空间机械臂技术综述及展望

介绍了国外空间机械臂在轨技术验证与工程应用的概况,从任务类型、构型配置、末端执行器与操作方式方面分析了空间机械臂技术的发展趋势。综述了空间机械臂的任务规划、系统控制、路径规划、视觉感知、末端执行器、遥操作控制及地面试验验证7项关键技术。介绍了中国试验七号与天宫二号空间机械臂在轨验证情况,重点介绍了正在研制的中国空间站机械臂基本方案。最后,总结了目前空间机械臂技术存在的问题,并对中国未来空间机械臂技术发展提出了建议。     

Dynamics and Control Modeling for Gravity Probe B

A generic drag-free simulator has been developed to aid in the design, on-orbit and post-mission data analysis phases of increasingly complex future missions such as Gaia and STEP. Adaptation to the recent science mission Gravity Probe B (GP-B) has been carried out for a first simulator verification with actual flight data. Lessons learned from GP-B have shown that the controls simulator, developed concurrently with GP-B, has been invaluable to test flight control design and furthermore to resolve on-orbit anomalies in a time-saving manner. A complete mission software simulator including controls, full-body dynamics and comprehensive spacecraft environment disturbances has been established for Gravity Probe B. This simulator provides a reference and development platform for future mission design. The importance of this effort lies in the challenge to meet rising science requirements for future missions in the area of maximum disturbance rejection.     

Astronaut-induced disturbances to the microgravity environment of the Mir Space Station

In preparation for the International Space Station, the Enhanced Dynamic Load Sensors Space Flight Experiment measured the forces and moments astronauts exerted on the Mir Space Station during their daily on-orbit activities to quantify the astronaut-induced disturbances to the microgravity environment during a long-duration space mission. An examination of video recordings of the astronauts moving in the modules and using the instrumented crew restraint and mobility load sensors led to the identification of several typical astronaut motions and the quantification of the associated forces and moments exerted on the spacecraft. For 2806 disturbances recorded by the foot restraints and hand-hold sensor, the highest force magnitude was 137 N. For about 96% of the time, the maximum force magnitude was below 60 N, and for about 99% of the time the maximum force magnitude was below 90 N. For 95% of the astronaut motions, the rms force level was below 9.0 N. It can be concluded that expected astronaut-induced loads from usual intravehicular activity are considerably less than previously thought and will not significantly disturb the microgravity environment.     

Reducing the risks of using Ada onboard the Space Station

The Ada programming language was chosen by NASA as the primary computer programming language for the development of new software for the US Space Station. Ada was selected based on the results of investigations coordinated through Johnson Space Center (JSC) and that resulted in the identification of a set of problems and risks associated with using software developed in Ada. Some of the specific solutions to problems identified through these investigations are described. Three areas in which Ada's use poses risks are discussed: real-time process control; the testing and verification of flight software for man-rated systems; and software error detection, identification, and recovery required in safety-critical systems     

基于滚动窗的元胞自动机实时航迹规划方法研究

为满足载机实时航迹规划中威胁环境不确定性和规划算法实时性的要求,基于预测控制滚动优化的思想和元胞自动机理论,提出一种适合载机实时航迹规划的算法一滚动窗元胞自动机实时航迹规划方法.仿真结果表明,该方法能够在预先未知威胁的飞行环境中有效规划出动态航迹.     

大型民用客机管制与监视系统验证与测试平台的构建

目的在于研发大型民用客机航路管制与监视系统验证与测试平台,以实现机地数据通信系统环境下的航路管制与监视信息的数据地面接收和处理;同时,依照现有的空管航路管制与监视功能的国际标准和相关区域的运行要求,实现地面管制系统向机载系统的数据发布。该项研究成果能对口飞机机载数据链相关的ATC(Air Traffic Control空中交通管制)功能和部分监视功能ADS-C(Automatic Dependent Surveillance-Contract合同式自动相关监视)、ADS-B(Automatic Dependent Surveillance-Broadcast广播式自动相关监视),提供对应的地面收发端,监控机载系统数据状态。该成果可以配合飞机研发过程中的试验和排故,并为适航验证工作提供有力的准备和支持。     

Instrument Boom Mechanisms on the THEMIS Satellites; Magnetometer, Radial Wire, and Axial Booms

The five “Time History of Events and Macroscale Interactions during Substorms” (THEMIS) micro-satellites launched on a common carrier by a Delta II, 7925 heavy, on February 17, 2007. This is the fifth launch in the NASA MeDIum class EXplorer (MIDEX) program. In the mission proposal the decision was made to have the University of California Berkeley Space Sciences Laboratory (UCB-SSL) mechanical engineering staff provide all of the spacecraft appendages, in order to meet the short development schedule, and to insure compatibility. This paper describes the systems engineering, design, development, testing, and on-orbit deployment of these boom systems that include: the 1 and 2 meter carbon fiber composite magnetometer booms, the 40 and 50 m tip to tip orthogonal spin-plane wire boom pairs, and the 6.3 m dipole stiff axial booms.     

