Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

The growing amount of space debris poses a threat to operational spacecraft and the long-term sustainability of activities in outer space. According to the orbital mechanics, an uncontrolled space object will be tumbling, bringing great challenge to capture and remove it. In this paper, a dual-arm coordinated ‘‘Area-Oriented Capture"(AOC) method is proposed to capture a non-cooperative tumbling target. Firstly, the motion equation of the tumbling target is established, based on which, the dynamic properties are analyzed. Then, the ‘‘Area-Oriented Capture"concept is presented to deal with the problem of large pose(position and attitude) deviation and tumbling motion. An area rather than fixed points/devices is taken as the object to be tracked and captured. As long as the manipulators' end-effectors move to a specified range of the objective areas(not fixed points on the target, but areas), the target satellite will be hugged by the two arms.At last, the proposed method and the traditional method(i.e. fixed-point oriented capture method)are compared and analyzed through simulation. The results show that the proposed method has larger pose tolerance and takes shorter time for capturing a tumbling target.     

激光雷达对沉潜油探测的探索*

目前,人们对于海洋沉潜油的规律研究及控制水平较低,特别是探测30m深度以内的浅海地区的沉潜油分布信息,其主要原因是缺乏快速有效的探测手段。北京遥测技术研究所开发水下探测激光雷达样机,利用激光在海水中良好的透过特性,用于对水下沉潜油的探测以及对海底等目标的高精度探测。样机完成在水池中进行水下沉潜油的模拟探测试验,对沉潜油样本的典型激光回波信号进行采集分析,并测量模拟探测深度。试验结果基本符合设计预期,为进一步提升激光雷达沉潜油探测能力打下良好基础。     

Predicting lean blow-off of bluffbody stabilized flames based on Damköhler number

Lean Blow-Off(LBO) prediction is important to propulsion system design. In this paper,a hybrid method combining numerical simulation and Da(Damk?hler) model is proposed based on bluffbody stabilized flames. In the simulated reacting flow, Practical Reaction Zone(PRZ) is built based on OH radical concentration, and it is considered to be the critical zone that controls LBO.Da number is obtained based on the volume-averaged parameters of PRZ. The flow time scale(s_f)indicates the residence time of the fresh mixture flowing through the PRZ. It is obtained based on the characteristic length and volume-averaged axial velocity of the PRZ. The chemical time scale(s_c) indicates the shortest time needed to trigger the reaction of the mixture. It is obtained by commercial software CHEMKIN through monitoring the transient variation of the reactor temperature. The result shows that the average Da number under different LBO conditions is 1.135(the Da number under each LBO condition ranges from 0.673 to 1.351). This indicates that the flow time scale and chemical time scale are comparable. The combustion is in a critical state where LBO is easy to occur. With the increase of the fuel mass flow rate(the global fuel/air ratio increases from 0.004761 to 0.01095), s_f increases from 0.001268 s to 0.007249 s, and s_c decreases from 0.00124 s to0.00089 s. Accordingly, Da number increases from 1.023 to 8.145, which shows that the combustion becomes more stable. The above results show that the method proposed in the present study can properly predict the LBO limits of combustors, which provides important technical supports for combustor design and optimization.     

空间堆核动力技术选择研究

目前,基于太阳能、化学能的空间电源与空间推进技术,其技术能力的发展已接近极限状态,未来亟需开发基于核能的先进空间动力技术。针对低成本空间轨道运输、高功率载荷航天器、深空探测器、行星表面探测与开发等应用场景,以空间堆核电源为重点,分析了国际发展现状和未来航天需求,分别针对大功率(100 kWe～1 MWe)和小功率(1 kWe～10 kWe)应用需求,提出了技术主导方案,围绕主导技术方案梳理了关键技术,为我国空间堆核动力技术发展规划和预先研究提供参考。     

复合舵机本体精密加工技术

复合舵机是控制系统中重要的执行部件，在航空航天等领域有着广泛的应用。针对行业内复合舵机本体工艺流程冗长、数控化程度低、生产效率低等问题，开展了本体新工艺的研制。在分析复合舵机本体结构特点和加工难点的基础上，采用了数控加工与精密研磨相结合的加工方法，设计了加工工艺流程和专用装夹工装，配置了本体活塞孔精密研磨所需研磨膏，通过试验验证了工艺流程的可行性。工艺验证结果表明，本体活塞孔圆柱度不大于0.002mm，表面粗糙度在Ra0.05μm以下，在内窥镜下观察无可见划痕。自配研磨膏在研磨加工中使用效果显著，所设计工艺流程合理可行。     

仅用作航空器追踪的北斗机载设备适航要求分析

北斗卫星导航系统（简称北斗）在民用航空器中安装应用的前提是明确和符合北斗机载设备的适航要求。但由于全球定位系统（GPS）与北斗在星座结构、信号体制及功能上的不同，导致目前国际上全球卫星导航系统（GNSS）相关适航标准不适用于北斗设备。标准的缺失严重制约北斗民航产业发展，急需进行自主研究与制定。针对北斗在民用航空器中应用第一阶段的功能及场景，即仅用作航空器追踪，分析当前可参考标准的适用性，明确适航要求的制订策略及框架，综合考虑适航安全性、民航对北斗机载设备的紧迫需求，未来机载设备的发展方向，以及当前工业水平，提出一套仅用作航空器追踪的北斗机载设备适航要求，形成审定要素及评审要求，可支持工业方对适航标准的理解。     

函数传递法求解悬链线问题

悬链线问题是一类经典又多变的力学问题，其曲线构形指导着桥梁等工程应用的结构设计。为了求得结构特征或载荷特征不同的悬链线的变形，提出了一种基于传递矩阵法思想的、通用性较好的求解方法。首先，提炼出悬链力学模型，将悬链顺序划分成若干简单单元，结合单元力平衡和本构-几何关系解得单元特征函数方程组，顺序嵌套单元特征函数方程组获得整体特征函数方程组；然后，使用离散Newton迭代法对该非线性方程组进行求解，获得悬链的受力和变形；最后，算例验证了结果与解析解的一致性。函数传递法对具有复杂结构特征和载荷特征的悬链线问题有很好的适用性，对求解其他可划分为若干首尾相接结构单元的结构系统的广义变形也适用。      

GEO长寿命卫星热管在轨等温性能分析

热管是GEO长寿命卫星热控设计大量使用的重要传热元件，其在轨等温传热性能是影响卫星安全可靠工作的关键因素。针对中国在轨长期稳定运行的GEO长寿命卫星热管，基于热管在轨温度遥测数据，采用数理统计方法分析热管在轨等温性能随时间的实际变化规律，分析表明：GEO长寿命卫星热管在轨等温性能稳定性良好，等温性受热管自身温度水平影响较大，年周期内呈现季节性变化，全寿命周期内随飞行时间推移呈现性能衰减下降趋势，寿命末期等温性优于1.6℃，并从热管设计、热负荷大小与分布、使用环境等方面进行等温性改进分析及应用建议。