Motor coordination in weightless conditions revealed by long-term microgravity adaptation.

The functional approach to studying human motor systems attempts to give a better understanding of the processes behind planning movements and their coordinated performance by relying on weightlessness as a particularly enlightening experimental condition. Indeed, quantitative monitoring of sensorimotor adaptation of subjects exposed to weightlessness outlines the functional role of gravity in motor and postural organization. The recent accessibility of the MIR Space Station has allowed for the first time experimental quantitative kinematic analysis of long-term sensorimotor and postural adaptation to the weightless environment though opto-electronic techniques. In the frame of the EUROMIR'95 Mission, two protocols of voluntary posture perturbation (erect posture, EP; forward trunk bending, FTB) were carried out during four months of microgravity exposure. Results show that postural strategies for quasistatic body orientation in weightlessness are based on the alignment of geometrical body axes (head and trunk) along external references. A proper whole body positioning appears to be recovered only after months of microgravity exposure. By contrast, typically, terrestrial strategies of co-ordination between movement and posture are promptly restored and used when performing motor activities in the weightless environment. This result is explained under the assumption that there may be different sensorimotor integration processes for static and dynamic postural function and that the organisation of coordinated movement might rely stably on egocentric references and kinematics synergies for motor control.     

仿真转台用新型连续回转液压伺服马达摩擦特性研究

介绍了一种仿真转台用新型叶片式无脉动连续回转液压伺服马达的工作原理，详细分析了拉各瑞(Lugre)摩擦力模型，给出了摩擦力模型的参数辨识方法及在系统中的补偿措施，通过实验研究，得到本新型连续回转马达的摩擦力矩模型，并通过实验对马达的低速及阶跃响应进行了研究。验证了采用摩擦力补偿措施有效地克服了系统的低速爬行及极限环震荡现象，且使马达的性能完全符合仿真转台的需要。     

Changes in the vestibular function during space flight

An analysis of observations and investigations carried out in space flight has shown that some cosmonauts and astronauts have experienced vestibular disorders during the transition to weightlessness. Vestibular-sensory disorders include: Spatial illusions (the feelings of falling down, being in an upside-down position, the sensations of rotation of the craft or the body) and vertigo occurring during the onset of the orbital flight and head movements; Feelings, similar to those experienced in response to Coriolis accelerations on the Earth, which occasionally develop in weightlessness during the spacecraft rotation upon abrupt head and body movements and restrained feet; Feelings "of the load on the vestibular analyser which is unlike any Earth-bound effects" upon abrupt head movements during the first hours of an orbital flight and "a prolonged movement" during the switch-off of thrusters in weightlessness. Vestibular-vegetative disorders comprise a complex of symptoms similar to those of motion sickness: loss of appetite, stomach awareness (12%), hypersalination, nausea (9.6%) and vomiting (4.8%). Soviet studies suggest that the vestibular tolerance to the flight effects depends on the natural stability and training to the cumulative effect of adequate vestibular stimuli. This has been used in the development of the system of vestibular selection. Changes in the vestibular function seem to play the major role in the development of motion sickness in weightlessness, extra-labyrinthine factors being contributory. The current hypotheses have not yet been adequately confirmed in experiments. A detailed physiological analysis allows the conclusion that the decisive factor in the development of motion sickness may be the disturbance of the function of analysers responsible for spatial orientation which take the form of sensory conflicts as well as an altered reactivity of the organism due to the hemodynamic rearrangement.     

Mars habitat modules: launch, scaling and functional design considerations

The Sasakawa International Center for Space Architecture (SICSA) is undertaking a multi-year research, planning and design study that is exploring near- and long-term commercial space development opportunities. The central goal of this activity is to conceptualize a scenario of sequential, integrated private enterprise initiatives that can carry humankind forward to Mars. Each development stage is planned as a building block to provide the economic foundation, technology advancements and operational infrastructure to support others that follow. This report presents fundamental issues and requirements associated with planning human Mars initiatives that can transfer crews, habitats and equipment from Earth to Mars orbit, deliver them to the planet's surface, and return people and samples safely back to Earth. The study builds in part upon previous studies which are summarized in SICSA's: Commercial Space Development Plan and the Artificial Gravity Science and Excursion Vehicle reports. Information and conclusions produced in this study provide assumptions and a conceptual foundation for a subsequent report titled The First Mars Outpost: Planning and Concepts.     

