实时仿真中的数据重构与误差分析

动态系统实时仿真中的数据重构现象，以及数据重构所产生的动态误差在本文中作了分析和讨论。实例说明了补偿这种误差的方法。     

软件重构技术研究与应用

软件产品功能需求的不断变化为软件产品开发按照既定项目进度完成带来极大的困难,为有效解决该问题,提出了一种在软件产品研制过程中采用软件重构技术的方案,介绍了软件重构的定义作用及应用原则,结合软件重构在项目中的应用,进行了效果对比及分析。说明软件重构技术在提高软件质量和满足需求变化方面有明显的作用。     

直接侧向力/气动力复合控制系统的特征参数

为考察在大气层内拦截弹上应用直接侧向力与气动力复合控制同应用纯气动力控制的本质区别,依据连续系统跟踪性能极限的研究成果,提出以复合控制对象的非最小相位零点作为描述复合控制系统性能的特征参数。气动力回路控制对象含有一个离虚轴较近的非最小相位零点;而通过合理设计气动力控制器,直接侧向力控制对象只包含一个离虚轴较远的非最小相位零点,复合控制系统的跟踪性能可望比纯气动力的更好。设计实例对此进行了分析,揭示了非最小相位零点在控制器设计中的重要作用。     

A Robotic TeleoperationSystem for Precise Robotic Manipulation by Human-Machine Interaction

Teleoperation is of great importance in the area of robotics, especially when people are unavailable in the robot workshop. It provides a way for people to control robots remotely using human intelligence. In this paper, a robotic teleoperation system for precise robotic manipulation is established. The data glove and the 7-degrees of freedom (DOFs) force feedback controller are used for the remote control interaction. The control system and the monitor system are designed for the remote precise manipulation. The monitor system contains an image acquisition system and a human-machine interaction module, and aims to simulate and detect the robot running state. Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations. The established robotic teleoperation systemis applied to a series of experiments, and high-precision results are obtained, showing the effectiveness of the physical system.     

基于虚拟现实的空间机器人遥操作在维护作业中的应用

研究了变时延遥操作环境下的预测仿真技术、基于虚拟现实的机器人遥操作系统组成、遥操作系统的自主学习技术和虚拟操作环境建模技术。开发了基于虚拟现实的机器人遥操作演示系统和自学习功能。实现了基于虚拟现实的临场感遥操作,在5～8s模拟时延条件下完成了推开故障太阳翼,擦拭受污染的镜头和拉动调整出现故障的卫星天线等作业。     

Update on Fengyun Meteorological Satellite Program and Development

China began to develop its meteorological satellite program since 1969. With 50-years' growing, there are 17 Fengyun (FY) meteorological satellites launched successfully. At present, seven of them are in orbit to provide the operational service, including three polar orbiting meteorological satellites and four geostationary meteorological satellites. Since last COSPAR report, no new Fengyun satellite has been launched. The information of the on-orbit FY-2 series, FY-3 series, and FY-4 series has been updated. FY-3D and FY-2H satellites accomplished the commission test and transitioned into operation in 2018. FY-2E satellite completed its service to decommission in 2019. The web-based users and Direct Broadcasting (DB) users keep growing worldwide to require the Fengyun satellite data and products. A new Mobile Application Service has been launched to Fengyun users based on the cloud technology in 2018. In this report, the international and regional co-operations to facilitate the Fengyun user community have been addressed especially. To strengthen the data service in the Belt and Road countries, the Emergency Support Mechanism of Fengyun satellite (FY_ESM) has been established since 2018. Meanwhile, a Recalibrating 30-years' archived Fengyun satellite data project has been founded since 2018. This project targets to generate the Fundamental Climate Data Record (FCDR) as a space agency response to the Global Climate Observation System (GCOS). At last, the future Fengyun program up to 2025 has been introduced as well.     

多机起降旋翼间气动干扰数值模拟研究

以多架直升机近距离起降为研究背景,采用基于运动嵌套网格技术的计算流体力学(Computational fluid dynamics,CFD)方法开展旋翼间的气动干扰研究,重点分析了旋翼间距和环境风速对旋翼升力系数和扭矩系数的影响。数值分析结果表明,旋翼之间的气动干扰对上风位置旋翼的影响较小,但会导致下风位置旋翼的升力系数降低,扭矩系数增加,且其影响随着旋翼间距的增加而降低,随着环境风速的增加而增加。     

Inhibitory effect of simulated microgravity on differentiating preosteoblasts

The bone loss induced by microgravity is partly due to the decrease of mature osteoblasts. In the present study, we employed the random positioning machine (RPM) to simulate microgravity and investigated the acute effects of simulated microgravity on the differentiation of 2T3 preosteoblasts. Following 7 days’ culture under normal (1 g) condition, cells were exposed to simulated microgravity for 24 h. The results showed that 24 h treatment of simulated microgravity significantly decreased alkaline phosphatase (ALP) activity without changing the cell morphology. In addition, the mRNA expressions of osteogenic genes, including runt-related gene 2 (Runx2), osterix, osteocalcin (OC), type I collagen (Col I) and bone morphogenetic protein (BMP), were dramatically downregulated. Moreover, western blot analysis of total extracellular signal-regulated kinase (Erk) and phosphorylated Erk (p-Erk) indicated that p-Erk level, which represents the Erk activation status, was increased. Taken together, our results suggested that acute exposure to simulated microgravity inhibited osteoblast differentiation through modulating the expression of osteogenic genes and the Erk activity. These findings provide new insight for bone loss due to microgravity and unloading.     

信道模拟系统动态零值在线标校方法

利用信道模拟系统进行卫星导航系统仿真试验过程中,环境模拟通道的零值漂移会造成无法消除的系统误差,因此需要在仿真运行的过程中对通道零值进行在线标校.基于直接序列扩频体制时延标校接收机的传统零值标校方法,无法解决在线标校时通道零值与设定空间仿真传输时延耦合及多址干扰问题.根据环境模拟通道的空间仿真传输时延变化机理,提出了分离通道零值与设定空间仿真传输时延的方法,并对自校信号测量时的多址干扰强度及抑制方法进行了分析.经过理论分析和仿真计算,所提出的在线零值标校方法精度可达亚纳秒量级.     

超燃燃烧室等离子体点火和火焰稳定性能

为了研究热等离子点火器在超燃冲压发动机中的应用,在来流马赫数2.0工况下,针对乙烯和氢气两种燃料,进行了超燃环境中等离子体点火的试验和仿真研究.在来流总温1 500~1 950 K,燃料当量比0.1~0.55范围内对等离子点火器的点火和改善燃烧性能的性质进行了详细分析.结果显示:对于氢气和乙烯燃料,等离子体点火器使两种燃料的点火性能均得到明显改善,点火延迟时间大大缩短,燃料着火范围扩大、贫燃极限当量比降低.但未观察到其在加速掺混以及改善燃烧性能方面的明显作用.进行了与乙烯燃烧试验对应的数值仿真工作,选用了两种乙烯化学反应模型进行对比研究.仿真结果显示:8步9组分反应模型与试验结果符合较好,而3步6组分反应模型过高的估计了反应剧烈程度,燃烧室压力值偏高,压力起始上升位置偏向上游.所用的8步模型比3步模型更适合于超燃燃烧室中乙烯反应的模拟.