ORB-SLAM系统优化框架分析概述

首先阐述了ORB-SLAM系统的核心思想和基本框架,介绍了SLAM系统中光束平差法的应用实现,然后针对视觉里程计部分不同的关键帧位姿优化过程分别进行了详细阐述,并利用KITTI数据集的不同序列的实验结果进行比较研究,给出了核心的光束平差法在ORB-SLAM中的具体工作方式及性能分析,最后讨论和分析了ORB-SLAM的优势和不足。     

A new structural reliability index based on uncertainty theory

The classical probabilistic reliability theory and fuzzy reliability theory cannot directly measure the uncertainty of structural reliability with uncertain variables,i.e.,subjective random and fuzzy variables.In order to simultaneously satisfy the duality of randomness and subadditivity of fuzziness in the reliability problem,a new quantification method for the reliability of structures is presented based on uncertainty theory,and an uncertainty-theory-based perspective of classical Cornell reliability index is explored.In this paper,by introducing the uncertainty theory,we adopt the uncertain measure to quantify the reliability of structures for the subjective probability or fuzzy variables,instead of probabilistic and possibilistic measures.We utilize uncertain variables to uniformly represent the subjective random and fuzzy parameters,based on which we derive solutions to analyze the uncertainty reliability of structures with uncertainty distributions.Moreover,we propose the Cornell uncertainty reliability index based on the uncertain expected value and variance.Experimental results on three numerical applications demonstrate the validity of the proposed method.     

CFRP钻削过程的切削热研究进展

以CFRP钻削加工过程的切削热和切削温度为研究对象,从其形成机理、产生的影响以及影响切削热的因素和控制切削热的方法四个方面进行了系统综述,对存在的问题进行了综合分析,并对今后研究方向进行了展望。     

民用涡轴发动机进气系统结冰试验

围绕中国民航规章CCAR-33部R2版中第33.68条款适航要求,针对涡轴发动机提出了一种满足适航要求的试验方法,包括结冰关键点分析、结冰取证试验点选定、整机结冰取证试验三部分。结合涡轴发动机工作包线,开展结冰关键点分析以选定结冰取证试验点。在结冰包线内选择了若干结冰计算点,并计算每个点的结冰位置与结冰量。计算结果显示:温度接近0 ℃且海拔高度较低的区域是涡轴发动机结冰量显著的区域。结冰试验时在-4~-1 ℃的温度区间寻找刚出现结冰的温度点与结冰量最大的温度点。试验结果显示:结冰量最大的温度点是最严酷的结冰试验点。     

流-固-推进耦合下的机体/推进一体化性能分析

吸气式空天飞行器的一体化性能随扰动变化的敏感性高,在高马赫数飞行条件下,有必要开展流-固-推进耦合性能分析。针对机体/推进一体化布局的吸气式飞行器,明确一体化部件之间的耦合关系和耦合问题,利用CFD、有限元和准一维流方法,结合本征正交分解(Proper Orthogonal Decomposition,POD)降阶手段,建立吸气式空天飞行器流-固-推进多物理场耦合快速分析方法,并开展多场耦合特性分析。结果表明:(1)进气道压缩面的流-固耦合导致出口静压的最大振荡振幅约为平均静压的21.6%,而出口马赫数的最大振幅约为平均马赫数的8.45%。(2)进气道出口性能的振荡会影响发动机的推力性能,导致推力振荡幅值可达平均值的31%,且随着时间的推移,会在进气道外压缩流场产生大量的气动涡,涡结构进入进气道后会导致进气道出口性能的持续下降,进一步削弱了发动机的平均推力性能。     

基于小样本物理测试的T800H碳纤维复合材料许用值虚拟大样本技术研究

获得材料许用值的传统方法是对各种形式的材料和试样进行物理试验,并根据"积木式"方法逐级验证单元、子部件和部件。然而,按照"积木式"方法进行测试的成本很高。因此,需要一种新的方法,在较短的时间内完成新材料体系表征鉴定,并推进其在工程中的应用。根据FAA/ASTM建议,非均质单胞多尺度建模/虚拟测试技术,可以成为设计应用过程早期的材料和结构的验证策略。以材料的细观力学/宏观力学为基础,充分考虑制造过程,测试数据和服役环境影响,结合渐进失效分析来预测结构/部件安全性,建立了多尺度虚拟测试工程应用流程。本文采用美国AlphaSTAR公司研发的成熟商业软件平台GENOA,使用单向带测试的统计数据来逆推纤维和基体材料性能以及制造变量的不确定性。这些不确定性随后被用于生成层合板结构的随机虚拟测试试样,计算许用值。这种仿真方法在T800H项目中获得成功应用,大量减少了物理试验。     

基于点击反应改善叠氮推进剂/丁羟衬层界面粘接性能的研究

针对极性差异较大的叠氮推进剂和丁羟衬层界面粘接体系,采用红外光谱及二维相关光谱分析、凝胶含量、粘接性能测试等方法研究了三种炔基化合物的引入对其界面粘接性能的改善效果。结果表明,在丁羟衬层中引入三种不同分子结构的炔基化合物AC-1,AC-2和AC-3均可提高叠氮推进剂/丁羟衬层的界面粘接强度,当AC-1,AC-2和AC-3的炔基参数RA分别为0.097~0.127、0.051和0.097~0.141时,叠氮推进剂/丁羟衬层界面粘接的剥离强度可分别提高约80%,40%和70%。     

基于任意多项式中弧线的单级高效率风扇设计

为了在压气机通流设计阶段考虑叶片弯掠效应,开发了基于流线曲率法的通流设计程序,提出一种基于四次多项式的任意中弧线叶片造型方法,并推导了任意回转面上的中弧线表达式。以此方法为基础,采用通流设计与叶片造型相互迭代的方式开展大流量跨声速风扇设计研究。此风扇级的设计点为巡航状态,设计流量为155kg/s、压比为1.54。研究结果表明:在设计状态,此风扇级的总压比为1.545,转子和级效率分别为0.939、0.916;在设计转速下,失速裕度为17%,转子和级最高效率分别为0.945、0.923;在起飞状态,流量接近440kg/s,效率与巡航状态相当,压比高于巡航状态。     

探针测定流场的水动力学问题

研究探针测定水流场针孔压力测量反应时间的影响因素，给出探针测试系统合理参数，分析探针杆水力共振和受水绕流阻力挠曲的影响，提出相应对策，以提高测试精度。     

Global aerodynamic design optimization based on data dimensionality reduction

In aerodynamic optimization, global optimization methods such as genetic algorithms are preferred in many cases because of their advantage on reaching global optimum. However, for complex problems in which large number of design variables are needed, the computational cost becomes prohibitive, and thus original global optimization strategies are required. To address this need, data dimensionality reduction method is combined with global optimization methods, thus forming a new global optimization system, aiming to improve the efficiency of conventional global optimization. The new optimization system involves applying Proper Orthogonal Decomposition (POD) in dimensionality reduction of design space while maintaining the generality of original design space. Besides, an acceleration approach for samples calculation in surrogate modeling is applied to reduce the computational time while providing sufficient accuracy. The optimizations of a transonic airfoil RAE2822 and the transonic wing ONERA M6 are performed to demonstrate the effectiveness of the proposed new optimization system. In both cases, we manage to reduce the number of design variables from 20 to 10 and from 42 to 20 respectively. The new design optimization system converges faster and it takes 1/3 of the total time of traditional optimization to converge to a better design, thus significantly reducing the overall optimization time and improving the efficiency of conventional global design optimization method.