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。     

模具CAPP系统

介绍了汽车冷冲压模具行业工艺水平现状和传统CAPP系统特点，以及冷冲压模具厂工艺设计管理模式；分析研究适应于现代汽车模具制造业的模具CAPP系统。     

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。     

Calculation of the transonic dip of airfoils using viscous-inviscid aerodynamic interaction method

A numerical procedure for the calculation of the transonic dip of airfoils in the time domain is presented. A viscous-inviscid aerodynamic interaction method is taken to calculate the unsteady aerodynamic loads. In the present case the integral boundary layer equations are coupled with the Transonic Small Disturbance (TSD) Potential Equation. The coupling between structural motion and aerodynamic loads is carried out using State Space equation. It is solved by State Transition Matrix technique. Results are presented for NACA 64A010 and NLR 7301 airfoils with structural data from Isogai and DLR, respectively. Comparisons show good agreement with other numerical results. Certain deviations of experimental data taken from literature need more insight in the detailed test conditions.     

Obscured Activity: AGN, Quasars, Starbursts and ULIGs Observed by the Infrared Space Observatory

Some of the most ‘active’ galaxies in the Universe are obscured by large quantities of dust and emit a substantial fraction of their bolometric luminosity in the infrared. Observations of these infrared luminous galaxies with the Infrared Space Observatory (ISO) have provided a relatively unabsorbed view to the sources fuelling this active emission. The improved sensitivity, spatial resolution and spectroscopic capability of ISO over its predecessor Infrared Astronomical Satellite (IRAS) of enabled significant advances in the understanding of the infrared properties of active galaxies. ISO surveyed a wide range of active galaxies which, in the context of this review, includes those powered by intense bursts of star formation as well as those containing a dominant active galactic nucleus (AGN). Mid-infrared imaging resolved for the first time the dust enshrouded nuclei in many nearby galaxies, while a new era in infrared spectroscopy was opened by probing a wealth of atomic, ionic and molecular lines as well as broad band features in the mid- and far-infrared. This was particularly useful, since it resulted in the understanding of the power production, excitation and fuelling mechanisms in the nuclei of active galaxies including the intriguing but so far elusive ultraluminous infrared galaxies. Detailed studies of various classes of AGN and quasars greatly improved our understanding of the unification scenario. Far-infrared imaging and photometry revealed the presence of a new very cold dust component in galaxies and furthered our knowledge of the far-infrared properties of faint starbursts, ULIGs and quasars. We summarise almost nine years of key results based on ISO data spanning the full range of luminosity and type of active galaxies.     

Late Stages of Stellar Evolution

A large fraction of ISO observing time was used to study the late stages of stellar evolution. Many molecular and solid state features, including crystalline silicates and the rotational lines of water vapour, were detected for the first time in the spectra of (post-)Asymptotic Giant Branch (AGB) stars. Their analysis has greatly improved our knowledge of stellar atmospheres and circumstellar environments. A surprising number of objects, particularly young planetary nebulae with Wolf-Rayet (WR) central stars, were found to exhibit emission features in their ISO spectra that are characteristic of both oxygen-rich and carbon-rich dust species, while far-IR observations of the PDR around NGC 7027 led to the first detections of the rotational line spectra of CH and CH⁺. Based on observations with ISO, an ESA project with instruments funded by ESA Member States (especially the PI countries: France, Germany, The Netherlands, and the United Kingdom), and with the participation of ISAS and NASA.     

Stellar infrared astronomy with EDISON

In this review the IR emission from circumstellar material is discussed, both of ionized gas and dust grains, and the astrophysical information that can be extracted from such observations. Some emphasis is placed on the possibilities of stellar IR astronomy using a large space-borne telescope, especially with respect to the much better spatial and spectral resolution of such a telescope compared to the current generation of ground-based and space IR telescopes.     

Relativistic MHD Simulations of Jets with Toroidal Magnetic Fields

This paper presents an application of the recent relativistic HLLC approximate Riemann solver by Mignone & Bodo to magnetized flows with vanishing normal component of the magnetic field. The numerical scheme is validated in two dimensions by investigating the propagation of axisymmetric jets with toroidal magnetic fields. The selected jet models show that the HLLC solver yields sharper resolution of contact and shear waves and better convergence properties over the traditional HLL approach.     

CAD/CAPP集成系统中工序图的自动生成方法

介绍了一种在CAD/CAPP集成系统中工序图自动生成的较通用的方法,提出了两种不同实现途径。并以实例表明在Pro/Engineer系统中得到了成功应用。     

Astrophysics in 2006

The fastest pulsar and the slowest nova; the oldest galaxies and the youngest stars; the weirdest life forms and the commonest dwarfs; the highest energy particles and the lowest energy photons. These were some of the extremes of Astrophysics 2006. We attempt also to bring you updates on things of which there is currently only one (habitable planets, the Sun, and the Universe) and others of which there are always many, like meteors and molecules, black holes and binaries.