the tail-controlled missile is decomposed into slow acceleration dynamics and fast pitch rate dynamics based on the naturally existing time scale separation. Secondly, the controller based on DSC is designed after obtaining the linear dynamics characteristics of the slow and fast subsystems. An extended state observer is used to detect the uncertainty of the system state variables and aerodynamic parameters to achieve the compensation of the control law. The closed-loop stability of the controller is derived and rigorously analyzed. Finally, the effectiveness and robustness of the design is verified by Monte Carlo simulation considering different initial conditions and parameter uptake. Simulation results illustrate that the missile autopilot based DSC controller achieves better performance and robustness than the other two well-known *** method proposed in this paper is applied to the design of a missile autopilot, and the results show that the acceleration tracking autopilot based on the DSC controller can ensure accurate tracking of the required commands and has better performance.

关键词： acceleration autopilot nonlinear missile dynamics time-scale separation extended state observer dynamic surface control(DSC)

基于改进YOLOv5的红花目标检测算法研究

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农机化研究 2025年第1期47卷 26-32,66页

作者：陈金荣许燕周建平王小荣新疆大学机械工程学院乌鲁木齐830047 新疆大学工程训练中心乌鲁木齐830047 新疆维吾尔自治区农牧机器人及智能装备工程研究中心乌鲁木齐830047

为实现农业非结构环境下采摘机器人对红花的准确识别,提出了一种基于改进YOLOv5的红花目标检测算法。将CBAM注意力机制嵌入到YOLOv5网络,提高了小尺寸目标物在高层次特征中的表现力;建立一种Alpha-IoU目标位置损失函数对原损失函数GIOU... 详细信息

为实现农业非结构环境下采摘机器人对红花的准确识别,提出了一种基于改进YOLOv5的红花目标检测算法。将CBAM注意力机制嵌入到YOLOv5网络,提高了小尺寸目标物在高层次特征中的表现力;建立一种Alpha-IoU目标位置损失函数对原损失函数GIOU存在的梯度消失问题进行改进,提高了被遮挡红花的预测率,并通过在目标检测网络中增加分割检测模块,提高宽和高小于最低像素的小目标物检测精度,利用图像扩增数据集对改进后的YOLOv5算法进行训练,再分别与改进前后YOLOv5网络和Faster R-CNN网络在不同红花品种、不同自然光照情况、不同天气条件和不同遮挡情况下进行对比。试验结果表明:改进后的YOLOv5算法P值、R值分别为90.45%和0.90,对非结构环境下盛开期的未采摘红花mAP值达到94.48%,在不同影响因素下都可以准确识别出红花且置信度较高,可为红花采摘机器人自动化作业中的红花识别提供技术支持。

关键词：红花目标检测改进YOLOv5 数据增强非结构环境

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Multi-objective optimization of space station short-term mission planning

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Science China(Technological Sciences) 2015年第12期58卷 2169-2185页

作者： BU HuiJiao ZHANG Jin LUO YaZhong zhou jianping College of Aerospace Science and Engineering National University of Defense Technology Chinese Manned Space Engineering Office

This paper studies the multi-objective optimization of space station short-term mission planning(STMP), which aims to obtain a mission-execution plan satisfying multiple planning demands. The planning needs to allocate the execution time effectively, schedule the on-board astronauts properly, and arrange the devices reasonably. The STMP concept models for problem definitions and descriptions are presented, and then an STMP multi-objective planning model is developed. To optimize the STMP problem, a Non-dominated Sorting Genetic Algorithm II(NSGA-II) is adopted and then improved by incorporating an iterative conflict-repair strategy based on domain knowledge. The proposed approach is demonstrated by using a test case with thirty-five missions, eighteen devices and three astronauts. The results show that the established STMP model is effective, and the improved NSGA-II can successfully obtain the multi-objective optimal plans satisfying all constraints considered. Moreover, through contrast tests on solving the STMP problem, the NSGA-II shows a very competitive performance with respect to the Strength Pareto Evolutionary Algorithm II(SPEA-II) and the Multi-objective Particle Swarm Optimization(MOPSO).

