Search Results (22)

This paper investigates the fly-around formation between the servicer spacecraft and the target spacecraft. Inspired by the spacecraft orbital motion under the Earth’s gravity, an intuitive, analytical guidance law for spatial fly-around formation design with the low-thrust maneuver is proposed. Beginning with the relative translational dynamics based on relative position and velocity, the control input of the guidance law is designed to contain two parts. The first part is the feed-forward term, which makes the relative dynamics a second-order integration model. The second part is the artificial gravity term, which has similar expressions to the Earth’s gravity, and includes the artificial gravitational coefficient and the vector of the artificial gravity center. The above two parameters can be designed to determine the size, shape, and period of the fly-around trajectory. Specifically, three kinds of fly-around trajectories are discussed in detail. The first two are the spatial ellipses with the target spacecraft locating at the focus and the center of the ellipses, respectively. The third is the spatial circle. The proposed method can be easily extended to the design of planar fly-around formation, which is very systematic and comprehensive, and the fuel consumption of the control input is specifically discussed. Numerical simulations are conducted to demonstrate the efficiency of the proposed method. Full article

Though circular exercise is commonly used in equestrian disciplines, it may be at the detriment of horses’ musculoskeletal system. To investigate the effects of circular exercise on bone and joint health, 42 lambs were randomly assigned to a non-exercised control, straight-line, small circle, or large circle exercise regime at a slow (1.3 m/s) or fast (2.0 m/s) speed for 12 wk. Blood samples were taken biweekly. Animals were humanely euthanized upon study completion, and the fused third and fourth metacarpals were collected for biomechanical testing and bone density analysis. Fast groups were found to have more bone formation and less resorption activity than slow groups as evidenced by serum biomarker concentrations (p < 0.05). Sheep in the large fast group tended to have greater flexural rigidity and fracture force for the outside leg compared to the inside leg (p < 0.1). Sheep in the small slow group tended to have increased bone mineral density of the outside leg compared to the inside leg, whereas the opposite occurred in the large slow group (p < 0.1). These results provide further evidence for potential asymmetric musculoskeletal adaptations to circular exercise while emphasizing the importance of speed as a positive influence on bone metabolism and strength. Full article

A distributed improved robust integral line-of-sight (RILOS) guidance-based sliding mode controller is designed for multiple underactuated autonomous surface vessels (ASVs) to perform cooperative maritime search operations. First, a parallel circle search pattern is designed based on the detection range of ASVs, which can provide the reference formation shape. Second, an improved RILOS method is presented by introducing an integral term into the improved robust LOS method, which can counteract the disadvantageous effect of the unknown sideslip angle and kinematic discrepancy simultaneously. Third, distributed improved RILOS guidance is presented by integrating the extended second-order consensus algorithm into the improved RILOS method; then, the desired heading angle and desired velocity are generated for the control system simultaneously. Finally, the fuzzy logic system is integrated into the sliding mode control (SMC) method to approximate the unknown nonlinear function; then, a distributed improved RILOS guidance-based SMC controller is presented for multiple ASVs. The closed-loop signals are proved to be stable by the Lyapunov theory. The effectiveness of the presented method is verified by multiple simulations. Full article

Circular motion phenomena, akin to fish milling, are prevalent within the animal kingdom. This paper delineates two fundamental mechanisms underlying such occurrences: forward following and circular topological communication. Leveraging these pivotal concepts, we present a multi-agent formation circular model based on a second-order integrator. This model engenders the attainment of homogeneous intelligence convergence along the circumferential trajectory. The convergence characteristics are intricately linked to the number of agents and the model parameters. Consequently, we propose positive and negative solutions for ascertaining the convergent circle property and model parameters. Furthermore, by integrating our proposed formation control methodology with a robotic fish dynamics model, we have successfully implemented simulations and experiments, demonstrating the circular formation of multiple biomimetic robotic fish. This study provides a mathematical explication for the circular motion observed in animal groups and introduces a novel approach to achieving circular formation in multiple robots inspired by biological phenomena. Full article

Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for large and complex systems, the traditional control methods will be invalid when faced with unstable and changing environments. To deal with the poor self-adaptability and high requirements for the environmental state information of traditional control methods for a multi-UAV cluster, this paper proposes a consistent round-up strategy based on PPO path optimization to track targets. In this strategy, the leader is trained using PPO for obstacle avoidance and target tracking, while the followers are expected to establish a communication network with the leader to obtain environmental information. In this way, the tracking control law can be designed, based on the consistency protocol and the Apollonian circle, to realize the round-up of the target and obstacle avoidance. The experimental results show that the proposed strategy can achieve the round-up of the target UAV and guide the pursuing multi-UAV group to avoid obstacles in the absence of the initial detection of the target. In multiple simulated scenarios, the success rates of the pursuit multi-UAV cluster for rounding up the target are maintained above 80%. Full article

A small deviation in the time-delay of the image tracker is essential for improving the tracking precision of an electro-optical system, and for future advances in actuator technology. The core goal of this manuscript is to address issues such as tracking the controller time-delay compensation and the precision of an electro-optical detection system using an advanced filter design, a fire control modeling, and an anti-occlusion target detection system. To address this problem, a small deviation in the time-delay prediction and control method of the image tracker is proposed based on the principle of linear motion transformation. The time-delay error formation is analyzed in detail to reveal the scientific mechanism between the tracking controller feedback and the line-of-sight position correction. An advanced N-step Kalman filtering controller model is established by combining a line-of-sight firing control judgment and a single-sample training anti-occlusion DSST target tracking strategy. Finally, an actuator platform with three degrees of freedom is used to test the optical mechatronics system. The results show that the distribution probability of the line-of-sight measuring error in a circle with a radius of 0.15 mrad is 72%. Compared with the traditional control method, the tracking precision of the optimal method is improved by 58.3%. Full article

Unconventional oil and gas, represented by shale gas and shale oil, have occupied an important position in global energy. The rapid growth of shale gas and shale oil production shows great potential for the exploration and development of shale resources. Junggar basin, the main oil-bearing basin in China, is rich in oil and gas resources, so it is of great practical significance to carry out systematic research on the geological characteristics of shale reservoirs in this region. To this end, this paper designates the shale reservoir of Pingdiquan Formation in Huoshaoshan area of the Jungar Basin as the research object, carries out a geological survey in that area, analyzes reservoir forming conditions using the geological interpretation method, analyzes different local trap reservoir types and their main control factors by dissecting the explored reservoir, optimizes and evaluates favorable traps using the source, fault, facies and circle coupling analysis method, establishes single good identification standard of sedimentary microfacies, and carries out well-connected sedimentary microfacies analysis. Using geochemical methods, such as rock pyrolysis, maceral analysis, vitrinite reflectance, kerogen carbon isotope, saturated hydrocarbon chromatography, etc., the abundance and types of organic matter of shale in different intervals are analyzed and the geological characteristics of shale reservoirs are evaluated. This paper aims to analyze the oil and gas content of the shale reservoir in Pingdiquan Formation in the Junggar Basin to provide reliable reservoir evaluation and guide better development of shale oil and gas resources in the future. The innovative expenditure of this paper lies in conducting the research from two aspects: the analysis of the main controlling factors of reservoir formation from the structural point of view and the analysis of the pore structure and geochemical characteristics of shale from the core experiment point of view, and also the classification of organic matter, so as to provide a basis for finding favorable traps. The results show that the shale sedimentary system in the study area is a small fluvial delta, which belongs to a compression structure, with developed NNE-oriented structural belts and faults; the structural form is a short-axis anticline as a whole, forming a structural coil closure at −900 m, with a trap area of 50 km² and a closure height of 180 m. According to the geological interpretation method, 19 faults of all levels were found in the area and the vertical migration conditions of oil and gas were good. Pingdiquan Formation was oil-bearing, with many vertical oil-bearing strata and strong horizontal independence of the reservoir. The sedimentary thickness of the Permian Pingdiquan Formation in the study area is 300~1200 m and the oil-bearing strata are divided into 3 oil-bearing formations, 9 sublayers, and 22 monolayers from top to bottom. The abundance of organic matter in different strata is generally high, with an average total organic carbon content of 3.53%, an average hydrocarbon generation potential of 18.1 mg/g, an average chloroform asphalt content of 0.57%, and an average total hydrocarbon content of 3011 μg/g, all of which belong to the shale standard, especially Ping-2. The organic matter in different layers belongs to types I-II1, and the organic matter types are I-II1, I-II2, and II1-II2, respectively. The average carbon isotope of shale kerogen is −2.4%, which belongs to type II2 kerogen. Full article

