Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

The growing amount of space debris poses a threat to operational spacecraft and the long-term sustainability of activities in outer space. According to the orbital mechanics, an uncontrolled space object will be tumbling, bringing great challenge to capture and remove it. In this paper, a dual-arm coordinated ‘‘Area-Oriented Capture"(AOC) method is proposed to capture a non-cooperative tumbling target. Firstly, the motion equation of the tumbling target is established, based on which, the dynamic properties are analyzed. Then, the ‘‘Area-Oriented Capture"concept is presented to deal with the problem of large pose(position and attitude) deviation and tumbling motion. An area rather than fixed points/devices is taken as the object to be tracked and captured. As long as the manipulators' end-effectors move to a specified range of the objective areas(not fixed points on the target, but areas), the target satellite will be hugged by the two arms.At last, the proposed method and the traditional method(i.e. fixed-point oriented capture method)are compared and analyzed through simulation. The results show that the proposed method has larger pose tolerance and takes shorter time for capturing a tumbling target.     

Experimental investigation of rotary sinking electrochemical discharge milling with high-conductivity salt solution and non-pulsed direct current

Electrochemical milling is a modified technique of traditional electrochemical machining (ECM) that can be used to manufacture some helicopter transmission system parts. The use of rotary tools and an inner-jet electrolyte supply pattern can greatly improve the material removal rate (MRR) in a single pass. However, the feed speed is generally limited to minimize the tool wear. To increase the MRR, electrical discharge machining (EDM) is introduced into the electrochemical milling process. The tool rotation is employed to interrupt the discharge and the high-conductivity salt solution and non-pulsed direct current power supply are also adopted to increase ECM, eventually, a new machining method is proposed, which can be called rotary sinking electrochemical discharge milling (RSECD milling). The mechanism of it is explored in this study by analyzing the machined current, MRR, surface morphology, and tool wear at different applied voltages and feed speeds. Besides, the RSECD milling using the tool with a larger diameter is also conducted to further verify the effectiveness. In particular, the MRR can be increased by 742.5% when using the tool with a diameter of 20 mm at the applied voltage of 20 V.     

空间碎片软捕获姿轨控模型构建与仿真

为构建利用柔性机械臂捕获空间碎片的系统仿真模型,首先分析梳理空间碎片捕获典型任务流程,包括轨道转移、位置保持、路径规划、动量稳定控制等阶段;然后针对任务流程分别搭建基于Simu Link的路径规划、动量缓冲控制、姿态控制、动力学和轨道仿真等子系统;各个子系统之间以TCP/IP的方式进行数据交互,最终完成空间碎片软捕获任务姿轨控仿真系统的构建。     

天基激光驱动空间碎片降轨效果仿真研究

在当前天基激光移除碎片方案设计中,通常采用k J级高能激光器、100 m/s大速度增量和简单降轨模型计算移除系统参数,然而k J级天基高能激光器尚未实现。文章基于目前实验室现有的J级激光器水平,参考现阶段碎片移除方案,针对特定区域的目标空间碎片,结合碎片轨道特性信息建立降轨模型,仿真研究目标碎片在低能量天基激光驱动下的运动过程和降轨效果,分析了影响目标碎片降轨效果的因素。对部署在500 km轨道高度的天基平台移除附近碎片的仿真结果表明,速度增量和降轨高度的变化具有累积效应,提高频率、增大有效作用距离等可延长激光烧蚀驱动时间,进而增强碎片降轨效果。分析表明,J级小能量激光器通过长时间的烧蚀,也可有效驱动和移除1~10 cm碎片。     

L׳ADROIT – A spaceborne ultraviolet laser system for space debris clearing

Small (1–10 cm) debris in low Earth orbit (LEO) are extremely dangerous, because they spread the breakup cascade. Pulsed laser active debris removal using laser ablation jets on target is the most cost-effective way to re-enter the small debris. No other solutions address the whole problem of large (~100 cm, 1 t) as well as small debris. Physical removal of small debris (by nets, tethers and so on) is uneconomical because of the energy cost of matching orbits. In this paper, we present a completely new proposal relative to our earlier work. This new approach uses rapid, head-on interaction in 10–40 s rather than 4 minutes, using 20–40 kW bursts of 100 ps, 355 nm UV pulses from a 1.5 m diameter aperture on a space-based station in LEO. The station employs “heat-capacity” laser mode with low duty cycle to create an adaptable, robust, dual-mode system which can lower or raise large derelict objects into less dangerous orbits, as well as clear out the small debris in a 400-km thick LEO band. Time-average laser optical power is less than 15 kW. The combination of short pulses and UV wavelength gives lower required fluence on target as well as higher momentum coupling coefficient. An orbiting system can have short range because of high interaction rate deriving from its velocity through the debris field. This leads to much smaller mirrors and lower average power than the ground-based systems we have considered previously. Our system also permits strong defense of specific assets. Analysis gives an estimated cost less than $1 k each to re-enter most small debris in a few months, and about 280 k$ each to raise or lower 1-ton objects by 40 km. We believe it can do this for 2000 such large objects in about four years. Laser ablation is one of the few interactions in nature that propel a distant object without any significant reaction on the source.     

Tethered towing using open-loop input-shaping and discrete thrust levels

Asteroid retrieval, satellite servicing, and debris removal concepts often rely on a thrusting vehicle to redirect and steer a passive object. One effective way to tow the object is through a tether. This study employs a discretized tether model attached to six degree-of-freedom end bodies. To reduce the risk of a post-burn collision between the end bodies, discrete thrust input shaping profiles are considered including a Posicast input and a bang-off-bang thrust profile. These input shaping techniques attain desirable collision avoidance performance by inducing a tumbling or gravity gradient motion of the tethered formation. Their performance is compared to an earlier frequency notched thruster profile.     

基于路面分割的高精度地图创建优化方法研究

高精度地图主要利用已采集图像的地面信息生成,但是在真实环境中图像的地面信息容易受动态障碍物遮挡,同时GPS难免会有抖动误差,导致地图拼接效果并不理想。针对上述问题提出了一种基于路面分割的动态障碍物去除与图像配准方法。使用深度学习对全景图像进行语义分割并提取路面信息,在去除动态障碍物干扰后,利用路面特征进行图像配准。融合GPS与里程计信息进行定位优化,利用多帧图像叠加填补空缺形成地图。最终,实验验证了该方法在去除动态障碍物的同时也提高了地图的精度。     

浅谈机队发动机换发计划管理

航空公司机队发动机换发计划管理是发动机工程管理的有机组成部分，换发计划管理需要细致考量影响的因素，并结合实际进行优化调整。     

NRC流程控制及其对高检效率的影响分析

针对目前大修中NRC流程的控制仍以一线工作者为主导的状况，分析了NRC流程控制的设计及其对高检效率的影响，并提出了改善性建议。     

TC4的铣削加工中铣削力和刀具磨损研究

通过TC4铣削加工时的铣削力试验,研究了干切削时和有氮气介质铣削时影响铣削力大小的几个因素,为提高金属去除率优化了切削参数。同时通过刀具磨损试验,对上述两种铣削方式,比较了在不同的切削速度下铣削时铣刀后刀面的磨损,证实了以氮气为切削介质能够大大地改善刀具的磨损状况和提高刀具的寿命。