基于ROS的机械臂轨迹规划研究

针对机械臂轨迹规划中算法复杂、开发难度高的技术难点,提出基于一款开源软件平台(Robot Operating System,ROS)为机械臂搭建控制系统的方法作为解决方案.在此基础上,设计了一种基于五次多项式插值的算法来弥补该开源软件平台中关于轨迹规划功能的不足,并通过仿真实验验证了改进后的控制算法可以提高机械臂控制性能.该方法对于实现工程机械臂轨迹规划问题具有普遍的指导意义.     

基于ROS的空间即插即用架构软件解决方案

为了支持航天器软硬件系统的即插即用,必须配备一套中间层软件系统来自动处理组件的自发现、自配置和通信,针对这一需求提出一种基于机器人操作系统（ROS）实现空间即插即用软件架构的方案。在分析和对比ROS框架与SPA架构的基础上,根据SPA异质网络架构的特征,提出了基于ROS的SPA软件架构（RSPA）;对SPA协议在ROS框架下的实现问题进行了研究;设计了一种基于ROS的SPA演示系统。相比于以往的空间即插即用架构软件实施方案,RSPA具有清晰的网络模型,更容易扩展,并且可以有效利用ROS稳定的基础框架和丰富的工具加速软件构建过程。     

基于训练任务的舰炮备件短缺风险建模与仿真研究

备件短缺是影响任务成功的主要因素。考虑任务执行过程中的动态因素,根据更新过程理论,建立了可修备件和不可修备件的短缺风险模型;然后通过实例对模型进行了仿真,仿真结果表明备件库存量对备件的短缺风险具有直观的影响,通过对备件库存方案的调整可以有效的规避备件的短缺风险,从而可以提高任务的成功率。     

Involvement of nitric oxide in the mechanism of biochemical alterations induced by simulated microgravity in Microcystis aeruginosa

Simulated microgravity (SMG) can inhibit proliferation and enhance microcystin production of Microcystis aeruginosa. We investigated the role of nitric oxide (NO) in regulating the SMG induced changes of proliferation, photochemical system II photochemical activity, pigment, soluble protein and microcystin production in M. aeruginosa. M. aeruginosa was exposed to 0.1 mM sodium nitroprusside (SNP, NO donor) or 0.02 mM 2-(4-carboxyphenyl)-4, 4, 5, 5-tetramethylimidazoline-1-oxyl-3-oxide (c-PTIO, NO scavenger) alone or in combination with SMG for 48 h. SMG and SNP inhibited the growth of M. aeruginosa while c-PTIO had no effect on cell number. As to yield, the negative effect of SMG was augmented by SNP and suppressed by c-PTIO. The intracellular concentrations of chlorophyll a, carotenoid, phycocyanin, soluble protein and microcystin were increased by SMG after 48 h. The effects of SMG on these metabolic processes could be enhanced by SNP and be partly eliminated by c-PTIO. Moreover, SNP and c-PTIO only functioned in these biochemical processes under SMG, unlike in the regulation of cell proliferation and yield. These results showed that the effects of SMG could be enhanced by adding exogenous NO and be mitigated by scavenging endogenous NO, revealing the involvement of NO in the changes in biochemistry processes induced by SMG in M. aeruginosa.     

A newly bio-inspired path planning algorithm for autonomous obstacle avoidance of UAV

In this paper, a bio-inspired path planning algorithm in 3D space is proposed. The algorithm imitates the basic mechanisms of plant growth, including phototropism, negative geotropism and branching. The algorithm proposed in this paper solves the dynamic obstacle avoidance path planning problem of Unmanned Aerial Vehicle (UAV) in the case of unknown environment maps. Compared with other path planning algorithms, the algorithm has the advantages of fast path planning speed and fewer route points, and can achieve the effect of low delay real-time path planning. The feasibility of the algorithm is verified in the Gazebo simulator based on the Robot Operating System (ROS) platform. Finally, an actual UAV autonomous obstacle avoidance path planning experimental platform is built, and a UAV obstacle avoidance path planning flight test is carried out based on this actual environment.     

腿臂融合型在轨装配机器人运动建模与步态规划

针对目前机器人在轨装配存在的作业效率低、空间操作受限、环境感知不完全等问题，提出一种腿臂融合型在轨装配机器人。首先，使用D-H法建立了腿臂融合型装配机器人运动学模型，并对其单个腿部进行正逆运动学分析，得到单个腿各个关节角和足端之间的运动关系；其次，分析了腿臂融合型装配机器人的行走步态和装配步态，行走步态中分析了二步态和三步态，装配步态中分析了单臂装配和双臂装配，使机器人达到平稳的行走和装配；最后，基于ROS(robot operating system)搭建仿真平台并对行走步态进行了仿真验证，结果表明提出的方法能够有效用于该机器人的行走。