插补前S加减速在CNC前瞻中的应用

计算机数字控制系统(CNC)中的速度前瞻处理可以在不影响插补轨迹精度的前提下极大地提高插补效率.针对前瞻算法中速度处理这一核心问题,分直线转接和圆弧转接2种情况分别建立了插补几何元素转接矢量夹角模型,并给出了一种基于插补前S型加减速的CNC速度前瞻算法.该算法根据设定的最大前瞻段数以及实际插补轨迹的几何特性,能够自适应确定轨迹的转接速度近似最优解,从而实现路径段之间进给速度的高速衔接.S型加减速由于在加速阶段和减速阶段均引入了加速度衰减,使得整个插补过程具有了高度的柔性.因此结合前瞻算法和S型加减速算法在高速加工时速度处理的优势,提出并实现了一种基于插补前S型加减速的CNC前瞻算法.该算法已经在工程实际中得到了验证.      

CNC软件圆弧插补算法的分析与研究

快速而准确的圆弧插补算法一直是人们努力追求的目标。本文在深入分析了五种圆弧插补算法的基础上，把它们归纳到统一的理论依据之下，并就人们在理论方面研究甚少的插补运算的速度和插补轨迹精度问题进行了深入的分析与理论推导。同时，通过在计算机上对各种插补算法在插补运算速度和插补轨迹精度两方面的实际测试、验证与分析比较，提出了最佳择优方案，并在实际应用之中取得了满意的效果。     

一种新的圆弧插补算法—角度逼近法

提出了一种新的圆弧插补算法——角度逼近法。分析了该算法的计算精度,并将该算法与其他圆弧插补算法进行了比较。     

串并混联空间机械臂全自由度轨迹规划算法

目前,国内外对串并混联空间机械臂的研究较少;而且大多在舍弃冗余自由度的情况下进行轨迹规划.针对7自由度串并混联空间机械臂,提出了一种基于解析解、并且充分放开全部7个自由度的机械臂轨迹规划算法.该规划算法既扩大了串并混联空间机械臂的规划可达空间,又保证了规划的实时性,同时还保留了结构承载能力强的优点,可以充分发挥其作为空间抓捕用臂的优势.通过仿真和地面空间操作抓捕试验,验证了算法的有效性.     

面向非合作目标抓捕的机械臂轨迹规划方法

文章针对非合作目标抓捕问题设计了基于误差反馈系数的机械臂轨迹规划算法.考虑到空间机械臂在轨服务要求,采用反作用零空间方法来规划机械臂运动轨迹以实现机械臂与航天器之间的协调运动.为避免在规划起始阶段位姿误差较大可能导致机械臂关节速度过大的问题,引入了位姿误差反馈系数.为对空间机械臂抓捕非合作目标的轨迹规划技术进行验证,搭建了地面半物理仿真系统.试验结果表明,通过合理选择位姿误差反馈系数,设计的轨迹规划算法能够使固定基座机械臂末端执行器以较为均匀的速度逼近非合作目标,并能以较高精度实现对非合作目标的抓捕.该试验可以为空间机械臂抓捕非合作目标的轨迹规划提供参考.     

月面飞行器动力下降段多目标轨迹规划

针对未来月面着陆动力下降段轨迹规划需综合考虑多性能指标的问题,提出一种对飞行轨迹先优化后决策的多目标轨迹规划方法.在多目标进化算法MOEA/D-AWA(multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment)的框架下对轨迹规划的多个指标进行分解,得到若干个单指标的子问题.将凸优化算法作为求解单目标轨迹优化子问题的底层算法,嵌套在MOEA/D-AWA的框架中,经过迭代优化获得一组动力下降段飞行轨迹,其构成多目标轨迹规划问题的帕累托最优解集.根据模糊决策理论对各个帕累托最优解对应的多个轨迹指标逐步降阶并进行综合评估,经过决策得到多指标约束下的飞行轨迹.仿真实验表明,该轨迹规划方法能够在综合多目标的情况下,优化获得一组动力下降轨迹集合,且能够根据不同任务要求从中决策出最优的动力下降段轨迹,可有效解决月面飞行器的多目标轨迹规划问题.     

