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1.
《中国航空学报》2021,34(5):573-584
To ensure tasks can be completed after a free-swinging joint failure occurs, a multi-stage regulation strategy of space manipulators is proposed. Considering all terms of the dynamics equation, an evaluation model of the regulation ability (EMRA) of active joints over the fault joint is established based on the fuzzy entropy. And then a multi-stage regulation strategy based on the EMRA is designed to regulate the fault joint. The strategy divides the regulation process into several stages, and select a certain active joint to regulative the fault joint in every stage. With this multi-stage regulation strategy, the fault joint can be regulated to the desired angle without huge torque on regulative joints. The simulation is carried out with a 7-DOF space manipulator, verifying the correctness and effectiveness of the multi-stage regulation strategy. The strategy has three advantages: Coriolis and centrifugal terms are both considered for the first time in selecting the regulative joint, making the selection result more in line with the actual regulation process; The influence of the model uncertainty is eliminated in establishing the EMRA, making the evaluation of regulative ability more precise; The fault joint is successfully regulated to the desired angle without huge torque on regulative joints. 相似文献
2.
邓秋萍 《长沙航空职业技术学院学报》2014,14(3):30-34
改革传统的教学评价手段,注重实操,减少笔试是高职院校一系列教学改革中的重要环节。"以证代考"是一种强调实操,体现实际能力的考核方式。本文以导游证为例,在设计、实施、促进能力培养的效果和存在问题等方面做一些探讨。 相似文献
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Chunhui Wang Yu Tian Shanguang Chen Zhiqiang Tian Ting Jiang Feng Du 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
Manually controlled rendezvous and docking (manual RVD) is a challenging space task for astronauts. This study aims to identify spatial abilities that are critical for accomplishing manual RVD. Based on task analysis, spatial abilities were deduced to be critical for accomplishing manual RVD. 15 Male participants performed manual RVD task simulations and spatial ability tests (the object-manipulation spatial ability and spatial orientation ability). Participants’ performance in the test of visualization of viewpoints (which measures the spatial orientation ability) was found to be significantly correlated with their manual RVD performance, indicating that the spatial orientation ability in the sense of perspective taking is particularly important for accomplishing manual RVD. 相似文献
4.
Shuangsheng Guo Weidang Ai Yongkang Tang Quanyong Cheng Yunze Shen Lifeng Qin Jialu Ma Jingtao Zhu Jin Ren 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
The ability to generate O2 and absorb CO2 of several co-cultured vegetable plants in an enclosed system was studied to provide theoretical reference for the future man-plant integrated tests. Four kinds of salad plants (Lactuca sativa L. var. Dasusheng, Lactuca sativa L. var. Youmaicai, Gynura bicolor and Cichorium endivia L.) were grown in the CELSS Integration Test Platform (CITP). The environmental factors including O2 and CO2 concentration were continuously monitored on-line and the plant biomass was measured at the end of the test. The changing rules of O2 and CO2 concentration in the system were basically understood and it was found that the O2 generated by the plants could satisfy the respiratory needs of 1.75 persons by calculation. It was also found that the plants could absorb the CO2 breathed out by 2 persons when the light intensity was raised to 550 mmol m−2 s−1 PPF. The results showed that the co-cultured plants hold good compatibility and excellent O2-generating and CO2-absorbing capability. They could also supply some fresh edible vegetable for a 2-person crew. 相似文献
5.
基于NFTET的高超声速飞行器鲁棒轨迹重构设计 总被引:1,自引:1,他引:0
考虑高超声速飞行器故障下安全再入飞行问题,针对飞行器发生较大故障的情况,提出了基于相邻可行轨迹存在定理(Neighboring feasible trajectory existence theorem,NFTET)的鲁棒在线轨迹重构算法。在标称情况下基于反馈线性化预测校正制导算法生成满足各种约束条件的再入轨迹;由于NFTET只适用于发生较小故障的情况,为保证较大故障下飞行器仍能以较高精度安全着陆,基于NFTET理论设计了鲁棒轨迹重构算法,得到了较高落点精度的飞行轨迹。仿真结果表明,本文所提出算法能有效解决飞行器较大故障下的安全再入轨迹重构问题,提高了飞行器的自主容错能力。 相似文献
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地面飞行模拟器的训练效果主要取决于动力学建模的逼真度和满足正常/特殊情况飞行任务的程度。首先,分析了影响飞机动力学特性和飞行员操作各个因素的相互关系,旨在从任务飞行、故障飞行和特殊环境条件飞行三方面拓展地面飞行模拟器的模拟能力;其次,进行了飞机空中编队、方向舵故障、雨中飞行以及非线性起落架减振支柱的仿真。研究结果表明,拓展地面飞行模拟器的应用范围是实际飞行的需要且技术可行,关注细节的部件建模更是提高地面飞行模拟器逼真度和可信度的关键。 相似文献
8.
袁书杰 《华北航天工业学院学报》2011,(4):54-55
教学改革重要内容之一,是教学方法的改革。对电子技术课程的教学改革,注重了教学方法的改革,把问题式、案例式、讨论式、指导式等教学法应用于军事电子技术课程的教学中,对于提高教学质量、培养学员能力素质起到了很好的促进作用。 相似文献
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文章从分析高职教育学生关键能力和专业能力培养中存在的问题入手,提出培养关键能力和专业能力相结合的课程体系建设,提出加强文化基础课程的地位,并构建关键能力与专业能力相结合的课程模式体系和创新教学方法。 相似文献