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.     

基于WPF的民机驾驶舱人机接口快速原型技术

新一代Windows呈现基础(WPF)技术以其丰富的界面表现力和功能扩展能力被广泛应用于图形处理和界面设计上。WPF技术应用于民机驾驶舱人机接口快速原型的开发过程中,将界面与逻辑的开发完全分离,提升开发效率,增强模型可复用性。基于此流程创建的人机接口快速原型可用于显示系统研发过程中的早期设计阶段,确认需求的合理性,优化人机接口设计,减少后期显示系统软件研制过程中的更改,缩短开发周期,具有重要的工程应用价值。     

Detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target

The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target. Therefore, it is necessary to reduce the target’s rotation to a rate at which capture can be accomplished by the space robot. In this paper, a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed. This strategy can reduce the target’s rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller. The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely. The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude. The main contributions of this paper are as follows: (1) The compliant control method is adopted to achieve a precise friction control, which can reduce the target angular velocity steadily; (2) The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task; (3) The detumbling strategy of dual-arm space robot is designed considering base attitude stabilization, realizing coordinated planning of the base attitude and the arms. The strategy is verified by a dual-arm space robot with two 7-DOF (degrees of freedom) arms. Simulation results show that, target with a rotation velocity of 20 (°)/s can be effectively controlled to stop within 30 s, and the final deflection of the base attitude is less than 0.15° without affecting the target capture task, verifying the correctness and effectiveness of the strategy. Except to the tumbling target capture task, the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.     

结冰云雾参数对冰与固壁间剪切强度影响的初步研究

基于结冰风洞实验段,建立了冰与固壁间黏附界面剪切强度测量实验装置,获得了合理的剪切强度范围。在0.3 m×0.2 m结冰风洞实验段内开展了冰与固壁间黏附界面剪切强度的测量实验。掌握了结冰环境温度、平均水滴直径等结冰云雾参数对冰与固壁间黏附剪切强度的影响规律。研究表明:结冰环境温度为-15~-10 ℃间出现了剪切强度极大值。来流速度越大,水滴的惯性力越大,水滴间的间隙越容易被填充,冰与固壁间剪切强度也就越大。平均水滴直径(MVD)为35 μm附近出现了剪切强度极小值,水滴直径越小,水滴之间的间隙就越小,结冰就越致密。水滴直径越大,水滴越容易发生平铺,水滴之间的间隙就容易被填充,反而造成剪切强度增大。      

基于Windows平台的嵌入式仿真适配技术研究

嵌入式操作系统因其强大的实时性能而被广泛采用,特别是在需要实时通信和任务处理的大型系统中。然而嵌入式操作系统的高价格和不友好的用户界面限制了应用范围。作为一种发展趋势,在通用桌面操作系统(如Windows和Linux)上构建实时应用程序、充分利用其友好的图形用户界面、具备良好的多任务处理性能和出色的硬件兼容性对提高普通桌面操作系统的实时性具有重要意义。在Windows系统上进行实时扩展,以改进其调度和任务处理兼容性。实验结果表明,该扩展对任务处理有很好的效果,可满足应用程序的实时性要求。     

热载荷下热障涂层表-界面裂纹间的相互影响

针对高温热载荷条件下APS制热障涂层裂纹失效问题，基于涂层系统热弹、热弹塑性本构关系，考虑陶瓷层/氧化层/粘结层界面凹凸形貌，依据表、界面裂纹位置、性质不同，分别运用断裂力学和损伤力学理论建立裂纹演化模型，结合围线积分和内聚力单元法，分析了热载荷下表、界面裂纹断裂参量及开裂状态，研究了陶瓷层表面裂纹与粘结层/氧化层界面裂纹间的相互影响，揭示了热、力、化多场耦合下的裂纹失效机理。结果表明，表面裂纹大幅改变界面微区域的应力分布状态，靠近界面时能使界面裂纹扩展程度整体增加20%，且相邻凸峰处开裂非均匀性可达81%，表面裂纹断裂参量主要受多层结构热失配及缺陷主导，界面裂纹对其影响相对较小，分析结果与试验结果一致。      

层合夹心梁层界面上的应力分析

本文用弹性力学接触理论对受静载作用的层合夹心梁进行应力分析，揭示了层合界面上应力的分布规律以及叠层弹性模量比对界面应力的影响。分析的结果与实验结果十分一致。     

飞行仿真系统的软件设计方法研究

针对现代飞行仿真系统的复杂性和紧耦合性，首先按照一般意义对飞行仿真系统进行了功能模块划分，然后在系统和分系统两个层次上讨论了飞行器仿真软件开发的构架，引入了数据通道的概念，作为解决软件模块间数据接口问题的基本方法，最后通过编程验证了其可行性与合理性。     

PIC单片机扩展HD7279A键盘显示接口的新方法

介绍一种利用串行键盘显示驱动芯片HD72 79A来扩展PIC单片机系统接口的新方法 ,及其实用软件设计。     

基于窗口和面向对象的GUI设计

讨论了一种基于窗口和面向对象的用户界面设计思想及方法，并详细描述了各种类的定义．在ＤＯＳ环境下运用ＷａｔｃｏｍＣ＋＋语言开发并在微机上运行，可以使用户方便地进行再开发工作。界面运用事件处理方式由窗口、弹出菜单、图标、按钮等组成，效果良好