Life sciences

Space life sciences research activities are reviewed for 2003. Many life sciences experiments were lost with the tragic loss of STS-107. Life sciences experiments continue to fly as small payloads to the International Space Station (ISS) via the Russian Progress vehicle. Health-related studies continue with the Martian Radiation Environment Experiment (MARIE) aboard the Odyssey spacecraft, collecting data on the radiation environment in Mars orbit. NASA Ames increased nanotechnology research in all areas, including fundamental biology, bioastronautics, life support systems, and homeland security. Plant research efforts continued at NASA Kennedy, testing candidate crops for ISS. Research included plant growth studies at different light intensities, varying carbon dioxide concentrations, and different growth media. Education and outreach efforts included development of a NASA/USDA program called Space Agriculture in the Classroom. Canada sponsored a project called Tomatosphere, with classrooms across North America exposing seeds to simulated Mars environment for growth studies. NASA's Office of Biological and Physical Research released an updated strategic research plan.     

舰载战斗机发动机适配性体系研究

为有效促进舰载战斗机发动机研发,参考国外舰载战斗机发动机研制经验,结合作战使用需求,系统梳理了舰载战斗机发动机适配性体系组成,重点围绕海洋作战适配性、海洋环境适配性、舰载使用适配性阐述了相关能力要求。在此基础上,提出了整机试验、陆基飞-发适配性试验和舰基舰-机-发适配性试验逐层递进的舰载战斗机发动机适配性体系验证考核方式。分析认为未来舰载战斗机发动机适配性工作应加强体系融合联合攻关,注重远海长航舰面维修保障能力设计,加快推进发动机舰载适配性标准规范体系建设。     

空间站维修性系统设计与验证方法研究

空间站在轨运行时间长,因此需采用维修性设计和在轨维修的方法实现长寿命高可靠在轨运行。根据维修性设计理论,结合工程实际,提出了基于产品特性分析的维修需求分析方法和维修支持下的可靠度计算方法。明确了系统维修性设计应包括布局、供电、信息、故障检测、维修工作模式等设计内容。并根据维修难度,提出了四级维修策略。最后根据在轨维修特点,提出了地面试验验证和仿真验证的方法。为空间站系统维修性设计提供了一个技术途径。     

Wireless power transmission: the key to solar power satellites

Maturing of the enabling technologies has provided much of the infrastructure to support the development of a commercial Solar Power Satellite program. Solar Space Industries was formed to accomplish this goal. The basis of their development plan is to build a Ground Test Installation that will duplicate, in small scale on the Earth, all aspects of the power generating and power transmission systems except for the space environment and the range and size of the energy beam. Space operations issues will be separated from the power generation fixation and verified by testing. Doing the developmental testing on the ground instead of in space will result in a low cost program that can be accomplished in a very short time. The concept is to build a Ground Test Installation that couples an existing 100 kW terrestrial solar cell array to a phased-array wireless power transmitter based on a subarray. Power will be transmitted over a 1-¼ mile range to a receiving antenna and then fed into a commercial utility power grid. The objective is to demonstrate the complete function of the Solar Power Satellites, with the primary issue being the validation of practical wireless power transmission. The key features to demonstrate are: beam control, stability, steering, efficiency, reliability, cost, and safety     

Fuzzy adaptive robust control for space robot considering the effect of the gravity

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.     

低速无人系统定位导航通用指标及测试方法

针对目前小型低速无人系统定位导航测评缺乏标准化测试环境和测试方法,测试指标简单、难以量化等问题,分析了位姿测量、导航能力、环境感知三类通用测试指标和典型的测试条件,针对三类通用的技术指标提出了通用的测试评估方法。     

进气道蒙皮拉形数值模拟的探讨

蒙皮拉形是航空航天制造领域的一种重要的加工方法，其先进程度是衡量一个国家飞机制造能力和水平的重要标志之一，因此发展蒙皮拉形技术对于我国航空制造业具有十分重要的意义。本文旨在应用有限元软件Mare／Mentat对现阶段进气道蒙皮拉形生产过程中存在的问题，采用数值模拟结合生产性试验验证的方法进行分析研究，提出解决方案，以确定该零件生产的工艺方案和工艺参数。     