Earth observation from space – The issue of environmental sustainability

Remote sensing scientists work under assumptions that should not be taken for granted and should, therefore, be challenged. These assumptions include the following:1. Space, especially Low Earth Orbit (LEO), will always be available to governmental and commercial space entities that launch Earth remote sensing missions.2. Space launches are benign with respect to environmental impacts.3. Minimization of Type 1 error, which provides increased confidence in the experimental outcome, is the best way to assess the significance of environmental change.4. Large-area remote sensing investigations, i.e. national, continental, global studies, are best done from space.5. National space missions should trump international, cooperative space missions to ensure national control and distribution of the data products.At best, all of these points are arguable, and in some cases, they're wrong. Development of observational space systems that are compatible with sustainability principles should be a primary concern when Earth remote sensing space systems are envisioned, designed, and launched. The discussion is based on the hypothesis that reducing the environmental impacts of the data acquisition step, which is at the very beginning of the information stream leading to decision and action, will enhance coherence in the information stream and strengthen the capacity of measurement processes to meet their stated functional goal, i.e. sustainable management of Earth resources. We suggest that unconventional points of view should be adopted and when appropriate, remedial measures considered that could help to reduce the environmental footprint of space remote sensing and of Earth observation and monitoring systems in general. This article discusses these five assumptions in the context of sustainable management of Earth's resources. Taking each assumption in turn, we find the following:(1) Space debris may limit access to Low Earth Orbit over the next decades.(2) Relatively speaking, given that they're rare event, space launches may be benign, but study is merited on upper stratospheric and exospheric layers given the chemical activity associated with rocket combustion by-products.(3) Minimization of Type II error should be considered in situations where minimization of Type I error greatly hampers or precludes our ability to correct the environmental condition being studied.(4) In certain situations, airborne collects may be less expensive and more environmentally benign, and comparative studies should be done to determine which path is wisest.(5) International cooperation and data sharing will reduce instrument and launch costs and mission redundancy. Given fiscal concerns of most of the major space agencies – e.g. NASA, ESA, CNES – it seems prudent to combine resources.     

Relationships between orientation, movement and posture in weightlessness: preliminary ethological observations

Weightlessness in man induces changes in astronaut orientations and consequently in his patterns of movements and postures. An ethological method has been used to describe the "overall" spontaneous behaviour of astronauts as seen from video recordings made during Space Flights. The work has consisted in analysing the relationships between orientation, movement and posture as an indication of a motor adaptative reorganization in such a situation. The results obtained lead us to consider three different aspects: (1) Orientation references. The astronaut orientates himself with reference to the Space Shuttle's internal structure; the increase of visual activity confirms the choice of the retinal vertical as frame of reference. (2) Motor coordination. The main data reveals a decrease in motor stereotypes by the diversity of motor acts observed and the importance of the link between orientation and posture described as follows: slightly inclined forward position, with legs flexed at about 135 degrees. (3) Cognitive references. There appears to be a new organization of the cognitive image of the body scheme, the missing vestibular information being supplied by peripheral vision instead which could play a role in the astronaut's perception of his own movement.     

欠驱动余度机械臂的非完整冗余特征研究

欠驱动技术在航天领域有重要应用价值。针对空间机器人系统,研究了欠驱动冗余度机械臂的"非完整冗余"特征和无碰撞路径最优运动规划方法。这种系统对于给定的机械臂末端位姿,其冗余特征不便通过传统意义上的运动学"自运动"来刻画,但是因机构自由度数大于工作空间维数,系统的冗余特征可通过动力学水平的控制体现出来。基于李雅普诺夫方法,提出一种欠驱动冗余度机械臂的无碰撞路径最优规划方法,揭示了这种机器人系统的"非完整冗余"特征,通过平面3连杆机械臂进行了仿真。     

Erdbeobachtende missionen—Anforderungen und konzepte

(Earth Observation Missions—Requirements and Concepts)—Ten years ago, on 23 July 1972. NASA launched the first satellite specifically designed for Earth observation. With Landsat 1 the importance and attractiveness of remote sensing from space increased worldwide.The paper presents in an overview former remote sensing missions with their applications and the system elements required for gathering Earth observation information. Main elements are the sensors (optical, microwave, and other instruments), the platforms (satellites, space stations, aircraft and Earth based stations) and their orbits.It is shown how these elements are interrelated and which constraints must be considered for planning an Earth observation mission. The feasibility, the amount of hard- and software, the costs, and the performance of a system are decisive for the realization of a satellite concept.Examples for different concepts investigated to date at Dornier System are given; included is the first ESA Remote Sensing Satellite ERS-1, which is now under definition at Dornier System, the main contractor of ESA.     

空间环境下的三维运动模拟器设计与应用研究

文章通过对空间环境下三维运动实现方法的分析研究,引出三维运动模拟器的设计概念,三维运动模拟器是实现空间环境下三维运动功能的装置,其运动功能包含自旋、俯仰和偏航以及三维合成运动。文章对三维运动模拟器主体结构以及驱动系统等的技术指标、功能、选型计算、系统组成和特点进行了介绍,对研制过程中的重要技术问题进行了分析。     

对接机构综合试验台运动模拟器建模分析

空间对接机构六自由度综合试验台，是对接机构研制所必须的地面试验设备之一，用于对接机构空间对接过程的仿真试验，全面考核对接机构的捕获与缓冲校正能力。利用虚功原理建立了对接机构综合试验台运动模拟器的多体动力学模型，该模型全面地表征了六自由度运动模拟器的动力学特性，且具有简单、通用的形式，对六自由度运动平台的液压驱动系统进行了建模，从而建立六自由度运动模拟器系统模型。在建立该模型的基础上，使用Simulink对运动模拟器的位置跟踪特性进行了仿真分析，结果表明所设计的控制系统满足工程试验的需求。     