关键词： space station short-term mission planning multi-objective optimization NSGA-II

Study of risk acceptance criteria for dams

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Science China(Technological Sciences) 2015年第7期58卷 1263-1271页

作者： LI ShouYi zhou XingBo WANG YuJie zhou jianping DU XiaoHu CHEN ZuYu Institute of Water Resources and Hydropower Engineering Xi'an University of Technology Department of Geotechnical Engineering China Institute of Water Resources and Hydropower Research Power Construction Corporation of China Ltd. China Renewable Energy Engineering Institute

This paper discusses the methods of establishing risk criteria for dams and reviews the application of dam risk criteria for individuals and societies in different countries or districts. Given the conditions in China and considering the public safety and acceptance of dam risk, historical dam break data and current design standards, individual and societal risk criteria for dams are proposed. The tolerable dam risk criteria for individuals should be set to 10-5-10-7 per annum based on project scale, for ex- ample, approximately 1.0xl0 7 per annum, which corresponds to a reliability index of 4.2 based on a 100-year lifespan for a first-class or large project. The societal limit for risk tolerance for dams should be set to approximately 10-3-10-5 per annum, corresponding to the fatality range from 1 to 100 and be horizontally extended to 1000, and F-N curves are proposed. It was also found that the reliability indices of Chinese Standard （GB 50199-2013） and Eurocodel （2002） are different, but they have the same level of safety measured by the annual probability of failure. The research results have significance for establishing dam risk criteria.

关键词： dam risk criteria acceptable risk annual probability of failure dam safety

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深度学习方法在红花采摘机器人中的应用

农机化研究 2025年第4期47卷 186-191页

作者：陈金荣许燕周建平王小荣崔超新疆大学机械工程学院乌鲁木齐830047 新疆维吾尔自治区农牧机器人及智能装备工程研究中心乌鲁木齐830047 新疆大学工程训练中心乌鲁木齐830047

为实现农业复杂环境中红花的快速准确识别,提出了一种基于深度学习方法的改进YOLOv5s红花目标检测算法。在YOLOv5s基础上融入适配GPU的轻量Ghost模块,获得复杂度更低、网络推理速度更快的基线模型,将CBAM注意力机制嵌入基线模型,增强了... 详细信息

为实现农业复杂环境中红花的快速准确识别,提出了一种基于深度学习方法的改进YOLOv5s红花目标检测算法。在YOLOv5s基础上融入适配GPU的轻量Ghost模块,获得复杂度更低、网络推理速度更快的基线模型,将CBAM注意力机制嵌入基线模型,增强了小目标物在高频特征中的表现力,并通过建立一种基于边界框宽和高差值的Focal-EIoU损失函数,提高红花在不同遮挡情况下的识别率。最后,在并联式红花采摘机器人上开展红花识别试验,验证改进算法的可行性和可靠性。结果表明:改进后的YOLOv5s模型相较于原始模型在mAP值上提高了1.94个百分点,模型参数量和单幅图像检测速度分别为3.52 MB和0.06 s/幅,红花采摘机器人视觉系统的平均识别成功率可达89.92%。

关键词：红花采摘机器人深度学习 YOLOv5s 识别成功率

Zinc phosphate dissolution by bacteria isolated from an oligotrophic karst cave in central China

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Frontiers of Earth Science 2013年第3期7卷 375-383页

作者： Hongmei WANG Qiang DONG jianping zhou Xing XIANG State Key Laboratory of Biogeology and Environmental Geology China University of Geosciences Wuhan 430074 China

Biogeochemical processes are fundamental to sustain the ecosystem in subsurface caves, but to date they are still far from well understood. To investigate micro-bially mediated phosphorus and zinc cycles, we isolated three bacterial strains from the dripping water in Heshang cave, central China, identified as Exiguobacterium aurantiacum E11, Pseudomonas fluorescens P35, and Pseu- domonas poae P41, respectively. Microbial capabilities in the dissolution of phosphorus-containing minerals were tested with zinc phosphate （Zn3（PO4）2） in batch culture at 30~C. A spectrophotometer, atomic absorption spectrum, and scanning electronic microscopy were used to measure the microbial growth, soluble Zn（II） concentration, and to observe the morphology of Zn3（PO4）2 before and after microbial dissolution. P. fluorescens and P. poae, the well- known phosphorus solubilizing bacteria （PSB）, are observed to solubilize Zn3（PO4）2 with an efficiency of 16.7% and 17.6%, respectively. To our knowledge, E. aurantiacum is firstly reported in this study to dissolve phosphorous-containing minerals with a higher efficiency of 39.7%, expanding our understanding about the ubiquitous occurrence of PSB in natural environments. Aqueous Zn（II） concentration positively correlates with H＋ activity, confirming the presence of acidification mechanisms widely exploited by PSB. Few itching pits were observed on the surface of Zn3（PO4）2 after microbial dissolution, inferring that microbial dissolution is not always associated with the direct contact with minerals. Even though the soluble Zn（II） concentration reached up to 370 mg/L in the system inoculated with E. aurantiacum Ell, inhibition of microbial growth was not detected by spectrophotometer. Our laboratory data revealed the importance of microbially-mediated P and Zn cycles in the subsurface ecosystem.

关键词： karst cave phosphate solubilizing bacteria (PSB) zinc toxicity biogeochemical process subsurface biosphere