多臂空间机器人的视觉伺服与协调控制

针对多臂空间机器人自主目标抓捕任务，首先建立多臂空间机器人的运动模型和其与目标的相对运动模型，采用Kane方法建立多臂空间机器人的动力学模型；其次，研究基于视觉伺服的机械臂在线轨迹规划算法，并引入零反作用机动，消除机械臂运动对平台姿态的扰动；再次，在不使用零反作用机动功能时，分别使用基于角动量前馈补偿的协调控制算法和逆动力学方法设计了协调控制器，在机械臂运动时保持平台姿态和相对目标的位置。最后，开发了基于Matlab的仿真软件MASS（多臂空间机器人仿真），仿真结果校验了上述方法的有效性。     

40Gb/s系统技术解决方案探讨

40Gh／8系统的应用面临光信号的色散、衰减、交换、编码等方面技术的挑战。利用固定补偿模块或源色散补偿技术可以实现光的精确色散及补偿。赖曼式放大器对40Gh／s系统的光传输提供了有力的技术支持，利用赖曼放大器以及全光交换机或光电光交换机则可以实现光信号的有效放大和高性能交换，而带外FEC技术和相应的编码技术可以进一步提高系统的容错能力及传输速率。     

Sc在L10-TiAl金属间化合物中占位的理论研究

基于密度泛函理论,运用第一原理赝势平面波方法,采用CASTEP量子力学能量软件包研究了Sc占据Ti位与Sc占据A l位的超胞晶格常数、原子形成热、超胞总态密度与电子密度差分图,两种情况对比下,在L10-TiA l合金中,Sc优先占据Ti位,这一结论为进一步研究三元系TiA l-Sc合金提供了理论研究的基础。     

直升机海上搜潜控制的设计与仿真

对反潜直升机海上搜潜控制系统进行了详细的研究。建立了完整的系统各部件的模型。通过建立合适的海浪模型，采用维纳滤波法设计出实用的海浪滤波器。设计了缆位稳定模态和缆高保持模态控制律，通过数学仿真，对控制律的结构和参数进行了相应的调整，并在试飞中通过了验证。     

Phase Space Density Analysis of Energy Transport in the Earth’s Magnetotail

Two energetic events in the Earth’s magnetotail detected by Geotail are examined with detailed analysis of three-dimensional velocity phase space density. It is found that the occurrence of multiple ion components is high during these dynamic episodes. Different populations evolve independently of each other, suggesting particles from multiple activity sites contributing to the observed phase space density. The transport properties with consideration of multiple components are evaluated, with the result showing significant differences from those based on a single fluid approach. This comparison indicates that precise evaluation of the energy and magnetic flux transport of energetic events in the magnetotail requires resolving individual populations in the phase space density.     

A lightning swept stroke model: A valuable tool to investigate the lightning strike to aircraft

In the context of lightning strike on the Dassault Falcon family of aircraft, the standard zoning of Falcon 50, 900 and 2000, inferred from FAA and EUROCAE WG31 documents [US Department of Transportation, Federal Aviation Administration, Advisory Circular AC 20-53A, 1985; US Department of Transportation, Federal Aviation Administration, Advisory Circular AC 20-53B, Draft, 1991; EUROCAE WG 31, Aircraft Lightning Zoning Standard, ED-91, 1998], has been presented. Zoning proves to be quite similar between the three types of aircraft. Thanks to the feed-back on lightning strikes to Falcon, lightning traces have been observed on the fuselage for different flight conditions and aircraft. Observations are compared with the zoning performed by Dassault. A physical model, developed by ONERA, was used to simulate the sweeping of lightning on the fuselage of a Falcon 900. The results are in good agreement with the lightning traces observed on the fuselages.     

焊后热处理对高温运行10CrMo910钢管接头持久寿命的影响

本文通过１０ＣｒＭｏ９１０钢大口径厚壁管道高温模拟试验证实，焊后热处理是一个短时超高温运行过程，它使１０ＣｒＭｏ９１０钢管接头组织提前老化，显著降低了接头的持久寿命。试验结果表明，传统的焊后热处理工序应当取消。     

超声爬波无损检测方法的研究

本文介绍了超声无损检测中一种具有较好应用前景的波型──超声爬波。试验研究了爬波检测时缺陷定位、定性评定的方法，并给出了主要结论。     

一种基于张氏标定法的单目相机改进标定算法

单目视觉在地面机器人等无人导航系统中的应用越来越广泛，而相机参数的标定是利用视觉进行导航的基础性工作。标定结果的好坏，直接影响导航性能和定位精度。主要考虑单目相机的径向畸变，基于张正友平面标定法，通过利用Matlab进行图像预处理、利用OpenCV进行Harris角点检测和亚像素精确化等方法在角点提取精度等方面进行了改进，通过重投影法对标定结果进行了评估，并将其与Matlab相机标定工具箱Toolbox_calib所得结果进行了比较。实验结果表明，改进的标定算法标定结果精度更高，并且对多个摄像头传感器均有效，适用性强。     

Numerical simulations of turbulent flows in aeroramp injector/gas-pilot flame scramjet

To uncover the internal flow characteristics in an ethylene-fueled aeroramp injector/gaspilot(ARI/G-P)flame scramjet,a Reynolds-averaged Navier-Stokes(RANS)solver is constructed under a hybrid polyhedral cell finite volume frame.The shear stress transport(SST)k-x model is used to predict the turbulence,while the Overmann’s compressibility corrected laminar flamelet model is adopted to simulate the turbulent combustion.Nonreactive computations for Case 1(G-P jet on),Case 2(ARI jets on),and Case 3(both ARI and G-P jets on)were conducted to analyze the mixing mechanism,while reactive Cases 4–7 at equivalent ratios of 0.380,0.278,0.199 and0.167 respectively were calculated to investigate the flame structure and combustion modes.The numerical results are compared well to those of the experiments.It is shown that the G-P jet plays significant role in both the fuel/air mixing and flame holding processes;the combustion for the four reactive cases takes place intensively in the regions downstream of the ARI/G-P unit;Cases 4 and 5are under subsonic combustion mode,whereas Cases 6 and 7 are mode transition critical and supersonic combustion cases,respectively;the mode transition equivalent ratio is approximately 0.20.