The study of microfractures in shale is mainly based on qualitative description. Conversely, quantitative description of the parameters of shale microfractures can provide a quantitative basis for shale fracture characterization and shale physical properties. Nine shale reservoir samples of the Wufeng–Longmaxi Formation in the Jiaoshiba area were studied, using the backscattered two-dimensional multiscale resolution imaging technology, combined with high-resolution map imaging technology (MAPS), and thousands of images were obtained using scanning electron microscopy. Gray image analysis was used to extract microfracture information from images (2 × 2 cm multiresolution). The “maximum circle method” was used to calculate the length and aperture characteristics of the fractures. Parameters such as the area of the bedding fractures, the surface rate of the fractures, and the linear density of the fractures were obtained by the integration of apertures. The fracture length was between 2~7 mm, the aperture was between 1~6 μm, the linear density was between 1~6/m and the surface rate was 1%. The bedding fractures do not contribute much to the porosity of the shale reservoir; however, shale reservoirs with high porosity have a high development of bedding fractures and good permeability. The development of a bedding fracture is controlled by the lithology within shale reservoirs. Different types of lithology contain different bedding fractures, but they have a certain regularity. Moreover, the content of organic matter and TOC (total organic content) in the shale reservoir control the development of a bedding fracture, where a high organic and TOC content are accompanied by a high number of fractures. Full article

In this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of predesignated formation within a fixed-time, a suitable FixF control protocol based on the backstepping method is proposed. Furthermore, to eliminate the dependence of the control parameters on global information, a new adaptive FixF control protocol is provided to combine with some mild conditions of control gain such that the formation with acceptable bounded error of MASs can be achieved within a fixed-time. Finally, the theoretical results are verified by two simulation examples, one of the simulation examples is that we set the desired formation as a regular octagon and the desired formation motion trajectory as a circle, the results show that all agents can form formation motion within a fixed-time. Full article

Parkinson’s disease is a neurodegenerative disorder characterized by oxidative stress and immune activation in the nigro-striatal pathway. Simvastatin regulates cholesterol metabolism and protects from atherosclerosis disease. Simvastatin-tween 80 was administered 7 days before sterotaxic intrastriatal administration of MPP⁺ (1-methyl-4-phenylpyridine) in rats. Fluorescent lipidic product formation, dopamine levels, and circling behavior were considered damage markers. Twenty-four hours and six days after, the animal group lesioned with MPP⁺ showed significant damage in relation to the control group. Animals pretreated with simvastatin significantly reduced the MPP⁺-induced damage compared to the MPP⁺ treated group. As apoptosis promotes neuroinflammation and neuronal degeneration in Parkinson’s disease, and since there is not currently a proteomic map of the nigro-striatum of rats and assuming a high homology among the identified proteins in other rat tissues, we based the search for rat protein homologs related to the establishment of inflammation response. We demonstrate that most proteins related to inflammation decreased in the simvastatin-treated rats. Furthermore, differential expression of antioxidant enzymes in striated tissue of rat brains was found in response to simvastatin. These results suggest that simvastatin could prevent striatal MPP⁺-induced damage and, for the first time, suggest that the molecular mechanisms involved in this have a protective effect. Full article

Many oil and gas fields, especially non-conventional shale and compacted sand reservoirs, have formation anisotropy. The acoustic anisotropy measurement of cores in these reservoirs can guide drilling, well logging, and exploitation. However, almost all core holders are designed for cylinder cores, which are not suitable for all-directional measurements. A three-dimensional measurement device was designed on the basis of the cross-hole sonic logging method. This device mainly consisted of two pairs of transducers, a signal generator, an oscillograph, an omnidirectional positioning system, and a computer control system. By adjusting the measurement latitude and longitude circle automatically, this device scanned spherical sample rocks and obtained full-wave waveforms in all directions. Experiments were performed taking granite from the Jiaodong Peninsula, China, as an example, and the arrival times and velocities of the longitudinal and shear waves were calculated based on the full-wave waveforms. Thereafter, anisotropic physical characterizations were carried out on the basis of these velocities. These data play an important role in guiding formation fracturing and analyzing the stability of borehole walls. Full article

