Spatial orientation during locomotion [correction of locomation] following space flight

To investigate changes in spatial orientation ability and walking performance following space flight, 7 astronaut subjects were asked pre- and post-flight to perform a goal directed locomotion paradigm which consisted of walking a triangular path with and without vision. This new paradigm, involving inputs from different sensory systems, allows quantification of several critical parameters, like orientation performance, walking velocities and postural stability, in a natural walking task. The paper presented here mainly focusses on spatial orientation performance quantified by the errors in walking the previously seen path without vision. Errors in length and reaching the corners did not change significantly from pre- to post-flight, while absolute angular errors slightly increased post-flight. The significant decrease in walking velocity and a change in head-trunk coordination while walking around the corners of the path observed post-flight may suggest that during re-adaptation to gravity the mechanisms which are necessary to perform the task have to be re-accomplished.     

Fluid ring damper for artificial gravity rotating system used for manned spacecraft

Long term human space missions require artificial gravity during some phases of the space flight. In this paper we propose a dual spin system to generate artificial gravity based on a classical rotorcraft configuration where the rotating blade-like module provides a 1g-gravity at the tips. The rotating module is eventually stopped by a fluid ring damper. The dynamics and effectiveness of the damper is analyzed; in particular stability is ensured since a Lyapunov function of the system is found. Optimal damper parameters such as fluid viscosity and ring geometry are determined in order to reduce the despinning time.     

考虑重力影响的太阳翼模型修正方法研究

太阳翼结构地面模态试验时重力导致的几何非线性不能忽略,因此提出了一种考虑重力影响的柔性结构动力学模型修正方法。首先推导了地面环境下结构的切线刚度矩阵,求解广义特征值,得到重力影响下的模态,对试验和计算得到的模态振型进行匹配,并进行参数的灵敏度分析,选取合适的修正参数并迭代求解参数的修正量。以展开锁定情况下的太阳翼组合结构为研究对象,对比研究发现重力对模态频率有影响,采用分步修正策略,依次对单翼板弹性参数和翼板间连接刚度进行修正,研究结果表明本文方法不仅收敛速度较快,且具有较高的精度。     

航天员低重力步行训练被动外骨骼机器人模拟

针对月球或火星登陆航天员在地面进行低重力步行模拟训练的需要,提出一种采用被动重力平衡技术的外骨骼机器人系统。该系统由一台跑步机和一套可穿戴的被动机械外骨骼组成,通过将人体各主要部件的重力按比例分布转嫁到外骨骼上来达到低重力模拟效果,因此其不但可以平衡任意比例（0%-100%）的人体重力,而且可以使受训者感受到各主要关节失去相同比例重力载荷的效果,从而达到逼真模拟低重力步行。由于系统完全被动,无需施加主动关节控制力矩,同时也不用进行关节运动的离线或在线精确规划,从而避免了复杂的关节控制器及其稳定性设计和分析。动力学仿真结果表明,该外骨骼机器人系统能够逼真地模拟出不同重力条件下的步行效果。     

一种用于垂直降落重复使用运载器的缓冲器性能分析

以对称分布四腿支柱式垂直降落重复使用运载器为研究对象,基于一种新型油液-蜂窝式多级缓冲器,建立了计及地面弹塑性变形的运载器软着陆过程动力学模型,并给出了运载器着陆时的五种临界着陆工况。以前四种着陆工况为基础对多级缓冲器进行了缓冲参数协调分析,在此基础上以翻倒极限着陆工况为基础重点研究了多级缓冲器缓冲参数对着陆稳定性能的影响。研究表明多级缓冲器中油孔面积、活塞杆直径和阻尼阀调节弹簧预紧力等油液缓冲参数对蜂窝压溃载荷的选取有着显著影响,同时以上参数的合理选择可以有效增加运载器的着陆稳定性能。     

Dynamic characteristics analysis of deployable space structures considering joint clearance

