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复杂大时延的多主多从共享遥操作方法 总被引:1,自引:1,他引:0
共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人(MM/MS)复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人(MM/SS)共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明:本文方法在20 s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。 相似文献
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目前空间遥操作碰撞预警机制并未考虑遥操作任务的阶段性特点,操作的快速性与精细性难以兼顾。针对这一现状,提出了空间遥操作分段自适应碰撞预警方法。通过计算机械手末端与操作目标之间的相对距离,将遥操作任务划分为自由接近、精细调整和操作控制三个阶段,分阶段自适应调整碰撞检测策略和操作比例系数,并通过直观的预警视觉信息,使得遥操作员实时感知任务阶段。目标逼近试验表明:在自由接近段,随着对目标的逼近,操作速度从7.46mm/s逐渐减小为4.41mm/s,关节运动和相对位置的抖动较大;在精细调整段,操作速度为3.98mm/s,关节运动和相对位置的抖动较小。因此,该分段自适应碰撞预警方法有效克服了操作快速性与精细性的矛盾,适合于未来更为精细、复杂的空间遥操作任务。 相似文献
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天地间通讯存在大时延是影响空间遥操作性能的主要问题。传统虚拟夹具应用于空间遥操作中,已获得一定的操作性能提升,但不具备动态的预测能力,对于克服时延带来的操作错觉等能力的提升有很大限制。本文提出一种速度型虚拟夹具作用于操作末端,利用操作末端的速度信息,实时改变虚拟夹具的形状,对操作末端在3 s时延后的运动进行动态预测。利用方向包围盒(OBB)方法进行图形碰撞检测,能在3 s内检测到即将到来的碰撞,按照一定规则产生相应的阻力反馈给操作者,以克服时延引起的误操作,提高遥操作性能。经过多组目标平台的近距离停靠实验,验证了该方法的有效性。 相似文献
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《载人航天》2017,(2)
针对具体的遥操作任务中与遥操作相关的认知功能在不同立体信息缺失水平下对操作绩效、情境意识水平的影响,对24名受试者开展机械臂遥操作模拟任务实验和6项基本认知能力测试,采用相关性分析方法分析了各项认知能力在遥操作任务中的作用。试验结果表明,空间能力、运动控制能力和持续注意水平与任务的完成率以及操作的安全性、高效性紧密相关;注意分配能力、心理旋转能力在局部立体信息缺失的情境下,对保持机械臂遥对接任务的各项绩效指标的稳定、保障任务的顺利完成作用显著。因此,根据任务要求以及航天员自身特点有针对性地开展认知能力训练,合理分配在轨任务,有利于提高训练效果、保障在轨任务的顺利完成。 相似文献
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介绍了半实物仿真中三轴转台的设备参数修正方法,根据此结果对影响转台精度的频率特性进行测试,并从理论上给出转台框架误差的分析结果。 相似文献
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介绍了美国波音公司实施精益企业的历史、所取得的成绩及今后的发展,论述了精益原理、精益生产系统的组成要素及其实施. 相似文献
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Paola Testa 《Space Science Reviews》2010,157(1-4):37-55
Studies of element abundances in stars are of fundamental interest for their impact in a wide astrophysical context, from our understanding of galactic chemistry and its evolution, to their effect on models of stellar interiors, to the influence of the composition of material in young stellar environments on the planet formation process. We review recent results of studies of abundance properties of X-ray emitting plasmas in stars, ranging from the corona of the Sun and other solar-like stars, to pre-main sequence low-mass stars, and to early-type stars. We discuss the status of our understanding of abundance patterns in stellar X-ray plasmas, and recent advances made possible by accurate diagnostics now accessible thanks to the high resolution X-ray spectroscopy with Chandra and XMM-Newton. 相似文献
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Yoji Kondo 《Space Science Reviews》1989,49(3-4):79-84
Recent satellite observations of close binary systems show that practically all binaries exhibit evidence of mass flow and that, where the observations are sufficiently detailed, a fraction of the matter flowing out of the mass-losing component is accreted by the companion and the remainder is lost from the binary system. The mass flow is not conservative. During the phase of dynamic mass flow, the companion star becomes immersed in optically-thick plasma and the physical properties of that star elude close scrutiny. 相似文献
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中国公务机市场风生水起3月28日,空中客车公司在京召开"空中客车公务机中国媒体说明会",空客公务及私人航空部副总裁Francois Chazelle出席。时隔仅两天,波音公务机公司总裁 相似文献
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Eva K. Grebel WM James Roberts Jean-Marie Will Klaas S. De Boer 《Space Science Reviews》1993,66(1-4):65-68
A substantial fraction (typically 10%) of Galactic B stars consists of Be stars. While Galactic Be stars have been fairly well investigated, very little is known about the Be star content of the Magellanic Clouds (MCs). We present a refined method of Be star identification by CCD photometry and apply it to four young clusters and associations in the MCs. We find NGC 330 in the SMC to be exceptionally rich in Be stars, while the fraction is clearly lower in the similarly aged LMC clusters NGC 2004 and NGC 1818. NGC 2044, a very young region in the LMC, contains almost no Be stars. Among very early-type B stars in the investigated MC clusters we find the largest number of Be stars, while in the Milky Way this is shifted to somewhat later types. In the LMC, there may be a second frequency peak around B6.Based on observations obtained at the 2.2m MPIA telescope at ESO, La Silla, Chile, partly on time granted by the MPIA, Heidelberg. 相似文献
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Yoji Kondo 《Space Science Reviews》1989,50(1-2):79-84
Recent satellite observations of close binary systems show that practically all binaries exhibit evidence of mass flow and that, where the observations are sufficiently detailed, a fraction of the matter flowing out of the mass-losing component is accreted by the companion and the remainder is lost from the binary system. The mass flow is not conservative. During the phase of dynamic mass flow, the companion star becomes immersed in optically-thick plasma and the physical properties of that star elude close scrutiny. 相似文献