A multi-stage regulation strategy of space manipulators with a free-swinging joint failure

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.     

飞行载荷发展综述

飞行载荷设计是飞行器设计的一个重要组成部分,是连接总体气动设计和结构强度设计的桥梁。本 文从飞行载荷设计所需要遵循的规范、飞行载荷的设计方法、严重载荷选取、飞行载荷的验证等方面对飞行器 飞行载荷设计的发展历程进行了回顾,并对未来飞行载荷的发展方向进行了展望。     

健美操教学中学生的情绪调控

健美操是以身体训练为基本手段，以有氧运动为基础达到增进健康、塑造形体和娱乐目的一项体育运动，通过对其健美操课调查研究和理论分析，对学生的“学”在健美操课教学过程中如何进行不同类型的心理调整和探讨，使学生的学习效果上了一个台阶，使掌握的程度又快又准。     

The ITU and national regulatory authorities in the era of liberalization

As one of the most important organizations regulating telecommunications, the International Telecommunication Union (ITU) has a strong influence on the activities of National Regulatory Authorities (NRA)s. With the trend towards liberalization well underway, it is vital to study the relationships between the ITU and NRAs in this new era. This article examines the ITU's various functions and shows how they are vital to NRAs. It demonstrates that, notwithstanding the entry of the World Trade Organization into the telecommunications field, the ITU still has a role to play and that better cooperation between it and NRAs will lead to the healthy development of telecommunications.     

贯彻落实安全法规是企业安全生产的保障

目的 解决好生产企业存在的安全隐患。方法 学习、贯彻、落实好安全法规，进一步提高认识、强化管理、落实责任。结果 在安全生产的基础上，谋生存、求发展。结论 安全生产是生产力发展的基础和必备条件。     

An efficient regulation approach for tomographic reconstruction in combustion diagnostics based on TDLAS method

For tomographic reconstruction in combustion diagnostics, it is usually necessary to solve a rank-deficient problem, where the number of non-linear dependent equations is smaller than the number of unknowns. In some reconstructions, there are grids without rays passing through. This produces artifacts during the reconstruction. In this paper, the weight of the regulation equation is modified with the number of the rays crossing the grid cells. The effect of the neighboring grid values as well as the number of rays crossing the grid cells is considered in the new regulation method. Numerical simulation results show that the new regulation method suppresses the reconstruction error of the no rays crossing grid and successfully restrains the corner distortion in four projection angles. The effects of the weight coefficient and the smoothing factor on the reconstruction are examined through a numerical study. Finally, a combustion experiment demonstrates that the new regulation method can significantly reduce the reconstructed error, especially for the non-ray crossing condition, and the results are compared with thermocouple measurements and reconstructions without modified regulation.     

落实科学发展观 全面推进陕西县域经济发展

县域经济作为国民经济的基础性单元,充满着活力,蕴涵着希望,在建设全面小康社会和社会主义新农村的进程中越来越受到社会各界的关注。通过对陕西省县域经济发展的总体现状阐述,以神木县为典型代表进行实证分析,提出陕西省县域经济发展加快几点建议。     

民机全机有限元计算方法研究

全机有限元内力计算是飞机机体结构强度评定的输入条件,从全机有限元内力计算用载荷、方案、结果检查三方面对全机解方法进行了研究。遵循该思路,分析所得到的内力解可以有效的用于后续工作,供结构强度等专业设计分析使用。     

高校图书馆采访方式的整合及采访质量监控

高校图书馆的采访工作是保证馆藏图书质量的重要关口,通过对高校图书馆常用采访方式的分析,提出了现采与预定,网上采访,建立学科馆员采访制度的整合和互融,只有一切从实际出发,满足师生需求,同时,建立起质量评价监控体系,才是提高馆藏图书质量的有效方法。     

无人机系统适航现状及发展研究

针对无人机系统适航性要求,介绍了国内外无人机系统现状及发展趋势,以及国内外无人机适航审定政策,提出了无人机系统适航工作建议。