The clearance in joints influences the dynamic stability and the performance of deployable space structures (DSS). A virtual experimental modal analysis (VEMA) method is proposed to deal with the effects of joint clearance and link flexibility on the dynamic characteristics of the DSS in this paper. The focus is on the finite element modeling of the clearance joint, VEMA and the modal parameters identification of the DSS. The finite element models (FEM) of the clearance joint and the deployable structure are established in ANSYS. The transient dynamic analysis is conducted to provide the time history data of excitation and response for the VEMA. The fast Fourier transform (FFT) technique is used to transform the data from time domain to frequency domain. The frequency response function is calculated to identify the modal parameters of the deployable structure. Experimental verification is provided to indicate the VEMA method is both a cost and time efficient approach to obtain the dynamic characteristics of the DSS. Finally, we analyze the effects of clearance size and gravity on the dynamic characteristics of the DSS. The analysis results indicate that the joint clearance and gravity strongly influence the dynamic characteristics of the DSS.     

The effect of vibrations on heterogeneous fluids: Some studies in weightlessness

Under weightlessness, the effect of harmonic vibrations can easily induce average motions in fluids with density inhomogeneities. We will consider more particularly pure fluids near their gas–liquid critical point, where the temperature variation of all important parameters (e.g. interfacial tension, density difference) follows universal, scaling laws. We will thus study, below the critical point, the ordering of the gas–liquid interfaces (at equilibrium and during the phase separation) and, above the critical point, some thermovibrational instabilities. These studies have been performed in the Russian MIR station and in the MiniTexus and Maxus rockets of ESA and under magnetic compensation of gravity on earth.     

The effect of vibrations on heterogeneous fluids: Some studies in weightlessness

Under weightlessness, the effect of harmonic vibrations can easily induce average motions in fluids with density inhomogeneities. We will consider more particularly pure fluids near their gas–liquid critical point, where the temperature variation of all important parameters (e.g. interfacial tension, density difference) follows universal, scaling laws. We will thus study, below the critical point, the ordering of the gas–liquid interfaces (at equilibrium and during the phase separation) and, above the critical point, some thermovibrational instabilities. These studies have been performed in the Russian MIR station and in the MiniTexus and Maxus rockets of ESA and under magnetic compensation of gravity on earth.     

不同重力环境下空间机械臂神经自适应鲁棒控制

针对空间机械臂从地面装调到空间应用过程中重力项的变化问题,提出了一种神经网络自适应鲁棒补偿控制策略用于空间机械臂的末端控制,从而实现在地面重力环境下装调好的空间机械臂在空间微重力环境下实现在轨操控任务。通过神经网络在线建模来逼近系统模型中变化的重力项,逼近误差及系统的不确定性通过自适应鲁棒控制器来补偿。该控制策略不依赖于系统的模型,避免了回归矩阵的复杂计算及未知参数的估计,降低了计算量。基于李亚普诺夫理论证明了闭环系统的渐近稳定性。仿真结果表明该控制器对不同重力环境下空间机械臂的末端控制均能达到较高的控制精度,具有重要的理论研究和工程应用价值。     

基于遥测数据的射前惯性测量系统稳定性检测方法

地地导弹惯性测量系统的稳定性直接影响导弹惯性导航系统导航的准确程度。介绍利用导弹射前的遥测数据及惯性测量系统误差补偿模型计算重力加速度和地球自转角速度方法,通过比较计算出的重力加速度和地球自转角速度与当地的实际值,检验惯性测量系统的稳定性,试验验证了该方法的正确性。     

基于形状的火卫一重力场研究

介绍基于形状对不规则小天体重力场建模的原理和方法,并通过解析法和数值法对火卫一的重力场进行正演建模。相比之前的重力场模型,基于解析算法获得的17阶次球谐展开形式重力场模型,在分辨率上有显著提高。进一步结合火卫一动力学参数,分析了火卫一表面加速度。结果显示,火卫一因其轨道十分接近火星,导致表面离心力和潮汐力十分显著,在某些区域与自引力相当,造成火卫一的特殊表面重力环境。这些结果可为未来的火卫一探测和科学研究提供基本输入物理场模型,也可为其他小天体探测中的类似问题提供方法参考。     

