小型仿生人工手指触觉感知系统设计

针对目前触觉传感器电路复杂、体积大等问题,设计了一套基于导电液的小型仿生手指感知系统,实现了同时测量温度、三维力、压力等物理信息的功能。系统由单片机数据采集电路、触觉电极阵列电路、温度传感电路和压力传感电路等组成。针对被采集信号的特征,设计了信号调理电路,对信号进行了转换及滤波;设计了FPC接口和板对板接口,将各硬件模块进行了有效的衔接,使得电路结构实现了高度一体化;为了实现数据处理和传感器融合,将由手指传感器测量的触觉感知信息通过USB传输给了上位机,并设计了上位机软件,以显示和存储采集到的数据。实验结果表明,该系统能够实现对温度、压力、三维力数据的快速采集、传输和处理。     

连接界面变形对转子动力特性影响的力学模型

针对航空发动机在工作过程中振动量增大且伴随有一定的界面磨损问题,在结构特征分析的基础上建立了三盘转子-支承系统动力学模型,并将接触端面同轴度偏差以及平行度偏差进行参数化描述,基于Lagrange方程得到考虑界面变形的高压刚性转子系统动力学微分方程。结果表明,界面变形将使得刚性转子系统产生附加激振力,同轴度偏差引起的附加激振力幅值与转速平方成正比,仅作用在相应自由度上;平行度偏差引起的附加激振力幅值仅与系统刚度和平行度偏差量有关,与转速无关,且其在支承自由度方向上存在一定分量。      

真空和微重力下烟幕粒子动力学特性研究

为了研究红外烟幕在外层空间的适用性,基于外层空间环境高真空和微重力的特殊性,分析烟幕粒子的真空和微重力效应,采用分子运动论理论近似模拟真空和微重力下烟幕粒子的动力学特性,建立烟幕粒子间距函数模型,利用Mathematica方法计算了烟幕材料粒径、密度及粒子运动时间对粒子间距大小的影响.结果表明,随着烟幕材料粒径及密度的增大,粒子间距逐渐减小,形成烟幕的稳定性逐渐增大;粒子运动时间愈长烟幕愈不稳定.      

Experimental discrimination of electrostatic and magnetic forces in particle–particle aggregation

The aggregates formed in low gravity are generally fractals. The fractal dimensions and the site growth probability measures of the resulting fractal structures strongly depend on the properties of the forces that cause the aggregation. Using some approximations, we solved the equation of motion and obtained the relation giving the particles separation as a function of time. The electric force between two charged particles and the magnetic force between two particles with a magnetic moment were considered. The two relations are different and it is shown that one can identify and separate these two interactions by analysing the recording of the aggregation. The apparatus used to record the aggregation has a resolution in the order of one micrometer per pixel and has the possibility of recording simultaneously two views at right angles. From a three dimensional recording of an aggregation, it will be possible to obtain the product of the two charges or magnetic moments causing the aggregation.     

挡板对液体推进剂晃动力的影响

研究了全尺度重力探测卫星－Ｂ贮箱对于安装档板和不安装挡板情形下液体推进剂晃动的液体动力特性。结果显示,以重力瞬变加速度和重力梯度加速度为作用力的轨道加速度使液体推进剂产生了晃动,安装挡板使晃动幅度减小。由于推进剂在贮箱中上下运动的同时伴随着左右运动而产生了作用于贮箱上的力,通过液体推进剂与贮箱壁面的应力关系计算了作用在贮箱上的力。计算模拟结果显示,挡板产生的阻尼在减少流体晃恸 的同时也减少了流体作     

Space station gas-grain simulation facility: Application to exobiology

The Space Station provides an environment in which the forces required to suspend particles during an experiment can be reduced by as much as six orders of magnitude. This reduction in levitation force enables us to perform many new experiments in a variety of disciplines. We have grouped these experiments into two catatgories: 1) those involving an individual particle or the interaction between a few particles and 2) those involving clouds of particles. We consider only particle experiments at this stage because cloud experiments suffer from electrostatic interactions and levitation-forced coalescence therefore requiring considerably more space, mass and crew interaction. The displacement of a particle resulting from g-jitter for ballistic, Knudsen and Stokes flow regimes is considered in detail and the radiation, acoustic, electrostatic and electromagnetic levitation mechanisms to control this motion are reviewed. We have selected the simulation of organic haze production on Titan as an example experiment for detailed study. The objective of this experiment is to simulate the photolysis of methane and the subsequent formation of the organic haze particles in the upper atmosphere of Titan.     

