Analytical and semi-analytical inverse kinematics of SSRMS-type manipulators with single joint locked failure

Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They all have 7 revolute joints arranged in similar configurations, and are referred to as SSRMS-type manipulators.     

Survey of modeling,planning, and ground verification of space robotic systems

Space robotic systems are expected to play an increasingly important role in future space activities. Nevertheless, dynamics modeling and motion planning of a space robot are much more complex than those of a fixed-base robot, due to the dynamic coupling between the manipulator and its base. On the other hand, in order to assure the success of on-orbital missions, many experiments are required to verify the key algorithms on the ground before the space robot is launched. In this paper, the main research achievements on dynamics modeling, path planning, and ground verification are reviewed, and future studies are recommended. Firstly, we summarize the essential modeling concepts, and deduce the kinematics and dynamics equations of a space robot. Secondly, the main motion planning approaches are discussed. Then, different ground verification systems, including the air-bearing table, neutral buoyancy, airplane flying, free-falling motion, suspension system, and hybrid system, are introduced. Finally, the future research trends are forecasted.     

机器人在轨构建空间桁架结构的装配序列规划方法

针对机器人在轨构建空间桁架结构的装配序列规划问题，提出一种可同时求解装配单元装配序列与机器人运动的序列规划方法。首先设计了装配机器人并建立了动力学模型；其次，对机器人在整个装配过程中的运动进行了分类并分别给出了规划与控制方法；然后，建立了装配序列规划的评价指标并采用离散粒子群算法求解。最后，以常用空间桁架结构为例，通过仿真校验了所提方法的有效性。     

Flutter control of a composite plate with piezoelectric multilayered actuators

Active flutter velocity enhancement scheme is presented for lifting surfaces, employing Linear Quadratic Gaussian based multi-input multi-output controller with multilayered piezoelectric actuators. To numerically test the developed concept, a composite plate wing, surface bonded with eight piezoelectric bender actuators and sensors has been considered. A modal flutter control model is formulated in state-space domain using coupled piezoelectric finite element procedures along with unsteady aerodynamics and optimal control theory. The bending – torsion flutter instability has been actively postponed from 44.13 to 55.5 m/s using the energy imparted by the multilayered piezoelectric actuators. As the power requirement by these actuators is comparatively very low with respect to stack actuators, they can be employed in an integrated form to develop active lifting surfaces for real time applications.     

Evaluation of heterogeneous measurement outlier rejection schemes for robotic planetary surface mapping

In this paper, we describe the development and evaluation of a core algorithmic component for robust robotic planetary surface mapping. In particular, we consider the issue of outlier measurements when utilizing both odometry and sparse features for laser scan alignment. Due to the heterogeneity of the measurements and the relative scarcity of distinct geometric features in the planetary environment, we have found that the conventional outlier rejection methods in the current literature do not produce satisfactory classifications for accurate mapping performance. In light of these limitations, we develop a new approach capable of addressing these concerns. This includes a family of four outlier classification algorithms, which are incorporated through iterative reclassification into the batch alignment framework to provide robust surface mapping performance. Characterization of these outlier rejection schemes is presented using a combination of simulated data and real-world testing with an indoor rover.     

飞机喷口滑油泵斜盘操控性能的试验系统研制与调试

为在规定的θ-P试验条件下检测斜盘操控性能,喷口滑油泵测试液压系统中设置了3个固定孔径的节流器.通过对斜盘扭矩测试的试验方法、步骤及试验设备的介绍,以正向节流孔参数确定为例,建立了系统压力P与油泵斜盘角度θ的方程式,并通过标准泵的预置节流孔试验,获得了与油泵和节流孔结构形状有关的系数.再采用维算-试验测试-对比修改的试...     

基于注意力机制的跨分辨率行人重识别

行人图像分辨率的变化对现有的行人重识别方法带来了很大的挑战。针对这一问题，提出了一种新的跨分辨率行人重识别方法。该方法从两方面解决分辨率变化带来的识别困难:一方面通过通道注意力机制和空间注意力机制捕捉人物特征获取局部区域；另一方面通过核动态上采样模块恢复任意分辨率图像的局部区域信息。为了验证所提方法的有效性，在Market1501、CUHK03和CAVIAR三个公开数据集上开展了对比实验，实验结果表明:所提方法取得了最佳性能。      

miniSAR卫星精密参考轨道设计

为满足轻小型合成孔径雷达(miniSAR)卫星干涉测量任务对空间基线的要求,通过分析卫星参考轨道特性,建立了一套精密参考轨道设计算法。所建算法以miniSAR卫星成功入轨后的一组定轨数据及根据参考轨道特性解析得到的参考轨道预估值为输入,基于仅考虑中心天体非球形高阶引力摄动的轨道外推模型、Eckstein-Hechler平根模型及嵌套式迭代修正方法,设计输出其任务周期内使用的参考轨道。数值实验表明:所建算法设计的参考轨道生成的参考轨迹在三维空间的回归精度优于0.01 m,满足实际工程应用需求。      

Non-destructive Evaluation of Absolute Stress in Steel Members Using Shear-Wave Spectroscopy

Non-destructive measurement of absolute stress in steel members can provide useful information to optimize the design of steel structures and allow the safety of existing structures to be evaluated.This paper investigates the non-destructive capability of ultrasonic shear-wave spectroscopy in absolute stress evaluation of steel members.The effect of steel-member stress on the shear-wave amplitude spectrum is investigated,and a method of absolute stress measurement is proposed.Specifically,the process for evaluating absolute stress using shear-wave spectroscopy is summarized.Two steel members are employed to investigate the relationship between the stress and the frequency in shear-wave echo amplitude spectrum.The H-beam loaded by the universal testing machine is evaluated by the proposed method and the traditional strain gauge method for verification.The results show that the proposed method is effective and accurate for determining absolute stress in steel members.     

航天器大型网状天线透光性遮挡的精确计算方法

针对航天器太阳电池阵的设计和仿真中需要考虑大型网状天线造成的透光性遮挡的问题，提出一种精确计算透光性遮挡的方法。该方法以最小重复单元对金属网布进行三维建模，求取不同光照下金属网布透光率并存为表格；计算含金属网布构件造成的透光性遮挡图形时，用三角面片对构件进行三维建模，先计算出三角面片与入射光线的位置关系，查表得到该三角面片的透光率后将其投影区域的光照强度相应减少。径向肋天线算例表明，该方法快速准确，能正确生成透光性遮挡图形，为太阳电池阵仿真分析奠定了基础。