Equilibrium attitude and stability of a spacecraft on a stationary orbit around an asteroid

The stationary orbits around an asteroid, if exist, can be used for communication and navigation purposes just as around the Earth. The equilibrium attitude and stability of a rigid spacecraft on a stationary orbit around a uniformly-rotating asteroid are studied. The linearized equations of attitude motion are obtained under the small motion assumption. Then, the equilibrium attitude is determined in both cases of a general and a symmetrical spacecraft. Due to the higher-order inertia integrals of the spacecraft, the equilibrium attitude is slightly away from zero Euler angles. Then necessary conditions of stability of this conservative system are analyzed based on the linearized equations of motion. The effects of different parameters, including the harmonic coefficients C₂₀ and C₂₂ of the asteroid and higher-order inertia integrals of the spacecraft, on the stability are assessed and compared. Due to the significantly non-spherical shape and rapid rotation of the asteroid, the effects of the harmonic coefficients C₂₀ and C₂₂ are very significant, while effects of the third- and fourth-order inertia integrals of the spacecraft can be neglected. Considering a spacecraft on a stationary orbit around an example asteroid, we show that the classical stability domain predicted by the Beletskii–DeBra–Delp method on a circular orbit in a central gravity field is modified due to the non-spherical mass distribution of the asteroid. Our results are confirmed by a numerical simulation.     

Structural and functional changes in man accompanying the weightlessness in "Skylab" flights: a mathematical approach

The present paper reports a kinetic analysis of changes of some physiological parameters, obtained from international literature, after changes in gravitational environment. The overall phenomenology of the adaptation to weightlessness is characterized by a rapid process followed by a slow one. The two processes show half time values differing by about five times. Also in the case of readaptation to gravity, after recovery on the Earth, two well resolved processes, showing different half time values, are observed. It is of interest to notice that the rate of response to weightlessness is lower than that to gravity. Of course, the half time values observed depend on the different physiological parameters considered. In any case, the experimental data suggest a general trend of many adaptive changes, that may all be described by a simple mathematical model.     

Effect of liquid bridge form on oscillatory thermocapillary convection under 1 g and μg conditions

This study analyses the effect of temperature difference between hot and cool disk (ΔT), and non-dimensional liquid bridge volume (V/V_o) on the transition process from steady thermocapillary convection to periodic or chaotic thermocapillary convection in a liquid bridge modeled after the floating zone method under normal gravity and microgravity conditions. From normal gravity and drop shaft experiments, the difference of the regime of the steady state and the oscillatory state was clarified on the ΔT−V/V_o plane under 1 g and μg conditions. A gap or stability region was observed in the specific V/V_o range under 1 g conditions. In the gap or stable region, after the gravity changed from 1 g to μg conditions, the temperature signals showed oscillation. From these results, the critical temperature difference under the μg conditions appeared to be smaller than that under the 1 g conditions. Temperature signals were defined as 6 different types of states. The various temperature oscillatory state regimes were obtained on a ΔT−V/V_o plane under 1 g and μg conditions. Under μg conditions, in these experimental conditions, all temperature oscillatory states exhibited only the Periodic state.     

重力梯度对自由漂浮空间机器人姿态扰动分析

分析重力梯度对在轨运行的自由漂浮空间机器人姿态运动影响。由Lagrange方法建立自由漂浮空间机器人受重力梯度扰动的非线性动力学模型。首先,考虑无控关节自由状态,分析重力梯度对关节运动的影响。其次,利用相平面轨迹分析重力梯度对自由漂浮系统姿态运动影响。最后,由速度偏差曲线分析重力梯度对机械臂的影响。结果表明,当作用时间接近轨道周期或更长时,重力梯度引起的关节偏差已十分显著,且这种扰动作用主要由轨道偏心率决定;关节锁定时俯仰姿态受扰运动有周期振动与翻滚两种形式,若初始角速度满足一定限值可以保证俯仰运动不发生翻滚;当机械臂长时间工作时,忽略重力梯度将产生明显的末端定位误差。     