带凸肩叶片非旋转状态减振特性试验

设计了一套能够准确施加凸肩接触面正压力的非旋转状态带凸肩叶片减振特性试验系统,并对该系统的设计要求、正压力的加载方案以及试验误差进行了说明.利用该试验系统对不同激振力、不同初始正压力、不同凸肩接触角度和不同凸肩位置下叶片的一阶弯曲振动特性进行了测试,分析了凸肩接触面正压力、凸肩接触角度及凸肩位置等重要参数对凸肩结构减振效果的影响规律.试验结果显示,对一定的激振力存在一个最优的接触面初始正压力使得凸肩减振效果最好;凸肩接触角度和位置使凸肩接触面相对运动越大,凸肩的减振效果越好.      

Study the influence of anchoring parameters on asteroid drilling anchoring with discrete element simulation

Asteroid exploration has become a research hotspot, and anchoring probes to asteroids is essential for in situ scientific detections. The influence of ultrasonic drilling force-closure anchoring parameters on the anchoring performance and its influence mechanism are studied based on discrete element simulation. An anchoring simulation model is established after calibrating virtual asteroid soil, and its validity is verified by anchoring experiments. Discrete element simulations are performed to study the effect of cross-sectional shape and longitudinal cross-sectional shape of anchoring rods on anchoring force. The internal influence mechanism of anchor configurations on the anchoring force is analyzed by extracting the number of stressed particles in the simulation area. The anchoring force has a positive correlation with the cross-sectional area. The rotation of non-circular anchors causes fluctuations in the anchoring force. The effect of the anchored material strength on the anchoring force is studied with the calibrated virtual asteroid soil. The relationship between anchoring force and anchoring parameters is studied, and the optimal anchoring angle is 54° for anchored material strength of 100 kPa. Finally, the variation of the anchoring force with the direction of external force is studied. This work can guide the anchor configuration design and the anchoring condition parameter optimization.     

Marangoni effects under electric fields

An electric field when applied across liquid-liquid interface was found to cause, due to different susceptibilities of the two phases, what the authors would term as Marangoni “type” of instabilities, that resulted in the generation of bubbles/drops and caused the movement of the interface countering gravity. Thus “mixing” of the two phases would occur and in systems involving mass transfer, enhanced rates of transfer could be expected.Equations for the bubble formation involving parameters such as electrostatic pressure, surface tension, gravity force have been derived.In the case of non-gravitational or weak-gravitational fields such as obtainable in space, the separation of two liquids one below the other, as obtaining on the earth, exhibiting an interface may well nearly be impossible. Under such conditions recourse may have to be taken to super-imposition of other fields as a tool for obtaining the necessary contacting/separation. The dynamics of bubble formation etc. under these contexts are theoretically analysed.     

Dust emission phenomena of cometary analogues

Experiments with cometary analogues are reported, which were performed at DLR - Köln in a small vacuum chamber and in the Space Simulator. The results apply to the emission processes of ice-dust grains from the surface of mineral-ice mixtures during insolation. The emission phenomena were observed with CCD-video-cameras. The camera used at the small chamber was equipped with a magnifying (10x) macro-lens. The magnified pictures show that the ice-dust agglomerates carry tiny ice particles on their surfaces. These may play the role of interlinking bonds between one grain and its neighbors. In the enlarged view it can be seen that the ice-dust grains do not erupt with high velocity out of the surface. The upstreaming gas jet originating from the sublimation of the volatile components first erodes the interlinking bonds between the particles. When the drag force exerted on the particles exceeds the force of gravity, the particles lift off. In most of the observed cases this initial lift off velocity is very small e.g. a few cm/s.

During a comet-simulation experiment in the Space-Simulator in November 1989 the trajectories of emitted dust particles were recorded for the first time with a high speed shutter video system 60 cm from the model comet. The video tapes were evaluated with a computerized image processing system. Unique insights in the gas-dust-interaction immediately at and above the insolated icy body were obtained. The trajectories differ markedly in all cases from the the ballistic parabolas calculated from the measured starting conditions: elevation angle and speed. The trajectory is mainly dominated by the momentum transfer from the gas jet to the dust particles. Many of the particles have millimeter sizes. The observed velocities at the end of the visible trajectory are in the order of a few meters per second.     

