基于轨迹规划的自由漂浮空间机器人抓取运动物体的研究

针对空间机器人非完整性和冗余性，对笛卡空间下的轨迹规划问题进行了研究。在此基础上，分析了空间机器人抓取运动物体的策略，提出了基于轨迹规划的空间机器人路径规划方法，并以三自由度空间机器人为例，对空间机器人抓取运动目标体的问题进行了研究，该方法是开环控制方法，但由于在进行轨迹跟踪过程中，误差不累积，得到的实际曲线与理论曲线相近，误差达到了规定的范围。     

Strategy for capturing of a tumbling space debris

In general space debris objects do not possess much convenient features and are non-cooperative. In such cases, since the conditions for capture are not favorable, tracking errors will lead to loading, and momentum transfer will occur during the capture process.In most cases, detailed mass and inertial characteristics of the target are unknown, either because design details are unavailable or due to changes as a result of damage sustained when failure occurred or gradual degradation over the years, and this makes impedance matching of the capture arm force control system difficult.This led to us to devise a “joint virtual depth control” algorithm for robot arm control, which brakes the rotation of a target with unknown inertia. This paper deals with a removal work strategy and control method for capturing and braking a tumbling, non-cooperative target space debris.We propose a new brush type contactor as end-effecter of a robot arm for reducing the rotational rate of the target debris. As a means for relieving the loads generated during target tapping, in addition to joint compliance control we propose a new control method that controls the arm tip force according to a contact force profile.     

双臂自由飞行空间机器人捕捉目标实验研究

本文主要介绍了在地面上模拟的空间微重力环境下双臂自由飞行空间机器人捕捉目标的实验。首先介绍了双臂自由飞行空间机器人地面实验平台，该实验平台由机器人模型、视觉系统、无线通讯系统、网络系统、操作台、运动规划系统、气浮系统七个子模块构成。其次简单介绍了双臂自由飞行空间机器人捕捉目标策略，最后介绍了基于该实验平台的几种实验。     

Survey of modeling,planning, and ground verification of space robotic systems

Space robotic systems are expected to play an increasingly important role in future space activities. Nevertheless, dynamics modeling and motion planning of a space robot are much more complex than those of a fixed-base robot, due to the dynamic coupling between the manipulator and its base. On the other hand, in order to assure the success of on-orbital missions, many experiments are required to verify the key algorithms on the ground before the space robot is launched. In this paper, the main research achievements on dynamics modeling, path planning, and ground verification are reviewed, and future studies are recommended. Firstly, we summarize the essential modeling concepts, and deduce the kinematics and dynamics equations of a space robot. Secondly, the main motion planning approaches are discussed. Then, different ground verification systems, including the air-bearing table, neutral buoyancy, airplane flying, free-falling motion, suspension system, and hybrid system, are introduced. Finally, the future research trends are forecasted.     

Adaptive and robust algorithms and tests for visual-based navigation of a space robotic manipulator

Optical navigation for guidance and control of robotic systems is a well-established technique from both theoretic and practical points of view. According to the positioning of the camera, the problem can be approached in two ways: the first one, “hand-in-eye”, deals with a fixed camera, external to the robot, which allows to determine the position of the target object to be reached. The second one, “eye-in-hand”, consists in a camera accommodated on the end-effector of the manipulator. Here, the target object position is not determined in an absolute reference frame, but with respect to the image plane of the mobile camera. In this paper, the algorithms and the test campaign applied to the case of the planar multibody manipulator developed in the Guidance and Navigation Lab at the University of Rome La Sapienza are reported with respect to the eye-in-hand case. In fact, being the space environment the target application for this research activity, it is quite difficult to imagine a fixed, non-floating camera in the case of an orbital grasping maneuver. The classic approach of Image Base Visual Servoing considers the evaluation of the control actions directly on the basis of the error between the current image of a feature and the image of the same feature in a final desired configuration. Both simulation and experimental tests show that such a classic approach can fail when navigation errors and actuation delays are included. Moreover, changing light conditions or the presence of unexpected obstacles can lead to a camera failure in target acquisition. In order to overcome these two problems, a Modified Image Based Visual Servoing algorithm and an Extended Kalman Filtering for feature position estimation are developed and applied. In particular, the filtering shows a quite good performance if target's depth information is supplied. A simple procedure for estimating initial target depth is therefore developed and tested. As a result of the application of all the novel approaches proposed, the experimental test campaign shows a remarkable increase in the robustness of the guidance, navigation and control systems.     

