基于混合整数线性规划的爬壁机器人路径规划

为研究City-Climber爬壁机器人在3D建筑物环境中的路径规划问题,基于混合整数线性规划(MILP, Mixed Integer Linear Programming),提出了一种适用于City-Climber的路径规划方法.为了用MILP方法解决避障问题,首先用限制机器人控制输入的方法对City-Climber的数学模型进行解耦和线性化,再介绍了用MILP方法对控制输入进行描述的数学表达式,并提出了适用于爬壁机器人的新型代价函数,最后以一个方形房间为运动环境,用AMPL和CPLEX优化软件,以及Matlab软件解算路径规划问题.仿真结果表明:MILP方法较好地解决了City-Climber在3D环境下的路径规划和避障问题.     

一种爬壁机器人的动力学建模

City-Climber是1台爬壁机器人,为研究该机器人的3D路径规划问题,建立了City-Climber在方形房间内运动的运动学模型和动力学模型,该动力学模型包括3个子模型,机器人在地面、墙壁和天花板的运动分别用1个子模型描述.引入无量纲变量分别对3个子模型进行简化,再用Matlab软件对模型进行仿真,验证了动力学模型的正确性.该模型可用于解决City-Climber在3D环境下的路径规划和避障问题.     

一种爬壁机器人的动力学建模

City-Climber是1台爬壁机器人,为研究该机器人的3D路径规划问题,建立了City-Climber在方形房间内运动的运动学模型和动力学模型,该动力学模型包括3个子模型,机器人在地面、墙壁和天花板的运动分别用1个子模型描述.引入无量纲变量分别对3个子模型进行简化,再用Matlab软件对模型进行仿真,验证了动力学模型的正确性.该模型可用于解决City-Climber在3D环境下的路径规划和避障问题.     

一种动态环境下空间机器人的快速路径规划方法

针对动态环境下空间机器人采用深度强化学习进行路径规划时存在的收敛速度慢问题,采用迁移学习算法设计了一种适应动态环境的快速路径规划器.首先,综合考虑空间机器人运动过程中存在的避障、时间和扰动约束,在静态环境下对深度神经网络进行预训练.其次,将上述训练后的权值作为动态环境下深度神经网络的初始权值,再经过动态环境下的训练进行参数微调.最后,以平面五自由度空间机器人为例对所设计的方法进行了验证,并与直接训练方法进行了比较.实验结果表明,该方法能够将训练收敛时间从1033回合缩短到450回合,在保证规划路径准确率的前提下,提高训练的收敛速度.     

基于构形平面的冗余机械臂轨迹规划方法

针对冗余机械臂在空间轨迹规划过程中构形多样但不唯一的问题,提出了一种快速求解冗余机械臂在空间轨迹规划过程中的最优构形的方法。受机械臂关节约束和空间障碍的限制,冗余机械臂的轨迹规划是一个复杂的过程。而为了保证机械臂运动的平稳性,冗余机械臂工作构形由多个机械臂关节轴线依次连接形成的构形平面组成。从构形平面入手,利用空间几何的方法,对冗余机器人进行空间轨迹规划,通过空间矢量引导、避障路径的比较,快速找到空间优化的路径,实现多目标轨迹规划方法。该方法用于一个7自由度冗余机械臂,结果表明该技术能够快速直观解决路径规划问题,不依赖具体的机械臂工作构形,适用于更多自由度的冗余机械臂。      

基于改进蚁群算法的月面机器人的路径规划及虚拟仿真

针对月面机器人在复杂地形下的路径规划问题，提出了一种改进的蚁群算法。算法构建了栅格化地形图，基于人工势场法改进了蚁群算法的启发函数，加快了算法收敛速度；引入空间信息素划分方法，提高了蚁群在最短路径附近区域的搜索能力；实验证明，改进后的蚁群算法，路径规划成功率显著提高，收敛速度加快。在算法规划出月面机器人的最短路径后，采用虚拟仿真技术，基于unity3D构建虚拟月面环境和月球车，直观地展示了月面机器人在月面环境下的路径规划效果。     