流道弯曲度对微重力膜式水气分离性能的影响

开展微重力膜式水气分离性能仿真研究,对水气分离技术设计与优化具有重要意义。针对微重力入口边界气液界面多尺度问题（入口流型问题）提出了基于界面概率近似方法的欧拉双流体模型,采用动量源项法解决几何多尺度问题（分离膜边界问题）,为仿真研究提供了有效的入口及渗透边界。研究了典型工作参数下流道弯曲度对膜分离性能的影响,并从流动形态和作用力贡献2个方面分析了影响机理。结果表明:膜分离性能随流道弯曲度增大而降低,影响程度与入口含气率相关;直流道适于选作膜式静态水气分离器主要流道形式。      

卫星闭环姿控下的双组元四贮箱液体晃动联合仿真研究

首先介绍了基于UDP通讯协议实现的贮箱液体晃动联合仿真方法.该方法采用FLUENT计算运动贮箱的液体晃动力、力矩、质心结果,星体动力学程序在获取贮箱晃动结果后通过控制算法和策略计算星体运动的线速度和角速度.两者之间的双向数据交换,通过C/C++语言开发的通讯接口来实现.然后借助上述联合仿真方法,开展了贮箱晃动联合仿真分...     

返回舱垂直自由入水砰击过程的数值模拟

文章数值研究返回舱垂直自由入水砰击过程中水气流场与返回舱运动之间的动力学与运动学耦合问题。水气两相流的流动方程选为非定常雷诺平均Navier-Stokes(URANS）方程和Realizable k-ε湍流模型,返回舱的运动方程选为刚体的一维平动方程,水气交界面的追踪采用流体体积函数（VOF）方法,返回舱与水面之间的相对运动采用动网格技术实现。在计算方法得到试验验证的基础上,数值研究了返回舱的不同触水速度、质量对入水过程中砰击力、加速度等参数的影响规律;给出了入水过程中加速度峰值与触水速度及质量之间的定量关系式;发现了返回舱底部的入水砰击压强峰值发生在入水初期,且压强峰值始终位于喷溅射流的根部。     

Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

This paper presents a trajectory planning algorithm for a space robot with dual-manipulators. Here one manipulator of the space robot captures a target, and another manipulator is free. In this case, this study uses one manipulator as the mission manipulator to capture the target, and another as the balance manipulator aiming at the compensation of the pose disturbance. For this method, a novel trajectory planning algorithm applied to the balance manipulator is presented. The trajectory planning problem is transformed into series of problems of the optimal state solution, and then the iterative algorithms for the trajectory planning are designed. In the iterative algorithms, the bias force on the spacecraft base caused by the balance manipulator is used as the compensation force. Then, to calculate the expected compensation force and torque, a pose control law for the spacecraft base is introduced. The expected compensation force and torque provide equality constraints for optimization problems, which implies that the trajectory planning algorithm compensates for not only the disturbance generated by the manipulator’s motion, but also environmental disturbances. This is because the expected compensation force and torque depend on the pose change of the spacecraft base rather than the type of the disturbance. Numerical simulation was carried out to analyze the proposed trajectory planning method. It was observed that the method greatly reduces the disturbance of Manipulator A on the spacecraft base. These results validated the effectiveness of the proposed method for the trajectory planning to make the spacecraft base disturbance up to minimum.     

Shocks and instabilities in the partially ionised solar atmosphere

The low solar atmosphere is composed of mostly neutral particles, but the importance of the magnetic field for understanding observed dynamics means that interactions between charged and neutral particles play a very important role in controlling the macroscopic fluid motions. As the exchange of momentum between fluids, essential for the neutral fluid to effectively feel the Lorentz force, is through collisional interactions, the relative timescale of these interactions to the dynamic timescale determines whether a single-fluid model or, when the dynamic frequency is higher, the more detailed two-fluid model is the more appropriate. However, as many MHD phenomena fundamentally contain multi-time-scale processes, even large-scale, long-timescale motions can have an important physical contribution from two-fluid processes. In this review we will focus on two-fluid models, looking in detail at two areas where the multi-time-scale nature of the solar atmosphere means that two-fluid physics can easily develop: shock-waves and instabilities. We then connect these ideas to observations attempting to diagnose two-fluid behaviour in the solar atmosphere, suggesting some ways forward to bring observations and simulations closer together.     