冗余空间机械臂粗捕获段无碰撞轨迹规划算法

现有的基于C空间的无碰撞轨迹规划算法需要求解C空间以获得C空间障碍边界。对于多自由度的冗余机械臂,求解过程需要消耗很大的计算量和内存,不适用于计算资源紧张的空间机械臂轨迹的快速规划。文章提出了一种不需要求解C空间的试探性规划算法,包含4个子算法：碰撞检测算法、无碰撞目标构型求解算法、无碰撞路径搜索算法和路径平滑算法。已知期望的末端作用器位置和姿态,利用目标构型求解算法得到无碰撞的目标构型,然后由路径搜索算法在C空间障碍边界未知的情况下,利用碰撞检测算法,采用一定的试探规律,在C空间中搜索出一条无碰撞路径,最终由路径平滑算法使该路径平滑,易于实现。仿真算例表明,该算法是快速有效的,适用于冗余空间机械臂粗捕获段的快速轨迹规划。     

PH曲线拟合在数控前瞻中的应用

为解决数控系统进行微小直线段平稳加工的问题,提出了一种拟合方法.综合了误差限制下的微小直线段长度、拐角、直线段相交点单调性等判定条件,将连续的微小直线段分割成若干区域.使用非线性最小二乘法将每一个区域内的点拟合成PH曲线,并通过模拟退火方法调整切矢量来控制拟合误差.根据区域的连接情况,将切矢量分为单向和双向两种调节方法.在模拟退火算法中,将微小直线段的斜率作为切矢量的初始值,利用细分直线的方法逐点计算弓高误差,并将此误差作为目标函数来快速进行切矢量的调整.结果表明,对微小直线段进行区域划分可以提高拟合效率.在控制弓高误差的情况下,此方法可以形成具有良好精度的光滑曲线,可以获得平稳的速度轨迹.     

智能监控场景中运动目标轨迹聚类算法

轨迹分析是视频监控场景理解的基础,但由于遮挡等原因,跟踪过程会出现不完整的噪声轨迹,导致分析结果不准确.针对此类问题利用改进的轨迹相似度度量和聚类方法进行场景区域分割.首先,对轨迹进行编码,提出利用轨迹的空间特征和速度方向特征改进相似性度量方法计算轨迹间距离;其次,采用改进的层次聚类算法,以该类最长轨迹作为运动物体行为模式代表,将在空间上接近且具有相似速度特征的轨迹划分为同一场景区域,得到符合实际情况的聚类结果.本算法无需对轨迹进行复杂的预处理或过滤,并且加入速度方向特征使区域划分更加合理.最后,在真实场景下,验证了该聚类算法的有效性和普遍适用性.     

网络瞄准中的异步传感器空间配准算法

针对现有异步空间配准算法在目标机动时无法准确估计传感器系统误差的问题,研究了一种基于内插外推时间配准的异步传感器空间配准算法.该算法首先采用内插外推时间配准算法实现两传感器的数据同步,随后根据时间配准结果构建伪量测方程.不同于其他文献根据目标状态向量和时间差求解加权系数,从而构造与目标运动状态无关的伪量测方程的方法,该算法的伪量测方程构建过程与目标状态向量无关,且可以证明由时间配准结果构造的伪量测也与目标状态无关.因此该算法可有效解决目标机动条件下的异步传感器空间配准问题.仿真实验验证了该算法在目标作蛇形机动的条件下仍然可准确地对传感器的系统误差进行估计.     