Monitoring of the space system

We have performed monitoring of the space system that includes the Earth, the Moon, the Sun, and the GPS satellite group. We have discovered semi-diurnal and diurnal periodicities in the number of satellites detected as well as in the altitude, latitude and longitude by a GPS receiver. We have revealed tidal deformations related to changes in the Earth?s orientation with respect to the Moon and the Sun.     

国外空间侦察监视系统的发展

主要介绍了国外近年来空间侦察监视系统的发展动态,重点介绍了美国、欧洲、俄罗斯、日本和印度在侦察监视卫星方面的进展,分析了未来侦察监视卫星或系统的发展趋势.     

空间信息对抗能力分析

现代作战越来越依赖空间信息系统,它已成为关乎战争胜负的重要资源。从空间信息支援、空间信息防御、空间信息攻击等方面分析了空间信息对抗能力和作战应用能力,并对空间信息对抗的发展提出了几点建议。     

Optimization of space system development resources

NASA has had a decades-long problem with cost growth during the development of space science missions. Numerous agency-sponsored studies have produced average mission level cost growths ranging from 23% to 77%.A new study of 26 historical NASA Science instrument set developments using expert judgment to reallocate key development resources has an average cost growth of 73.77%. Twice in history, a barter-based mechanism has been used to reallocate key development resources during instrument development. The mean instrument set development cost growth was −1.55%. Performing a bivariate inference on the means of these two distributions, there is statistical evidence to support the claim that using a barter-based mechanism to reallocate key instrument development resources will result in a lower expected cost growth than using the expert judgment approach.Agent-based discrete event simulation is the natural way to model a trade environment. A NetLogo agent-based barter-based simulation of science instrument development was created. The agent-based model was validated against the Cassini historical example, as the starting and ending instrument development conditions are available. The resulting validated agent-based barter-based science instrument resource reallocation simulation was used to perform 300 instrument development simulations, using barter to reallocate development resources. The mean cost growth was −3.365%. A bivariate inference on the means was performed to determine that additional significant statistical evidence exists to support a claim that using barter-based resource reallocation will result in lower expected cost growth, with respect to the historical expert judgment approach.Barter-based key development resource reallocation should work on spacecraft development as well as it has worked on instrument development. A new study of 28 historical NASA science spacecraft developments has an average cost growth of 46.04%. As barter-based key development resource reallocation has never been tried in a spacecraft development, no historical results exist, and a simulation of using that approach must be developed. The instrument development simulation should be modified to account for spacecraft development market participant differences. The resulting agent-based barter-based spacecraft resource reallocation simulation would then be used to determine if significant statistical evidence exists to prove a claim that using barter-based resource reallocation will result in lower expected cost growth.     

载人航天测控通信系统

在原有卫星测控网的基础上规划设计的载人航天测控通信系统与国际标准接轨，通过国内外的地面测控站和遍布三大洋的四艘远洋测量船保证了地面与飞船的测量控制和通信，实现了多项关键技术突破。它不仅能满足载人航天任务的高可靠、高精度、高覆盖、高速率的需要，还能同时为30颗以上卫星提供测控通信支持，这标志着我国自主发展的航天测控通信技术达到了世界先进水平。     

