A heuristic cabin-type component alignment method based on multi-source data fusion

In cabin-type component alignment, digital measurement technology is usually adopted to provide guidance for assembly. Depending on the system of measurement, the alignment process can be divided into measurement-assisted assembly (MAA) and force-driven assembly. In MAA, relative pose between components is directly measured to guide assembly, while in force-driven assembly, only contact state can be recognized according to measured six-dimensional force and torque (6D F/T) and the process is completed based on preset assembly strategy. Aiming to improve the efficiency of force-driven cabin-type component alignment, this paper proposed a heuristic alignment method based on multi-source data fusion. In this method, measured 6D F/T, pose data and geometric information of components are fused to calculate the relative pose between components and guide the movement of pose adjustment platform. Among these data types, pose data and measured 6D F/T are combined as data set. To collect the data sets needed for data fusion, dynamic gravity compensation method and hybrid motion control method are designed. Then the relative pose calculation method is elaborated, which transforms collected data sets into discrete geometric elements and calculates the relative poses based on the geometric information of components. Finally, experiments are conducted in simulation environment and the results show that the proposed alignment method is feasible and effective.     

基于危险评估的自动紧急避撞控制策略

基于车辆危险评估机制,设计了一种集成制动和转向的汽车自动紧急避撞控制策略。首先结合车辆安全性和最优换道轨迹,分析了在紧急工况下车辆制动和转向避撞临界纵向距离,然后建立了基于模糊推理的危险评估模型,该模型输出的危险因子反映车辆发生碰撞的危险程度,并以此建立汽车自动紧急避撞控制策略。最后基于PreScan和MATLAB/Simulink的虚拟平台仿真验证该控制策略的有效性。结果表明自车在跟车行驶时,对比基于碰撞时间倒数(TTC~(-1))单一全制动无法有效避开障碍物的危险工况,该避撞策略能够通过制动和自主换道来避免车辆发生碰撞,提高了车辆安全性。     

Multi-UAV coordination control by chaotic grey wolf optimization based distributed MPC with event-triggered strategy

The paper proposes a new swarm intelligence-based distributed Model Predictive Control (MPC) approach for coordination control of multiple Unmanned Aerial Vehicles (UAVs). First, a distributed MPC framework is designed and each member only shares the information with neighbors. The Chaotic Grey Wolf Optimization (CGWO) method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem (FHOCP). Then, the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint. Further, an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach, which considers the predicted state errors and the convergence of cost function. Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.     

一种用于纳米颗粒场致发射推力器的自中和技术

纳米颗粒场致发射推力器(NFET)是一种用于微小卫星的固体工质静电推力器,为促进NFET的工程研制,提出一种新的自中和技术——反向充电中和策略。为研究这种自中和技术的设计方法,建立相应的数值模型以模拟该中和技术下羽流输运过程,并且,在真空舱中开展NFET的羽流测量试验来验证中和模型的正确性。以比色温度计和"打靶法"装置来分别测量羽流温度分布和推力,通过试验与仿真结果的对比,羽流温度变化的试验结果与仿真结果在定性规律上一致,推力的计算误差在9%～10%。在验证模型正确性的基础上,利用该数值模型对关键设计参数进行数值分析。结果表明:引出极与发射极的内径比变化会导致外加电场对剩余电荷颗粒作负功,引起推力下降,该物理参数在0.94附近时,推力达到极大值;而随着颗粒直径的增加,羽流中和区域整体向下游推移,推力升高。本文结论可为NFET的反向充电中和策略提供设计参考。     

直升机技术现状、趋势和发展思路

直升机具备其他飞行器无法实现的垂直起降、空中悬停和低速机动能力,能够在地形复杂的环境进行起降和低空飞行,独特的飞行特点决定了其不可替代的作用。作为军民通用的航空器,直升机在军事和民用领域具有广泛的用途,是国家综合实力的重要标志之一,直升机产业是事关国家安全、经济建设和科技发展的高科技战略产业,具有知识密集、产业关联性强、高投入、高产出、高风险、周期长的特点。本文对国内直升机技术发展现状进行了分析,指出了国内直升机技术水平与国际一流水平的差距,结合国际直升机技术发展趋势,提出了我国直升机技术的发展思路。     

创造具有自身特色的经营策略：———论云南航空公司的经营策略

阐述了在国内外航空市场的竞争压力下航空公司应采取的措施。针对过去和未来一段时期内国际航空市场的变化，结合云南航空公司的实际情况，分析了国内航线和国际航线运营状况，提出了具有其自身特色的发展战略和经营策略。     

TBCC飞行器发动机尺寸选型及爬升策略设计

针对临近空间高速飞行器爬升航迹问题，提出了一种涡轮冲压组合发动机尺寸选型的依据和一种固体火箭助推器辅助加速的爬升策略。以本文设计的一型临近空间高速飞行器为原型，基于hp自适应Radau伪谱法开展爬升航迹优化研究，将最优控制问题转化为非线性规划问题，以爬升消耗燃料质量最小为目标，利用序列二次规划算法求解最优航迹。在此基础上，分析了涡轮冲压组合发动机尺寸选型和采用固体火箭助推器加速爬升策略对爬升航迹和巡航航程的影响。结果表明，选取合理的发动机尺寸和助推器辅助爬升策略，均可有效减少飞行器爬升消耗燃料质量，提升巡航航程。     

大学英语课堂中互动式教学模式的创建

培养创新精神和实践能力是素质教育的重点。如何在学科教学中培养创新能力已成为当前教育教学研究的热点问题。结合英语教学的实践,就教学中如何构建＂互动式＂教学模式进行了探讨。     

中小企业技术创新理念与模式的思考

中小企业成功的关键在于它们拥有独到的技术优势，而这些技术优势是企业通过不断地开展技术创新取得的。然而我国中小企业的技术创新还存在诸如理念不正确、项目选择盲目和模式不恰当等问题，严重制约着中小企业的发展。文章认为，中小企业技术创新理念宜选择市场导向，技术创新项目宜选择“小生位”战略，技术创新模式宜选择合作创新。     

基于状态的机械附件维修策略

基于状态开展修理，降低故障发生率和维修成本，是航空装备修理发展方向。以外场故障和大修故检信息统计、分析为基础，研究装备损伤规律，按基于状态修理思想，结合可靠性为中心的修理决策方法，初步探索了适应现有装备条件的基于状态维修方法的应用策略。