航天器空间碎片被动防护技术

文章介绍了航天器磁力矩器在低轨道等离子体环境中的一些效应。以某型号卫星为例,计算了某型号磁力矩器产生的磁场,分析了等离子体在磁力矩器产生的磁场中的运动状态。经过建模计算,磁力矩器周围等离子体中的电子将在磁力矩器两端往复运动,而距离磁力矩器较远的电子将聚集在磁力矩器的两端附近。     

基于SCADA及以太网的大型空间环境模拟器集中控制系统

以往的空间环境模拟器大多采用分散独立控制的模式,导致多套设备并行试验时人力投入大、设备管理困难。针对这一问题,文章提出了一种基于SCADA（Supervisory Control And Data Acquisition,监控与资料搜集）系统和以太网的分布式集中控制系统。该系统采用B/S架构,将控制网络和企业局域网相结合,为操作用户和管理用户提供方便灵活的远程数据服务。系统对关键模块采用了必要的冗余设计,增加了可靠性和安全性。     

基于链路聚合控制协议的堆叠网络设计与应用

文章介绍了国内最大卧式空间环境模拟器KM7A的系统网络架构,在该网络中应用了堆叠网络以及链路聚合控制协议(LACP),通过链路聚合控制协议对所有关键设备进行链路绑定,实现了关键设备和数据链路的冗余,大大缩短了主/备试验网络数据链路的切换时间,避免了单链路失效,提升了数据传输链路的稳定性和故障容错性。     

一种基于六自由度并联机构的动基座模拟器

介绍了一种基于六自由度并联机构的海浪模拟器。该模拟器系统采用 6UPS并联机器人作为机械台体 ,由伺服电机驱动 ,具有六个运动自由度 ,可以在一定程度上模拟舰艇水面水下运动情况 ,从而为各类舰艇导航系统和瞄准设备的研发提供支撑载体。实验和使用表明系统控制精度高、性能良好 ,安全稳定     

太阳模拟器复杂构型卫星稳态 温度场的数值模拟

文章基于蒙特卡罗-区域分解法,建立太阳模拟器内复杂几何构型卫星稳态温度场数学模型;利用数值模拟求解卫星表面太阳辐照面积、红外和太阳辐射传递系数,得到不同辐照条件下卫星的温度分布;分析太阳辐照的非均匀性和不稳定性对温度分布的影响。计算结果表明:蒙特卡罗-区域分解法对于太阳模拟器模拟空间外热流的仿真研究是一种非常有效的方法;太阳辐照非均匀性对温度分布的影响大于不稳定性所产生的影响。     

Research on compensation of motion,Earth curvature and tropospheric delay in GEOSAR

GEOSAR (synthetic aperture radar on geosynchronous satellite) becomes a potential method of space-borne geoscience remote sensing. Though it has attractive characters such as extra long observing time and very large observing area the unique geometry and relative motion are quite different from straight line required by SAR, and long integration time also causes delay by troposphere and ionosphere. Curvature of the Earth is no long negligible in GEOSAR. Especially, principle of azimuth compression in GEOSAR should be different from that of traditional SAR.In order to fulfill practical GEOSAR such problems should be solved. A new solution of azimuth compression together with motion compensation is presented here by taking the advantages of GEOSAR movement. A new method to overcome the Earth curvature in range compression of EACH footprint is testified. After compensating the Earth curvature traditional methods for range cell migration correction can be used in GEOSAR. Multi-sub-aperture method is applied to eliminate the phase delay caused by troposphere. This modified imaging algorithm makes it possible for GEOSAR to have long integration time and high resolution.     

空间环境模拟试验设备研制项目进度管理研究

文章对空间环境模拟试验设备研制过程中的进度管理进行研究,结合实际工程经验,对工作分解结构、里程碑计划管理及网络计划技术等项目管理方法在空间环境模拟试验设备研制进度管理中的应用作了初步探讨,介绍了项目管理方法在的进度管理上的具体应用。     

行星际空间环境对探测器可靠性影响分析

空间环境是影响航天器可靠性的重要因素。与地球轨道航天器相比,行星际探测任务可能会遭受更加恶劣的空间环境,例如极端温度环境,辐射环境,腐蚀性大气环境、宇宙尘等,再加上行星际任务寿命长,采用先进的器件和材料,空间环境对行星际探测器的可靠性构成严重的威胁,直接关系到探测目标能否实现。因此考虑空间环境对行星际探测器的影响,开展相关的预先研究无论是对于制定行星际空间探测计划,还是搭载仪器的设计都具有非常重要的意义。文章分析了极端温度、辐射环境和行星表面综合环境对探测器的影响,并对开展相关研究提出了建议。     

基于轨迹规划的自由漂浮空间机器人抓取运动物体的研究

针对空间机器人非完整性和冗余性，对笛卡空间下的轨迹规划问题进行了研究。在此基础上，分析了空间机器人抓取运动物体的策略，提出了基于轨迹规划的空间机器人路径规划方法，并以三自由度空间机器人为例，对空间机器人抓取运动目标体的问题进行了研究，该方法是开环控制方法，但由于在进行轨迹跟踪过程中，误差不累积，得到的实际曲线与理论曲线相近，误差达到了规定的范围。