Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults

summary:An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently, a fault observer which can accurately estimate the gain faults is designed, and the estimated results are fed back to the adaptive sliding mode fault-tolerant controller. It is proved that the proposed control algorithm can guarantee the global asymptotic stability of the closed-loop system through the Lyapunov theorem. The simulation results authenticate the effectiveness and feasibility of the control strategy and observation scheme

Note: An object detection method for active camera

To solve the problems caused by a changing background during object detection in active camera, this paper proposes a new method based on SURF (speeded up robust features) and data clustering. The SURF feature points of each image are extracted, and each cluster center is calculated by processing the data clustering of k adjacent frames. Templates for each class are obtained by calculating the histograms within the regions around the center points of the clustering classes. The window of the moving object can be located by finding the region that satisfies the histogram matching result between adjacent frames. Experimental results demonstrate that the proposed method can improve the effectiveness of object detection.Yong Chen, Ronghua Zhang, Lei Shang, and Eric H

AFPN: Asymptotic Feature Pyramid Network for Object Detection

Multi-scale features are of great importance in encoding objects with scale variance in object detection tasks. A common strategy for multi-scale feature extraction is adopting the classic top-down and bottom-up feature pyramid networks. However, these approaches suffer from the loss or degradation of feature information, impairing the fusion effect of non-adjacent levels. This paper proposes an asymptotic feature pyramid network (AFPN) to support direct interaction at non-adjacent levels. AFPN is initiated by fusing two adjacent low-level features and asymptotically incorporates higher-level features into the fusion process. In this way, the larger semantic gap between non-adjacent levels can be avoided. Given the potential for multi-object information conflicts to arise during feature fusion at each spatial location, adaptive spatial fusion operation is further utilized to mitigate these inconsistencies. We incorporate the proposed AFPN into both two-stage and one-stage object detection frameworks and evaluate with the MS-COCO 2017 validation and test datasets. Experimental evaluation shows that our method achieves more competitive results than other state-of-the-art feature pyramid networks. The code is available at \href{https://github.com/gyyang23/AFPN}{https://github.com/gyyang23/AFPN}

Temperature- and field angular-dependent helical spin period characterized by magnetic dynamics in a chiral helimagnet MnNb3S6MnNb_3S_6

The chiral magnets with topological spin textures provide a rare platform to explore topology and magnetism for potential application implementation. Here, we study the magnetic dynamics of several spin configurations on the monoaxial chiral magnetic crystal $MnNb_3S_6$ via broadband ferromagnetic resonance (FMR) technique at cryogenic temperature. In the high-field forced ferromagnetic state (FFM) regime, the obtained frequency f vs. resonance field Hres dispersion curve follows the well-known Kittel formula for a single FFM, while in the low-field chiral magnetic soliton lattice (CSL) regime, the dependence of Hres on magnetic field angle can be well-described by our modified Kittel formula including the mixture of a helical spin segment and the FFM phase. Furthermore, compared to the sophisticated Lorentz micrograph technique, the observed magnetic dynamics corresponding to different spin configurations allow us to obtain temperature- and field-dependent proportion of helical spin texture and helical spin period ratio L(H)/L(0) via our modified Kittel formula. Our results demonstrated that field- and temperature-dependent nontrivial magnetic structures and corresponding distinct spin dynamics in chiral magnets can be an alternative and efficient approach to uncovering and controlling nontrivial topological magnetic dynamics.Comment: 29 pages (including Supporting Information), 7 figures, accepted by SCIENCE CHINA Physics, Mechanics & Astronom

An External Calibration Method for Compensating for the Mutual Coupling Effect in Large Interferometric Aperture Synthesis Radiometers

This paper deals with the antenna mutual coupling effect in interferometric aperture synthesis radiometers (IASRs), which degrades the system radiometric performance. First, the conventional mutual impedance (CMI) is adopted to analyze the mutual coupling effect on the performance of IASR and a practical model of the coupled visibilities is developed. Based on the model, an external calibration method is then proposed to compensate for the mutual coupling effect. In this method, the measured visibilities are decoupled through the difference measurement between the original scene and a naturally occurring reference scene. Compared to the previous methods, the proposed method requires no extra additional hardware cost and has easier implementation and, therefore, fits for the large interferometric array radiometers. Experimental results validate the effectiveness of the proposed method

Thickness-dependent magnetic properties in Pt[CoNi]n multilayers with perpendicular magnetic anisotropy

