Random Weighting Estimation Method for Dynamic Navigation Positioning

This paper presents a new random weighting estimation method for dynamic navigation positioning.This method adopts the concept of random weighting estimation to estimate the covariance matrices of system state noises and observation noises for controlling the disturbances of singular observations and the kinematic model errors.It satisfies the practical requirements of the residual vector and innovation vector to sufficiently utilize observation information,thus weakening the disturbing effect of the kinematic model error and observation model error on the state parameter estimation.Theories and algorithms of random weighting estimation are established for estimating the covariance matrices of observation residual vectors and innovation vectors.This random weighting estimation method provides an effective solution for improving the positioning accuracy in dynamic navigation.Experimental results show that compared with the Kalman filtering,the extended Kalman filtering and the adaptive windowing filtering,the proposed method can adaptively determine the covariance matrices of observation error and state error,effectively resist the disturbances caused by system error and observation error,and significantly improve the positioning accuracy for dynamic navigation.     

Plasma Morphology at Mars. Aspera-3 Observations

A total of about of 400 orbits during the first year of the ASPERA-3 operation onboard the Mars Express spacecraft were analyzed to obtain a statistical pattern of the main plasma domains in the Martian space environment. The environment is controlled by the direct interaction between the solar wind and the planetary exosphere/ionosphere which results in the formation of the magnetospheric cavity. Ionospheric plasma was traced by the characteristic “spectral lines” of photoelectrons that make it possible to detect an ionospheric component even far from the planet. Plasma of solar wind and planetary origin was distinguished by the ion mass spectrometry. Several different regions, namely, boundary layer/mantle, plasma sheet, region with ionospheric photoelectrons, ray-like structures near the wake boundary were identified. Upstream parameters like solar wind ram pressure and the direction of the interplanetary electric field were inferred as proxy from the Mars Global Surveyor magnetic field data at a reference point of the magnetic pile up region in the northern dayside hemisphere. It is shown that morphology and dynamics of the main plasma domains and their boundaries are governed by these factors as well as by local crustal magnetizations which add complexity and variability to the plasma and magnetic field environment.     

带着全家去出海

这个夏天,有没有筹划一次全家人都可以参与的旅行呢?带着爱人或者家里的小朋友与大自然进行一次深入的交流,想必对于彼此之前感情的沟通能起到不错的作用。如果可以,带着全家去出海吧!     

Solar activity and human health at middle and low geomagnetic latitudes in Central America

The study of the possible effect of solar variability on living organisms is one of the most controversial issues of present day science. It has been firstly and mainly carried on high latitudes, while at middle and low latitudes this study is rare. In the present review we focused on the work developed at middle and low geomagnetic latitudes of America. At these geomagnetic latitudes the groups consistently dedicated to this issue are mainly two, one in Cuba and the other in Mexico.     

The Magnetometer Instrument on MESSENGER

The Magnetometer (MAG) on the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission is a low-noise, tri-axial, fluxgate instrument with its sensor mounted on a 3.6-m-long boom. The boom was deployed on March 8, 2005. The primary MAG science objectives are to determine the structure of Mercury’s intrinsic magnetic field and infer its origin. Mariner 10 observations indicate a planetary moment in the range 170 to 350 nT R _M³ (where R _M is Mercury’s mean radius). The uncertainties in the dipole moment are associated with the Mariner 10 trajectory and variability of the measured field. By orbiting Mercury, MESSENGER will significantly improve the determination of dipole and higher-order moments. The latter are essential to understanding the thermal history of the planet. MAG has a coarse range, ±51,300 nT full scale (1.6-nT resolution), for pre-flight testing, and a fine range, ±1,530 nT full scale (0.047-nT resolution), for Mercury operation. A magnetic cleanliness program was followed to minimize variable and static spacecraft-generated fields at the sensor. Observations during and after boom deployment indicate that the fixed residual field is less than a few nT at the location of the sensor, and initial observations indicate that the variable field is below 0.05 nT at least above about 3 Hz. Analog signals from the three axes are low-pass filtered (10-Hz cutoff) and sampled simultaneously by three 20-bit analog-to-digital converters every 50 ms. To accommodate variable telemetry rates, MAG provides 11 output rates from 0.01 s⁻¹ to 20 s⁻¹. Continuous measurement of fluctuations is provided with a digital 1–10 Hz bandpass filter. This fluctuation level is used to trigger high-time-resolution sampling in eight-minute segments to record events of interest when continuous high-rate sampling is not possible. The MAG instrument will provide accurate characterization of the intrinsic planetary field, magnetospheric structure, and dynamics of Mercury’s solar wind interaction.     

交变电场清除介电颗粒的作用

电帘除尘被认为是最有可能在深空探测中应用的除尘方法之一. 利用电动力学基本理论分析了平行电极清除颗粒的条件, 引入克服范德瓦尔斯力对颗粒运动影响的临界悬浮电压判据, 并获得了该除尘临界电压与交流电频率之间的关系. 理论计算和实验结果表明, 在频率较低和较高的情况下, 临界电压取决于不同的物理机制.      

纳米压痕实验微米级深度硬度下降现象的研究(英文)

本文针对均匀材料微米级压痕深度,分析接触深度、接触面积、载荷以及加载时间几种因素对实验数据的影响,结合有限元数值模拟,说明压头几何缺陷、接触深度与接触面积的处理并不是造成微米级压痕硬度随压深增大而下降的主要原因,最可能的原因是材料的蠕变特性。进行了不同最大压深实验显示连续刚度法(CSM)将强化蠕变特性对硬度曲线的影响,证明造成该现象的重要原因是纳米压痕实验的实验方法问题。     

形貌和空间对PAEK增韧BMI树脂及其碳纤维复合材料层压板韧性和冲击损伤阻抗的影响(英文)

通过对热塑性树脂PAEK增韧BMI树脂的玻璃化转变行为,相形貌和断裂韧性,以及对采用"离位"概念增韧的T700/BMI复合材料的层间形貌及其冲击后压缩强度(CAI)的分析,研究了微结构-性能之间的关系,发现特征相分离形貌随着PAEK的含量而变化。特别探索了PAEK-BMI复相体系的相形貌与断裂韧性之间的关系,得到的断裂机理解释了复合材料层压板的分层和冲击损伤行为。有关"离位"增韧的机理、以及扩散控制的相行为等还需要继续研究。     

基于碰撞检测的自适应阻抗控制机械臂系统(英文)

针对柔性关节机械臂,本文阐述了机械臂能够像人手一样安全操作的方法。3种方法相结合,以便机械臂能够柔顺的接触操作对象并控制接触力在预设定范围内。首先,提出采用虚拟分解法的笛卡尔阻抗控制用来实现机械臂在笛卡尔空间的柔顺控制。其次,引入自适应关节动态补偿器使得机械臂能够实施更为精确的控制。最后,设计了基于笛卡尔力反馈的实时路径规划,从而使机械臂能够检测碰撞并控制接触力。基于碰撞检测的自适应阻抗控制器能够简化其在机械臂上的实施,保持机械臂对环境的友好操作,并且严格满足系统的全局稳定性。实验在4自由度的卫星在轨自维护机械臂平台得以验证。碰撞检测实验和轨迹跟踪实验结果证明了所提出方法的有效性和可行性。