Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

Integrated Safety Culture Model and Application

A new safety culture model is constructed and is applied to analyze the correlations between safety culture and SMS. On the basis of previous typical definitions, models and theories of safety culture, an in-depth analysis on safety culture＇s structure, composing elements and their correlations was conducted. A new definition of safety culture was proposed from the perspective of sub-culture. 7 types of safety sub-culture, which are safety priority culture, standardizing culture, flexible culture, learning culture, teamwork culture, reporting culture and justice culture were defined later. Then integrated safety culture model （ISCM） was put forward based on the definition. The model divided safety culture into intrinsic latency level and extrinsic indication level and explained the potential relationship between safety sub-culture and all safety culture dimensions. Finally in the analyzing of safety culture and SMS, it concluded that positive safety culture is the basis of im plementing SMS effectively and an advanced SMS will improve safety culture from all around.     

Heavy-ion induced genetic changes and evolution processes.

On Moon and Mars, there will be more galactic cosmic rays and higher radiation doses than on earth. Our experimental studies showed that heavy ion radiation can effectively cause mutation and chromosome aberrations and that high-LET heavy-ion induced mutants can be irreversible. Chromosome translocations and deletions are common in cells irradiated by heavy particles, and ionizing radiations are effective in causing hyperploidy. The importance of the genetic changes in the evolution of life is an interesting question. Through evolution, there is an increase of DNA content in cells from lower forms of life to higher organisms. The DNA content, however, reached a plateau in vertebrates. By increasing DNA content, there can be an increase of information in the cell. For a given DNA content, the quality of information can be changed by rearranging the DNA. Because radiation can cause hyperploidy, an increase of DNA content in cells, and can induce DNA rearrangement, it is likely that the evolution of life on Mars will be effected by its radiation environment. A simple analysis shows that the radiation level on Mars may cause a mutation frequency comparable to that of the spontaneous mutation rate on Earth. To the extent that mutation plays a role in adaptation, radiation alone on Mars may thus provide sufficient mutation for the evolution of life.     

具不确定观测和相关噪声的最优递推滤波

应用正交投影定理,对于噪声相关系统,在观测不确定的情况下,求出了状态向量的卡尔曼滤波公式。在线性最小方差准则下,解决了状态噪声一步相关,相同时刻的测量噪声和状态噪声相关,以及测量噪声和状态噪声在相邻时刻均相关的情况下的滤波问题,并给出了递推滤波公式。仿真算例说明了它们的有效性。     

结冰对民用飞机飞行性能的影响分析

在获取民用飞机适航合格审定证明前,必须通过飞行试验,并在试验中演示验证民用飞机能在CCAR25部附录C确定的连续和间断的最大结冰状态下安全运行。基于此背景,计算并得到某型机两种构型在45min待机冰型下的飞行性能,与无冰状态下对应构型的飞行性能进行对比分析。结果表明,结冰对飞机的飞行性能具有较大的影响。     

PWM full-bridge converter with natural input power factor correction

A pulsewidth modulated (PWM) full-bridge converter that simultaneously performs input power factor correction (PFC) and DC-DC conversion is proposed. The converter is the same as the standard voltage-fed PWM full-bridge converter with a diode-bridge low-pass filter front end, but with a slight modification that results in an improvement in power factor that is sufficient to satisfy the EN61000-3-2 requirements for electrical equipment. The operation of the converter is explained and analyzed, and the results of the analysis are used to determine the converter's steady-state characteristics, which are discussed in detail. A design procedure for the selection of components is then derived and demonstrated with an example. The feasibility of the converter and its ability to satisfy EN61000-3-2 requirements on electrical equipment is shown with results obtained from an experimental prototype.     

高校图书馆向社会服务的探索

本文就高校图书馆在市场经济体制下向社会服务的重要性、可能性、服务的途径和方式进行了探讨。     

Instrumentenentwicklungen für anwendungsaufgaben der fernerkundung photogrammetrie,geophysik und geodäsie

(Instrument Developments for Applications in Remote Sensing, Photogrammetry, Geophysics and Geodesy) The Modular Optoelectronic Multispectral Seanner MOMS-01, a CCD camera using the push-broom scanner principle, is presented in this paper in its flight configuration. This instrument will be the first European-built spaceborne unaging system for remote sensing applications (launch with Shuttle flight No. 7).Follow-on developments of this initial two-channel version are oriented to an extension of capabilities by a panchromatic high-resolution stereoscopic module for thematic mapping and two additional spectral channels in the reflective IR (up to 2.3 μm) offering a high interpretation potential for future earth resources exploration missions. Furthermore the subjects of advanced laser technology studies are introduced: A picosecond pulse laser system for detection of tectonic motions and for geodetic application, a CO laser for ultra precise range rate determination (Earth potential and Geoid) and a laser range finder for intersatellite distance measurements.     

一种应用于实时深空干涉测量的电离层时延修正方法

针对"嫦娥4号"中继星任务S频段信标信号的高精度实时干涉测量需求,结合深空测控干涉测量系统采用的稀疏标校工作模式,研究验证了一种面向测控模式实时干涉测量的电离层时延修正方法。首先分析了电磁波经电离层传播的延迟机理及特性;基于深空站历史观测数据,通过自相关函数分析验证了天顶向TEC的周日特性;在此基础上,结合深空干涉测量中心数据处理设备软件系统,讨论了电离层时延修正方法;通过任务期间的实测数据处理分析,验证了所提方法可以将实时测量精度提升1～3 ns,对低仰角跟踪弧段,该技术方法优势更为明显。该方法为后续深入推进深空测控干涉测量系统在任务中的实时应用提供了技术储备。     

模型预测控制在永磁同步电机系统中的应用发展综述

随着数字技术的发展,模型预测控制(MPC)已经广泛应用于交流传动系统。首先介绍了经典MPC策略——有限控制集MPC和连续控制集MPC的原理。其次综述了多步预测控制、多矢量预测控制、具有参数鲁棒性的预测控制、广义模型预测、显式模型预测这些常见的改进MPC的研究现状,并提出相关研究思路。最后,根据MPC的应用需求和研究现状,展望了未来需要进一步深入和拓展的研究方向。