Stochastic particle acceleration by the forced interaction of relativistic current sheets

We address the problem of interacting relativistic current sheets in self-consistent kinetic plasma simulations within the framework of the Particle-In-Cell model. The interaction is enforced in head-on collisions of up to 10 current sheets at relativistic bulk speeds. The simulations are motivated by the general problem of Poynting flux dissipation in ‘striped wind’ configurations presumably governing the relativistic outflows pervasive in pulsar winds and gamma-ray bursts. We identify the generation of non-thermal particles and formation of a stable power-law shape in the particle energy distributions f(γ) dγ ∝ γ^−s dγ. In 1D, a spectral index s ∼ 2 is observed and attributed to a stochastic Fermi-type acceleration mechanism. In 2D, the generic index of s ∼ 3–4 is retained as in previous simulations of individual current sheets. Whereas in 2D the high energy cut-off is constrained by the limited dissipation of magnetic energy, in 1D the process converts the bulk motion of current sheets towards directed particle momentum of an exclusive class of non-thermal particles.     

基于LuGre模型的电液加载系统摩擦补偿

为了提高电液加载系统控制精度,针对摩擦问题提出了基于LuGre摩擦模型的前馈补偿方法.建立了用于摩擦仿真分析和补偿器设计的电液加载系统数学模型;通过实验获取并分析了相关的摩擦数据;基于实验数据进行LuGre模型参数辨识,把LuGre模型和辨识结果引入电液加载系统数学模型,并进行仿真结果与实际摩擦数据的对照,证明了LuGre摩擦模型的准确性.设计前馈补偿器,进行了实验对比,实验结果表明前馈补偿器可将摩擦产生的控制误差有效地降至未补偿时的30%左右.      

CoRoT and Kepler results: Solar-like oscillators

The space-borne observatories CoRoT (Convection Rotation and planetary Transits) and Kepler have provided photometric time series data of unprecedented precision for large numbers of stars. These data have revolutionized the fields of transiting exoplanets and asteroseismology. In this review some important asteroseismic results obtained using data from the CoRoT and Kepler space missions concerning stars that show solar-like oscillations are discussed. These results comprise, among others, measurements of the location of the base of the convection zone and helium second-ionization zone in main-sequence stars, the presence (or not) of core-helium burning in red-giant stars, as well as differential rotation in these stars.     

Radioactivity of the Moon and planets

In this report the main results of the study of radioactivity of the solar sistem bodies are considered. The radioactivity of the Moon and planets was measured by means of vehicles in situ. The radioactivity of the lunar samples, brought to the Earth was studied with laboratory equipment.     

清镇陨石（EH3）中陨硫钙石的REE微量元素及成因意义

本文运用INAA分析了14个清镇陨石中陨硫钙石单矿物颗粒的难熔元素(La、Ce、Sm、Eu、Yb、Lu、Ca、Sc、Hf和Th),挥发性元素(Na、Cr、Zn、Se、Br等)和亲铁元素(Fe、Ni、Co、Ir、Au、As)含量。结果表明陨硫钙石高度富集难熔亲石元素,是顽火辉石陨石中REE的主要载体,携带了约80％的全岩REE总量。相对于HREE,LREE有更大的富集程度,而且早期凝聚的颗粒较晚期凝聚的颗粒更富集REE,同时陨硫钙石富集挥发性元素Se、Br等。清镇陨硫钙石的微量元素特征揭示了它来自于太阳星云的高温凝聚特征和成因。     

柔性航天器IPACS建模与动力学分析

利用拟坐标下的拉格朗日方程和动量矩定理,建立了带变速控制力矩陀螺群(VSCMGs,Variable Speed Control Moment Gyroscopes)的柔性航天器的能量/姿态一体化控制系统(IPACS, Integrated Power/Attitude Control System)的动力学模型,该模型适合于姿态控制律设计及VSCMGs操纵律设计.采用动量管理和VSCMGs构型选取相结合的方法,有效地避免了VSCMGs设计时可能出现的奇异问题.分析了采用VSCMGs的柔性航天器IPACS中的动力学耦合问题,并以某大型航天器为例进行了数值仿真.分析和仿真结果显示出,当VSCMGs的力矩轴接近(或陷入)奇异或进行储/放能切换时,VSCMGs都会对柔性附件造成显著影响.      