Ischemic events are associated with severe inflammation and are here referred to as ischemic inflammatory response (IIR). Recent studies identified the formation of platelet–neutrophil complexes (PNC) as key players in IIR. We investigated the role of extracellular platelet nucleotide signaling in the context of IIR and defined a cybernetic circle, including description of feedback loops. Cybernetic circles seek to integrate different levels of information to understand how biological systems function. Our study specifies the components of the cybernetic system of platelets in IIR and describes the theoretical progression of IIR passing the cybernetic cycle with positive and negative feedback loops based on nucleotide-dependent signaling and functional regulation. The cybernetic components and feedback loops were explored by cytometry, immunohistological staining, functional blocking antibodies, and ADP/ATP measurements. Using several ex vivo and in vivo approaches we confirmed cybernetic parameters, such as controller, sensor, and effector (VASP phosphorylation, P2Y₁₂, ADORAs and GPIIb/IIIa activity), as well as set points (ADP, adenosine) and interfering control and disturbance variables (ischemia). We demonstrate the impact of the regulated platelet–neutrophil complex (PNC) formation in blood and the resulting damage to the affected inflamed tissue. Taken together, extracellular nucleotide signaling, PNC formation, and tissue damage in IIR can be integrated in a controlled cybernetic circle of platelet function, as introduced through this study. Full article

How to predict and study persistent extreme precipitation events (PEPEs) with a prediction period of 1–2 weeks is an important scientific problem faced by the meteorological circles at home and abroad. Based on the accurate description of the flood range caused by 14-day PEPEs, the comprehensive analysis method was used to obtain the weather characteristics related to 14-day PEPEs (including abnormal trough/ridge, westerly jet, atmospheric river (AR) activity, teleconnections, etc.). First, we selected three regions in China, North China (NC), the Yangtze River valley (YRV), and South China (SC), analyzed their 14-day PEPEs in summer (June to August), and composited them into an average circulation (500 hPa geopotential height field) to compare the weather patterns related to PEPEs in these regions. Then, several variables are composited to understand the evolution of the atmospheric state before and during the occurrence of PEPEs. Finally, potential applications of several teleconnection types and composites in advance prediction are studied. The main findings include: the common weather signals during the occurrence of PEPEs are characterized by obvious and continuous a high-low-high saddle field circulation configuration (conducive to the formation of frequent heavy rainfall), active westerly jet (westerly jet is the controlling factor of precipitation), and enhanced water vapor transport (significantly increased atmospheric river activity). In this study, some key characteristics and development of PEPEs were identified, the formation mechanism of China’s 14-day PEPEs was revealed, the role of ARs in PEPEs was recognized, and the PEPEs precursor signal was extracted. Furthermore, PEPEs in different regions were also compared, which played an important role in understanding and predicting similar events. Full article

This paper presents a classic missile-type parallel-approach guidance law for fixed-wing UAVs in coordinated formation flight. The key idea of the proposed guidance law is to drive each follower to follow the virtual target point. Considering the turning ability of each follower, the formation form adopts the semi-perfect rigid form, which does not require the vehicle positions form a rigid formation, and the orientations keep consensus. According to the mission characteristics of the follower following a leader and the leader following a route, three guidance laws for straight, turning, and circling flight are designed. A series of experiments demonstrate the proposed guidance law’s improved response and maneuvering stability. The results of hardware-in-the-loop simulations and real flight tests prove that the proposed guidance law satisfies the practical UAV formation flight control demands. Full article

This paper investigates the cooperative control problem for a group of autonomous nonholonomic mobile robots, in which the robots are required to collaboratively enclose and track a stationary or moving target in a circular formation. In order to solve the challenging problem that the robots with speed constraints move uniformly to the exact position on the circles centered on the target while avoiding obstacles encountered, a distributed coupling controller scheme consisting of target encircling, phase positioning and spacing assignment, and the avoidance of obstacles is proposed. First, a novel circular motion control law based on the feedback control idea of trajectory tracking is proposed, which guides all robots move to the target-centered circles and maintains the expected distances between the robots and the target. Second, a phase positioning and spacing assignment control law by introducing a nonlinear function is proposed, which can be coupled into the circular motion controller to implement the robots converge to the specified position on the circles. Finally, the obstacles avoidance control law based on artificial potential field only with repulsive force is adopted to ensure each robot effectively avoids obstacles. The rigorous theoretical analysis of the convergence of the proposed controller is given, and then the simulations and experiments are provided to validate the effectiveness and applicability of the proposed control scheme. Full article