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641.
针对无人机在城市空域环境和密集交通流下的避撞决策问题,提出马尔科夫决策过程(MDP)和蒙特卡洛树搜索(MCTS)算法对该问题进行建模求解。蒙特卡洛树搜索算法在求解过程中为保证实时性而使其搜索深度受限,容易陷入局部最优,导致在含有静态障碍的场景中无法实现避撞的同时保证全局航迹最优。因此结合跳点搜索算法在全局规划上的优势,建立离散路径点引导无人机并改进奖励函数来权衡飞行路线,在进行动态避撞的同时实现对静态障碍的全局避撞。经过多个实验场景仿真,其结果表明改进后的算法均能在不同场景中获得更好的性能表现。特别是在凹形限飞区空域仿真模型中,改进后的算法相对于原始的蒙特卡洛树搜索算法,其冲突概率降低了36%并且飞行时间缩短47.8%。 相似文献
642.
Chunhui Wang Yu Tian Shanguang Chen Zhiqiang Tian Ting Jiang Feng Du 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2014
Manually controlled rendezvous and docking (manual RVD) is a challenging space task for astronauts. This study aims to identify spatial abilities that are critical for accomplishing manual RVD. Based on task analysis, spatial abilities were deduced to be critical for accomplishing manual RVD. 15 Male participants performed manual RVD task simulations and spatial ability tests (the object-manipulation spatial ability and spatial orientation ability). Participants’ performance in the test of visualization of viewpoints (which measures the spatial orientation ability) was found to be significantly correlated with their manual RVD performance, indicating that the spatial orientation ability in the sense of perspective taking is particularly important for accomplishing manual RVD. 相似文献
643.
Ke Du Shijie Li Ingo Leya Thomas Smith Dongliang Zhang Peng Wang 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2021,67(12):4089-4098
The Kumtag meteorite strewn field was found in the Kumtag desert, 132 km south of Hami city in the Xinjiang province, China. It is an ellipse of 2.5 × 7.9 km, with a long axis extending along the northeast-southwest direction. The largest individual meteorite of the strewn field weighs about 10 kg; the smallest individual has a mass of only 27 g. In total, more than 100 individuals with a total mass of more than 180 kg were collected. The location and the distribution of the fragments suggest that the Kumtag meteoroid entered the atmosphere in the direction Northeast-Southwest. All meteorites collected in this strewn field are samples from the same unique meteorite shower. The Kumtag meteorite is an H5 ordinary chondrite with a shock stage S2, and a weathering grade W2. The cosmic ray exposure age of Kumtag is 6.7 ± 0.8 Ma, which is rather typical for H chondrites and which indicates that Kumtag was derived from the massive impact event on its parent body ~7 Ma ago. A significant amount of He has been lost during certain unknown processe(s) before the Kumtag meteorite was ejected from its parent body. 相似文献
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Weiwei Zhang Shengyuan Jiang Jie Ji Dewei Tang 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2018,61(9):2444-2456
The physical and mechanical properties as well as the heat flux of regolith are critical evidence in the study of planetary origin and evolution. Moreover, the mechanical properties of planetary regolith have great value for guiding future human planetary activities. For planetary subsurface exploration, an inchworm boring robot (IBR) has been proposed to penetrate the regolith, and the mechanical properties of the regolith are expected to be simultaneously investigated during the penetration process using the drilling tool on the IBR. This paper provides a preliminary study of an in situ method for measuring planetary regolith mechanical parameters using a drilling tool on a test bed. A conical-screw drilling tool was designed, and its drilling load characteristics were experimentally analyzed. Based on the drilling tool-regolith interaction model, two identification methods for determining the planetary regolith bearing and shearing parameters are proposed. The bearing and shearing parameters of lunar regolith simulant were successfully determined according to the pressure-sinkage tests and shear tests conducted on the test bed. The effects of the operating parameters on the identification results were also analyzed. The results indicate a feasible scheme for future planetary subsurface exploration. 相似文献
647.
针对装备系统中多状态工作部件存在退化失效与突发失效竞争的情况,以冷贮备系统为研究对象,假设系统内3个维修台可分别提供预防性维修与两种不同类型的修复性维修,采用随机检测策略,系统性能水平在一定范围内退化时进行预防性维修,部件完全退化失效时进行退化失效修复性维修,而突发失效时进行突发失效修复性维修;利用PH (Phase-type)分布描述模型中各类随机时间变量,外部冲击的到达则采用PH更新过程描述,建立了考虑退化失效与突发失效的多状态冷贮备系统可靠性模型。最后通过算例验证了模型的适用性,演示了预防性维修阈值以及三类维修速率对系统可靠性的影响。 相似文献
648.
对8902A测量接收机用作高频中,小电压标准进行了分析研究,介绍了一种检定超高频毫伏表的新方法,并给出了实验数据,对该标准装置的不确定度进行了分析。 相似文献
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一种用于ISA总线计算机1553B接口模块的设计 总被引:1,自引:0,他引:1
介绍一种用于ISA总线计算机的低成本的1553B总线接口模块的设计,该设计使得1553B终端具有与美国DDC-IDEA产品类同的功能,可进行1553B产品或系统的开发、仿真。简要介绍了模块的硬件设计和软件配置,罗列了其设计特点。 相似文献