THEMIS Operations

THEMIS—a five-spacecraft constellation to study magnetospheric events leading to auroral outbursts—launched on February 17, 2007. All aspects of operations are conducted at the Mission Operations Center at the University of California at Berkeley. Activities of the multi-mission operations team include mission and science operations, flight dynamics and ground station operations. Communications with the constellation are primarily established via the Berkeley Ground Station, while NASA’s Ground Network provides secondary pass coverage. In addition, NASA’s Space Network supports maneuver operations near perigee. Following a successful launch campaign, the operations team performed on-orbit probe bus and instrument check-out and commissioning tasks, and placed the constellation initially into a coast phase orbit configuration to control orbit dispersion and conduct initial science operations during the summer of 2007. Mission orbit placement was completed in the fall of 2007, in time for the first winter observing season in the Earth’s magnetospheric tail. Over the course of the first 18 months of on-orbit constellation operations, procedures for instrument configuration, science data acquisition and navigation were refined, and software systems were enhanced. Overall, the implemented ground systems at the Mission Operations Center proved to be very successful and completely adequate to support reliable and efficient constellation operations. A high degree of systems automation is employed to support lights-out operations during off-hours.     

面向未来的微纳卫星测控管理

针对如何根据微纳卫星的技术状态与测控需求特点,以建立对多目标、多体制下卫星的测控管理模式的问题,从系统规划、设备研制、测控网建设等方面进行了有益的研究与分析。主要从卫星使用频率、占用轨道等空间资源的合理分配方面着手,提出了适宜微纳卫星应用与发展的频率和轨道选用建议。再根据微纳卫星的技术特点,提出了采用符合CCSDS(Consultative Committee for Space Data Systems,空间数据系统咨询委员会)规程的数据格式的建议。同时,针对在轨管理,还提出了利用国内外现有有效测控资源的联网合作与商业运作的管理方式。这些观点,有可能对我国微纳卫星进行高效、可靠的测控管理提供借鉴参考。     

Dynamical Systems Approach to Space Environment Turbulence

Space plasmas are dominated by waves, instabilities and turbulence. Dynamical systems approach offers powerful mathematical and computational techniques to probe the origin and nature of space environment turbulence. Using the nonlinear dynamics tools such as the bifurcation diagram and Poincaré maps, we study the transition from order to chaos, from weak to strong chaos, and the destruction of a chaotic attractor. The characterization of the complex system dynamics of the space environment, such as the Alfvén turbulence, can improve the capability of monitoring Sun-Earth connections and prediction of space weather. This revised version was published online in August 2006 with corrections to the Cover Date.     

Lunar habitat concept employing the space shuttle external tank

The space shuttle external tank, which consists of a liquid oxygen tank, an intertank structure, and a liquid hydrogen tank, is an expendable structure used for approximately 8.5 min during each launch. A concept for outfitting the liquid oxygen tank-intertank unit for a 12-person lunar habitat is described. The concept utilizes existing structures and openings for both man and equipment access without compromising the structural integrity of the tank. Living quarters, instrumentation, environmental control and life support, thermal control, and propulsion systems are installed at Space Station Freedom. The unmanned habitat is then transported to low lunar orbit and autonomously soft landed on the lunar surface. Design studies indicate that this concept is feasible by the year 2000 with concurrent development of a space transfer vehicle and manned cargo lander for crew changeover and resupply.     

Astronaut-induced disturbances in microgravity

This Note describes the dynamic load sensors (DLS) spaceflight experiment that measured middeck astronaut-induced disturbances during the 14-day STS-62 Space Shuttle mission in March 1994. The DLS experiment was flown in conjunction with the reflight of the Middeck 0-Gravity Dynamics Experiment (MODE). The objective of MODE was to investigate effects of the microgravity environment on large space structures. Where Skylab experiments focused on measuring the forces exerted during vigorous soaring activities, the DLS experiment quantified the reaction forces and moments exerted by the crew going about their normal on-orbit activities. The objective of this Note is to present DLS force data and frequency analysis that characterize astronaut-induced loads during spaceflight.     

中国电推进技术发展及展望

为了促进国内电推进技术的发展,简要介绍了国际上主要电推力器的种类和特点,并结合国外电推进技术的研究及在轨应用情况,介绍了中国电推进技术发展过程和应用现状,总结了国内外电推进技术的发展趋势。在此基础上,根据国内深空探测、商业航天、重力场测量、引力波探测等空间任务对推进器的高比冲、长寿命、宽调节范围、低成本、高精度等需求,提出了国内电推进技术应该将小型离子推力器、大型霍尔推力器、脉冲等离子体推力器以及无拖曳控制推力器作为重点发展方向的建议。