Progress in tropospheric ammonia retrieval from the MIPAS satellite instrument

The Michelson Interferometer for Passive Atmospheric Sounding is a polar orbiting high resolution mid-infrared emission limb sounder with a nominal vertical resolution of 3 km. Work to extend the list of routinely retrieved species led to the examination of ammonia, NH₃. In this paper, we explore the feasibility of upper tropospheric retrievals around 6-km altitude, discussing appropriate methods. We demonstrate a weak north to south gradient outside the error bars, using co-addition to improve signal-to-noise and compare these first results with a model.     

Monitoring spatio-temporal variations in aerosols and aerosol–cloud interactions over Pakistan using MODIS data

Clouds are important elements in climatic processes and interactions between aerosols and clouds are therefore a hot topic for scientific research. Aerosols show both spatial and temporal variations, which can lead to variations in the microphysics of clouds. In this research, we have examined the spatial and temporal variations in aerosol particles over Pakistan and the impact of these variations on various optical properties of clouds, using Moderate Resolution Imaging Spectroradiometer (MODIS) data from the Terra satellite. We used the Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT) model for trajectory analysis to reveal the origins of air masses, with the aim of understanding these spatial and temporal variabilities in aerosol concentrations. We also documented seasonal variations in patterns of aerosol optical depth (AOD) over Pakistan, for which the highest values occur during the monsoon season (June–August). We then analyzed the relationships between AOD and four other cloud parameters, namely water vapour (WV), cloud fraction (CF), cloud top temperature (CTT) and cloud top pressure (CTP). Regional correlation maps and time series plots for aerosol (AOD) and cloud parameters were produced to provide a better understanding of aerosol–cloud interaction. The analyses showed strong positive correlations between AOD and WV for all of the eight cities investigated. The correlation between AOD and CF was positive for those cities where the air masses were predominantly humid, but negative for those cities where the air masses were relatively dry and carried a low aerosol abundance. These correlations were clearly dependent on the meteorological conditions for all of the eight cities investigated. Because of the observed AOD–CF relationship, the co-variation of AOD with CTP and CTT may be attributable to large-scale meteorological variations: AOD showed a positive correlation with CTP and CTT in northern regions of Pakistan and a negative correlation in southern regions.     

Technology development for a long duration,mid-cloud level Venus balloon

This paper describes the results of ongoing technology development activities for a Venus spherical superpressure balloon capable of flying for long durations (30 days) in the middle cloud layer at an altitude of 55.5 km. Data is presented from a successful aerial deployment and inflation flight experiment on a 5.5 m diameter prototype balloon conducted at a 2.5 km altitude above the Earth. Although the balloon in that test was not released for free flight, all other steps in the deployment and inflation process were successfully executed. Experimental and computational results are also presented from an investigation of the stress concentration phenomenon at the junction of the metal end fitting and fabric end cap of the prototype Venus balloon. Good agreement was found between the simulation and experimental results and a stress concentration factor of 1.55 determined for this end cap design compared to the expectations of thin membrane theory. Finally, results are presented for a new, second-generation Venus balloon material utilizing Aclar™ film instead of Teflon. Optical property and sulfuric acid tolerance data are presented for this material based on laboratory testing of samples.     

An all-sky survey at 230 GHz by MLS on Aura

The Microwave Limb Sounder (MLS) instrument is a small satellite-borne radio telescope. Its purpose is to make limb-scanning measurements of atmospheric composition. One of the gases to which it is sensitive is carbon monoxide (CO), detected via the J = 2 → 1 rotational transition at 230 GHz. CO is present in molecular gas clouds in the Milky Way. Although it was not designed for the purpose, MLS can detect emissions from galactic CO, allowing a map of the 230 GHz radio sky to be constructed. We report the MLS measurements of galactic radio emission and discuss their effect on the atmospheric mission of MLS. The region of the Milky Way with emissions strong enough to significantly affect MLS observations of atmospheric CO is identified. Ground-based radio astronomers have been mapping the sky using CO emission for many years. However, the MLS data are the first such survey to be carried out from space. The MLS survey covers a larger area of the sky than any other 230 GHz survey, but no previously unknown gas clouds are observed.