室内多移动机器人协同建图与路径规划

多机器人协同定位与路径规划是协同侦察、作战等场景中的首要问题，其难点在于如何在未知环境下完成自主定位。提出了将多机器人同步定位与构图(Simultaneous Localization and Mapping，SLAM)系统应用于室内环境，，以解决此问题。针对机器人定位存在的相关定位误差，采用了增加惯性测量单元的方法，以进行修正。为解决单个机器人在构建地图时速度较慢的问题，将基于坐标变换的方法用于多机器人的地图融合。此外，基于冲突检测和冲突规避思想，对多机器人路径规划方法进行了研究，并将其部署在了多机器人系统中。实验结果表明，采用多机器人协作进行环境探测，在确保全局地图信息完备的同时，可以提高构图效率。基于冲突规避的多机路径规划方法，可以为机器人个体规划出无碰撞路径，机器人可以根据该路径到达目标位置。     

仿生爬壁蠕虫运动步态控制算法

设计了一种基于仿生原理的爬壁蠕虫机器人,分析了这种机器人的结构,并利用仿生学原理设计了基于三角波和梯形波特点的两种运动步态.在分析现有神经中枢控制CPG(Central Pattern Generator)算法基础上,应用循环抑制CPG模型和相互抑制CPG模型,构建了爬壁蠕虫机器人的三角波步态CPG控制网络和梯形波步态CPG控制网络,并结合吸盘状态,加入反馈信号,实现了带有反馈的CPG控制算法.利用爬壁蠕虫机器人模型,仿真验证了这种控制算法对蠕动运动步态控制的有效性,通过在爬壁蠕虫机器人原理样机上的步态实验,证明了该算法的可行性.     

爬壁机器人气动位置伺服控制研究

针对高层幕墙清洗作业的特点,设计并实现了新型全气动爬壁机器人系统.为解决气动系统低刚度和非线性的特点,针对机器人气动结构中两个主运动气缸的运动定位问题提出了一种分段变结构bang-bang控制方法,并应用于气动脉宽调制高速开关阀控气缸位置伺服,实验及应用结果表明该方法使得控制性能得到明显改善,满足使用要求.      

一种基于有限视场的移动机器人避障路径规划算法

 提出一种基于传感器的移动机器人避障路径规划算法。考虑到传感器存在视场范围限制的问题,算法仅利用当前单一视场内的有限环境信息,采用两种搜索模式,以机器人当前的运动方向、障碍物边界端点数据及目标点所在方向为依据,在当前视场中搜索合适的路径。这两种搜索模式保证了路径最终收敛到目标点。最后,通过仿真实例验证了算法的有效性。     

Concept options for the aerial survey of Titan

Various aerial platforms intended for long endurance survey of the Titan surface are presented. A few novel concepts are introduced, including a heated methane balloon and a balloon with a tethered wind turbine. All the concept options are predicted to have lower scientific payload fractions than the Huygens probe. It is concluded that the selection of the best aerial platform option depends on more accurate mass estimates and a clear decision on whether, or not, in situ surface composition measurements are required in conjunction with aerial remote sensing.     

Heterogeneous solid/gas chemistry of organic compounds related to comets,meteorites, Titan,and Mars: Laboratory and in lower Earth orbit experiments

To understand the evolution of organic molecules involved in extraterrestrial environments and with exobiological implications, many experimental programs in the laboratory are devoted to photochemical studies in the gaseous phase as well as in the solid state. The validity of such studies and their applications to extraterrestrial environments can be questioned as long as experiments conducted in space conditions, with the full solar spectrum, especially in the short wavelength domain, have not been implemented. The experiments that are described here will be carried out on a FOTON capsule, using the BIOPAN facility, and on the International Space Station, using the EXPOSE facility. Vented and sealed exposition cells will be used, which will allow us to study the chemical evolution in the gaseous phase as well as heterogeneous processes, such as the degradation of solid compounds and the release of gaseous fragments.     