一种消除钢坯闪光焊同步误差的控制方法

针对于大截面钢坯闪光焊顶锻阶段的特点和同步要求,提出了一种基于单神经元的同步误差预测控制方案,用于消除闪光焊顶锻过程中的系统之间顶锻力的同步误差;方案中采用液压系统压力反馈的方法解决了闪光焊中不方便安装里传感器的问题.考虑到液压系统的特点,使用AMESim液压仿真软件中的控制库和机械库建立了钢坯闪光焊的非线性液压系统模型、机械耦合系统模型,在Simulink中建立了控制系统的模型;为了验证控制器的性能,液压系统在建模过程中使各个分支的参数略有差异.仿真模型中建立了AMESim软件和Simulink软件的通信接口,通过这个接口实现了基于AMESim/Simulink的电液联合仿真;仿真结果表明基于单神经元预测控制的同步误差调节器在消除顶锻阶段同步误差上具有明显的作用.      

蜂窝夹芯板超高速碰撞仿真

蜂窝夹芯板是一种多用于航天器的特殊结构,采用光滑粒子流体动力学算法(SP H)对蜂窝夹芯板进行超高速碰撞研究时主要存在2个问题:蜂窝芯的几何建模过程复杂;蜂 窝芯层非常薄,为保证仿真精度采用相等的粒子间距必然生成超过计算容忍的粒子数量.结 合参数化程序设计语言(APDL)、用户界面设计语言(UIDL)进行结构建模,编制了APDL生成蜂 窝芯的程序,采用UIDL将该程序集成到ANSYS交互式界面中,能够方便快捷的生成任意尺度 的正六边形蜂窝芯.针对此方法得到的模型,采用SPH单元与壳单元相结合的方法,其中蜂 窝芯采用壳单元,入射体、蜂窝夹芯板的前、后面板采用SPH单元,对蜂窝夹芯板进行了超 高速碰撞仿真研究.仿真结果与相关试验进行了对比,仿真得到的后板破口尺寸与试验比较 接近,证实了该方法适用于蜂窝夹芯板的超高速仿真.      

太阳宇宙线源物质的高色球层模式和重离子丰度过量机制的探讨

本文利用太阳能量粒子事件中重离子平均丰度过量的资料,计算得到太阳能量粒子源物质的温度,提出了描述太阳宇宙线能量粒子源物质的新模式——高色球层模式;太阳耀斑观测确定,太阳宇宙线耀斑的加速区一般最可能出现在低日冕甚至高达几万公里的高度,从而,太阳宇宙线的源和加速区通常不位于同一区域;进而提出了描述太阳能量粒子事件中重离子丰度过量的可能机制——其源物质是通过太阳黑子的冻结型无力场从高色球层输送到活动区,形成耀斑前加速区内重离子丰度大和耀斑后宇宙线中重元素丰度的过量.      

毛细泵回路蒸发器的数值研究

文章针对毛细泵回路(CPL)蒸发器内的多孔芯结构, 建立了描述换热和流动的非稳态数值模型。该模型采用焓模型来处理多孔介质内工质的相变问题, 通过分区计算既避免了采用耗时复杂的自适应网格技术又能方便地跟踪汽液界面, 为处理多孔介质中的毛细力带来方便; 在处理流动问题时, 通过对源项的处理考虑了毛细抽力的作用, 体现了毛细抽力是CPL的动力源, 从给定的算例来分析, 该数值模型较好地反映了毛细芯的工作特性。     

基于后推技术的绳驱动拟人肩关节动力学控制

针对并联式绳驱动机器人建模困难、控制复杂等问题,采用拉格朗日动力学建模方法,推导得到便于控制器设计的标准动力学方程,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于最小预紧力的张力分配算法,求解出各绳索的驱动力.针对机器人轨迹跟踪控制问题,设计了基于后推技术的系统模型控制律.仿真结果表明:后推技术法在收敛速度方面明显优于计算力矩法,且各绳索的驱动力皆能满足其张紧所需的最小张力.