基于碰撞检测的自适应阻抗控制机械臂系统(英文)

针对柔性关节机械臂,本文阐述了机械臂能够像人手一样安全操作的方法。3种方法相结合,以便机械臂能够柔顺的接触操作对象并控制接触力在预设定范围内。首先,提出采用虚拟分解法的笛卡尔阻抗控制用来实现机械臂在笛卡尔空间的柔顺控制。其次,引入自适应关节动态补偿器使得机械臂能够实施更为精确的控制。最后,设计了基于笛卡尔力反馈的实时路径规划,从而使机械臂能够检测碰撞并控制接触力。基于碰撞检测的自适应阻抗控制器能够简化其在机械臂上的实施,保持机械臂对环境的友好操作,并且严格满足系统的全局稳定性。实验在4自由度的卫星在轨自维护机械臂平台得以验证。碰撞检测实验和轨迹跟踪实验结果证明了所提出方法的有效性和可行性。     

基于案例推理的机场应急预案管理

为提高机场应急处置能力,提出一种新的基于案例推理方法的机场应急救援模型。利用XML技术来表示案例和构造预案库,给出机场应急预案库的分类方法,构建预案特征属性的层次结构。采用两两比较打分法确定航空器紧急事件预案特征属性的权重．运用最邻近算法对已有救援案例进行检索与匹配。实例证明该方法能有效提高机场应急救援效率,检索结果客观合理。     

Dynamic and figure parameters of Venus and Mars

Parameters of the best-fitting tri-axial ellipsoids representing external equipotential surfaces of Venus and Mars have been determined from satellite data. The dynamic consequence of the equatorial flattening of Venus has been discussed from the point of view of the s.c. synodic resonance rotation. The major gravitational anomalies of Venus have been interpreted, space locations and magnitudes of anomalous masses determined and their contribution to the second zonal Stokes' constant in the gravitational potential computed. The conclusions were done: The figure of the aphroditoid is strange even if there is a relatively small polar flattening; an equatorial “disc” of Venus is enormous. Recent space data do not support hypothesis that the Earth controls the spin of Venus.     

Static Pull and Push Bending Properties of RTM-made TWF Composite Tee-joints

This paper deals with static pull and push bending tests on two-dimensional (2D) orthogonal EW220/5284 twill weave fabric (TWF) composite tee-joints processed with the resin transfer moulding (RTM) technique. Static pull and push bending properties are determined and failure initiation mechanism is deduced from experimental observations. The experiments show that the failure initiation load, on average, is greater for push bending than for pull bending, whereas the scatter is smaller for push bending than for pull bending. The failure mode of RTM-made tee-joints in pull bending tests can be reckoned to be characteristic of debonding of resin matrix at the interface between the triangular resin-rich zone and the curved web of tee-joint until complete separation of the curved web from the bottom plate. In contrast, as distinct from the products subject to pull bending loading, the RTM tee-joints in push bending tests experience matrix cracking and fibre fracture from outer layers to inner layers of the bottom plate until catastrophic collapse resulting from the bending. Three-dimensional finite element (FE) models are presented to simulate the load transfer path and failure initiation mechanism of RTM-made TWF composite tee-joint based on the maximum stress criterion. Good correlation between experimental and numerical results is achieved.     

Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.     

Influence of Gd2O3 and Yb2O3 Co-doping on Phase Stability,Thermo-physical Properties and Sintering of 8YSZ

The role of multicomponent rare earth oxides in phase stability, thermophysical properties and sintering for ZrO2-based thermal barrier coatings (TBCs) materials is investigated. 8YSZ codoped with 3 mol% Gd2O3 and 3 mol% Yb2O3 (GYb-YSZ) powders are synthesized by solid state reaction for 24 h at various temperatures. As temperature increases, stabilizers are dissolved into zirconia matrix gradually. Synthesized at 1 500 °C, GYb-YSZ is basically composed of cubic phase. GYb-YSZ exhibits excellent phase stability and sinters lower than 8YSZ by nearly three times. The thermal conductivity of GYb-YSZ is much lower than that of 8YSZ, and the thermal expansion coefficient of GYb-YSZ is comparable to that of 8YSZ. The influence of Gd2O3 and Yb2O3 co-doping on phase stability, thermal conductivity and sintering of 8YSZ is discussed.     

Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation

Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.     

Time-triggered State-machine Reliable Software Architecture for Micro Turbine Engine Control

Time-triggered (TT) embedded software pattern is well accepted in aerospace industry for its high reliability. Fi-nite-state-machine (FSM) design method is widely used for its high efficiency and predictable behavior. In this paper, the time-triggered and state-machine combination software architecture is implemented for a 25 kg thrust micro turbine engine (MTE) used for unmanned aerial vehicle (UAV) system; also model-based-design development workflow for airworthiness software directive DO-178B is utilized. Experimental results show that time-triggered state-machine software architecture and development method could shorten the system development time, reduce the system test cost and make the turbine engine easily comply with the airworthiness rules.     

Random Weighting Estimation Method for Dynamic Navigation Positioning

This paper presents a new random weighting estimation method for dynamic navigation positioning.This method adopts the concept of random weighting estimation to estimate the covariance matrices of system state noises and observation noises for controlling the disturbances of singular observations and the kinematic model errors.It satisfies the practical requirements of the residual vector and innovation vector to sufficiently utilize observation information,thus weakening the disturbing effect of the kinematic model error and observation model error on the state parameter estimation.Theories and algorithms of random weighting estimation are established for estimating the covariance matrices of observation residual vectors and innovation vectors.This random weighting estimation method provides an effective solution for improving the positioning accuracy in dynamic navigation.Experimental results show that compared with the Kalman filtering,the extended Kalman filtering and the adaptive windowing filtering,the proposed method can adaptively determine the covariance matrices of observation error and state error,effectively resist the disturbances caused by system error and observation error,and significantly improve the positioning accuracy for dynamic navigation.     

中国通用航空区域发展水平综合测评

为了科学评价目前中国各区域通用航空发展水平,为国家政府层面、民航局层面、地方政府层面制定中国各区域通用航空发展政策提供依据,以2009年中国通用航空区域发展水平为研究对象,按照中国七大中国民用航空地方管理局（华北、华东、东北、中南、西北、西南、新疆）进行区域划分,从各区域通用航空运营规模、运营效率两大方面建立评价体系。运用层次分析法（AHP）确定评价指标体系中七个指标的权重,利用灰色关联分析法测算中国七大区域通用航空发展水平。最后根据灰色关联度值将七个区域的通用航空发展水平进行了由高到低的排序,并找出中国通用航空发展相对较好和相对落后的区域。