The ESA scientific programme

The ESA scientific programme has, so far, provided several significant astrophysics experiments and further important missions are scheduled for execution during the next decade. These missions are briefly summarised together with several astrophysics investigations presently under study.     

直尺反转组合法测量直线度的理论分析

对直尺反转组合法的测量原理进行了较为深入的理论分析，指出测量的准确性受测头误差、采样点定位误差、直尺尺面斜率、直尺再定位误差、直尺各点直线度误差的变化率等五个方面共同作用。其中，采样点定位误差和直尺安装斜率影响直线度测量准确度这一结论，将适用于其他的直尺直线度测量方法，因而具有普遍的指导意义。     

一种提高螺栓联接强度的新方法

根据山本晃教授对螺栓，螺母，螺纹牙受力及其变形研究的成果，导出了该理论条件下受拉螺栓在等载荷受力状态下，当螺栓螺纹采用标准尺寸，螺母螺纹的螺旋线形状，并依据实用性，从螺母螺纹加工方便考虑，提出了近似等负荷螺纹。     

HELIO: The Heliophysics Integrated Observatory

Heliophysics is a new research field that explores the Sun–Solar System Connection; it requires the joint exploitation of solar, heliospheric, magnetospheric and ionospheric observations.     

The postmitotic Saccharomyces cerevisiae after spaceflight showed higher viability

The budding yeast Saccharomyces cerevisiae has been proposed as an ideal model organism for clarifying the biological effects caused by spaceflight conditions. The postmitotic S. cerevisiae cells onboard Practice eight recoverable satellite were subjected to spaceflight for 15 days. After recovery, the viability, the glycogen content, the activities of carbohydrate metabolism enzymes, the DNA content and the lipid peroxidation level in yeast cells were analyzed. The viability of the postmitotic yeast cells after spaceflight showed a three-fold increase as compared with that of the ground control cells. Compared to the ground control cells, the lipid peroxidation level in the spaceflight yeast cells markedly decreased. The spaceflight yeast cells also showed an increase in G2/M cell population and a decrease in Sub-G1 cell population. The glycogen content and the activities of hexokinase and succinate dehydrogenase significantly decreased in the yeast cells after spaceflight. In contrast, the activity of malate dehydrogenase showed an obvious increase after spaceflight. These results suggested that microgravity or spaceflight could promote the survival of postmitotic S. cerevisiae cells through regulating carbohydrate metabolism, ROS level and cell cycle progression.     

Signs of Müller cell gliotic response found in the retina of newts exposed to real and simulated microgravity

The effects of real and simulated microgravity on the eye tissue regeneration of newts were investigated. For the first time changes in Müller glial cells in the retina of eyes regenerating after retinal detachment were detected in newts exposed to clinorotation. The cells divided, were hypertrophied, and their processes were thickened. Such changes suggested reactive gliosis and were more significant in animals exposed to rotation when compared with desk-top controls. Later experiments onboard the Russian biosatellite Bion-11 showed similar changes in the retinas that were regenerating in a two-week spaceflight. In the Bion-11 animals, GFAP, the major structural protein of retinal macroglial cells, was found to be upregulated. In a more recent experiment onboard Foton-M3 (2007), GFAP expression in retinas of space-flown, ground control (kept at 1 g), and basal control (sacrificed on launch day) newts was quantified, using microscopy, immunohistochemistry, and digital image analysis. A low level of immunoreactivity was observed in basal controls. In contrast, retinas of space-flown animals showed greater GFAP immunoreactivity associated with both an increased cell number and a higher thickness of intermediate filaments. This, in turn, was accompanied by up-regulation of stress protein (HSP90) and growth factor (FGF2) expressions. It can be postulated that such a response of Müller cells was to mitigate the retinal stress in newts exposed to microgravity. Taken together, the data suggest that the retinal population of macroglial cells could be sensitive to gravity changes and that in space it can react by enhancing its neuroprotective function.