月面重力模拟系统恒拉力绳索的动力学研究

月面巡视器在未来探月工程中有非常重要的作用.月球重力场是影响月面巡视器运动性能的重要环境因素,需要对其进行地面模拟试验.文章基于绳索悬挂建立月面重力模拟系统,其关键是对恒拉力绳索进行建模和动力学分析.通过将绳索离散化为一系列集中质量的弹簧阻尼结构,得到多刚体系统来代替连续的弹性系统,用数值计算方法来研究绳索系统的动力学参数(如刚度和阻尼)对月面重力模拟系统的影响,来优化月面重力模拟系统.     

不同重力环境下空间机构电机驱动力差异

为了分析空间机构在不同重力环境中的驱动力差异,以单关节机械臂为研究对象,进行不同重力环境下直流电机驱动力差异分析。首先基于拉格朗日方程推导出单关节机械臂的动力学模型,为分析不同重力环境下,负载、摩擦和转速的变化对电机驱动力的影响,通过设计一套基于单关节驱动的机械臂试验装置,进行地面重力环境、地面模拟微重力环境和落塔微重力环境试验。然后基于试验数据详细分析了不同重力环境下空间机构电机驱动电流的差异,并基于试验数据对电机动力学方程中的摩擦参数进行辨识,从而获得基于试验数据修正的机械臂动力学仿真模型,为空间机构动力学设计与应用提供理论与试验依据。     

Human locomotion and workload for simulated lunar and Martian environments

Human locomotion in simulated lunar and Martian environments is investigated. A unique human-rated underwater treadmill and an adjustable ballasting harness simulate partial gravity in order to better understand how gravity determines the biomechanics and energetics of human locomotion. This study has two research aspects, biomechanics and energetics. The fundamental biomechanics measurements are continuously recorded vertical forces as exerted by subjects of the treadmill which is instrumented with a force platform. Experimental results indicate that peak vertical force and stride frequency decrease as the gravity level is reduced. Foot contact time is independent of gravity level. Oxygen uptake measurements, VO2, constitute the energetics, or workload, data for this study. As theory predicts, locomotion energy requirements for lunar (1/6-g) and Martian (3/8-g) gravity levels are significantly less than at 1-g. The observed variation in workload with gravity level is nonmonotonic, however, in over half the subject population. The hypothesis is offered that energy expenditure increases for lunar, as compared with Martian, locomotion due to the subject "wasting energy" for stability and posture control in simulated lunar gravity. Biomechanics data could influence advanced spacesuit design and planetary habitat design, while workload data will help define oxygen requirements for planetary life support systems.     

改善返回舱气动稳定特性数值计算研究

和第一宇宙速度载人再入飞行相比,以第二宇宙速度载人再入飞行对返回器的升阻比要求较高。文章给出了一种升阻比能够满足第二宇宙速度再入需求的返回器基本外形,分析了基本外形的气动性能以及质心位置对气动稳定特性的影响,结果表明基本外形在高超声速和亚声速下均存在第二静稳定配平点的问题。为了改善基本外形的气动稳定特性,文章提出了多种改进外形设计,包括增加稳定耳片、改变尾部外形设计等。通过数值模拟对这些改进外形的气动稳定性进行了分析,结果表明这些改进设计对于改善返回器的单点稳定特性是有效的。通过对流场特性的详细分析,对改进气动设计改善返回器稳定特性的机理进行了揭示和阐释。     

舵模型风洞颤振试验中亚临界技术的应用研究

为降低模型和风洞设备的损坏率，用随机激励和频响函数分析法，测定进入颤振临界点之前舵面颤振试验模型在不同风洞气流动压下的模态频率和阻尼比，由阻尼外推法或稳定参数法确定颤振临界动压。数次进入颤振状态的试验结果证明，所获得的颤振临界参数有较高的精度。