We systematically investigated the Ni and Co thickness-dependent perpendicular magnetic anisotropy (PMA) coefficient, magnetic domain structures, and magnetization dynamics of Pt(5 nm)/[Co(t_Co nm)/Ni(t_Ni nm)]5/Pt(1 nm) multilayers by combining the four standard magnetic characterization techniques. The magnetic-related hysteresis loops obtained from the field-dependent magnetization M and anomalous Hall resistivity (AHR) \r{ho}_xy found that the two serial multilayers with t_Co = 0.2 and 0.3 nm have the optimum PMA coefficient K_U well as the highest coercivity H_C at the Ni thickness t_Ni = 0.6 nm. Additionally, the magnetic domain structures obtained by Magneto-optic Kerr effect (MOKE) microscopy also significantly depend on the thickness and K_U of the films. Furthermore, the thickness-dependent linewidth of ferromagnetic resonance is inversely proportional to K_U and H_C, indicating that inhomogeneous magnetic properties dominate the linewidth. However, the intrinsic Gilbert damping constant determined by a linear fitting of frequency-dependent linewidth does not depend on Ni thickness and K_U. Our results could help promote the PMA [Co/Ni] multilayer applications in various spintronic and spin-orbitronic devices.Comment: 17 pages, 4 figure

Total Cerebral Small Vessel Disease Score and Cerebral Bleeding Risk in Patients With Acute Stroke Treated With Intravenous Thrombolysis

OBJECTIVE: The aim of this study was to investigate the association of total cerebral small vessel disease (cSVD) score with the risk of intracerebral hemorrhage (ICH) in patients with acute ischemic stroke who received intravenous thrombolysis (IVT) using recombinant tissue-plasminogen activator (rt-PA). METHODS: We retrospectively reviewed clinical data from two stroke registries of patients with acute ischemic stroke treated with IVT. We assessed the baseline magnetic resonance (MR) visible cSVD markers and total cSVD score (ranging from 0 to 4) between patients with and without ICH after IVT. Logistic regression analysis was used to determine the association of total cSVD score with the risk of ICH after IVT, adjusted for cofounders selected by least absolute shrinkage and selection operator (LASSO). We additionally performed an E-value analysis to fully explain away a specific exposure-outcome association. Receiver operating characteristic (ROC) curve analysis was used to quantify the predictive potential of the total cSVD score for any ICH after IVT. RESULTS: Among 271 eligible patients, 55 (20.3%) patients experienced any ICH, 16 (5.9%) patients experienced a symptomatic ICH (sICH), and 5 (1.85%) patients had remote intracranial parenchymal hemorrhage (rPH). Logistic regression analysis showed that the risk of any ICH increased with increasing cSVD score [per unit increase, adjusted odds ratio (OR) 2.03, 95% CI 1.22–3.41, P = 0.007]. Sensitivity analyses using E-value revealed that it would need moderately robust unobserved confounding to render the exposure-outcome (cSVD-any ICH) association null. ROC analysis showed that compared with the National Institutes of Health Stroke Scale (NIHSS) score alone, a combination of cSVD and NIHSS score had a larger area under the curve for any ICH (0.811, 95% CI 0.756–0.866 vs. 0.784, 95% CI 0.723–0.846, P = 0.0004). CONCLUSION: The total cSVD score is associated with an increased risk of any ICH after IVT and improves prediction for any ICH compared with NIHSS alone

Implementation and performances of the IPbus protocol for the JUNO Large-PMT readout electronics

The Jiangmen Underground Neutrino Observatory (JUNO) is a large neutrino detector currently under construction in China. Thanks to the tight requirements on its optical and radio-purity properties, it will be able to perform leading measurements detecting terrestrial and astrophysical neutrinos in a wide energy range from tens of keV to hundreds of MeV. A key requirement for the success of the experiment is an unprecedented 3% energy resolution, guaranteed by its large active mass (20 kton) and the use of more than 20,000 20-inch photo-multiplier tubes (PMTs) acquired by high-speed, high-resolution sampling electronics located very close to the PMTs. As the Front-End and Read-Out electronics is expected to continuously run underwater for 30 years, a reliable readout acquisition system capable of handling the timestamped data stream coming from the Large-PMTs and permitting to simultaneously monitor and operate remotely the inaccessible electronics had to be developed. In this contribution, the firmware and hardware implementation of the IPbus based readout protocol will be presented, together with the performances measured on final modules during the mass production of the electronics

Mass testing of the JUNO experiment 20-inch PMTs readout electronics

The Jiangmen Underground Neutrino Observatory (JUNO) is a multi-purpose, large size, liquid scintillator experiment under construction in China. JUNO will perform leading measurements detecting neutrinos from different sources (reactor, terrestrial and astrophysical neutrinos) covering a wide energy range (from 200 keV to several GeV). This paper focuses on the design and development of a test protocol for the 20-inch PMT underwater readout electronics, performed in parallel to the mass production line. In a time period of about ten months, a total number of 6950 electronic boards were tested with an acceptance yield of 99.1%