型号标准化工作系统的建立与管理

介绍了型号标准化工作系统的任务、结构和建立程序,并对工作系统的管理提出了建议。     

一种星载信息系统微系统电路设计

基于星载信息系统高集成化、轻小型化和智能化的发展需求,微系统电路通过SOC/SIP等先进集成电路设计技术将CPU、 FPGA及相关功能的裸芯片高密度集成。相比传统卫星研制方式,微系统电路的体积、重量、功耗显著减小,且产品研制周期由于模块化、通用化设计得以缩减。文章介绍一种基于RISC-V指令集处理器的星载信息系统微系统电路设计方案,采用基于RISC-V指令集的双核处理器作为微系统控制核心;通过架构优化设计集成RISC-V处理器核、 FPGA、存储芯片、接口电路等;考虑空间环境的影响,通过结构级抗辐照加固设计提升微系统电路的在轨运行可靠性。     

型号标准化文件体系的建立与管理

概述型号标准化文件体系的内涵、特点、作用以及文件体系的组成,阐明型号标准化文件体系与企业标准体系以及型号文件系统的关系.介绍型号标准化文件体系的运行与管理.     

天基红外系统及空间光电对抗装备进展

随着信息技术的进展,战争已从陆、海、空扩展到外层空间,信息和反导已成为世界军事领域的两大课题。介绍了美国天基红外系统(SBIRS)的作用、组成、最新进展及技术特点,分析了空间光电对抗技术的原理及空间光电对抗装备发展现状。对预警卫星系统和空间光电对抗设备建设具有借鉴作用。     

反导系统中的目标识别技术及其发展趋势

指出了反导系统目标识别的难点和特点。回顾了反导系统中的红外识别技术和雷达识别技术,并探讨了反导系统目标识别技术的发展趋势。     

气动增压器技术及其在空间推进系统的应用

液体火箭发动机用气动增压器技术在航天器推进系统中的应用,产生了一种全新的推进系统一气动增压式推进系统。介绍了气动增压器技术,分析了气动增压器技术应用于空间推进系统的优势和关键技术,并展望了应用前景。     

空间大功率热排放系统设计

根据空间大功率热排放系统的要求,参考美国航天局提出的双翼热管式辐射散热器,提出了在结构上改进的热管式辐射散热器.总体设计为四翼对称式辐射散热器,四翼均为相同独立工作.散热器由主回路管道、泡沫碳换热器、热管和散热板四部分组成,主回路管道选取钠钾合金为工质,换热管选取水为流体工质.系统废热通过钠钾合金冷却回路传递到泡沫碳换热器,泡沫碳换热器再传递给水热管辐射板,通过辐射换热释放到太空.对热管散热器进行了结构设计以及初步热设计,为大功率深空探测器热排放系统提供了最优的设计结构及参数.     

未来太空气象预报系统一瞥

文章从几个方面对太空气象预报系统进行了简单的介绍,包括：当前太空气象预报系统的水平;模板预报方案实施细则;实施模板方案的难度与可行性。作者关心我国对太空气象预报系统的研究,为进一步降低航天器发射风险、提高航天器运行可靠性而献计献策。     

Effects of space travel on sexuality and the human reproductive system

This paper discusses the possible effects space travel may have on the human reproductive system and on human sexuality.     

空间绳网捕获动力学仿真

空间绳网捕获系统是一种很有前景的空间碎片清除方法。然而,绳网的部署与捕获过程非常复杂,截至目前仍存在少量关键问题有待解决。对绳网捕获过程的研究是为了得到更合理的初始释放条件,以便绳网在接触目标后能成功包裹目标。利用有限元法将绳网进行离散,建立弹簧质点模型,并通过有限元软件进行仿真。同时提出了与仿真相关的3个接触参数,通过对不同捕获模型接触参数的横向对比找出绳网系统在展开及捕获过程中接触行为的区别。仿真结果表明,采用方形绳网系统对于正方体与弧形薄壁体目标捕获效果相对较好,对球形目标的捕获效果相对较差。针对不同捕获物体,绳网中最大应力出现的位置也不同,但最大应力都是集中出现在绳网与捕获目标棱角接触处与牵引球连接处。该仿真结果对最优绳网初始释放条件与编织形式的选取具有指导意义。