协作机器人及其在航空制造中的应用综述

由于技术限制和经济风险,实现航空产品制造过程完全自动化具有相当的难度,而将安全易用的协作机器人与操作人员共享作业空间,充分发挥各自的长处,分工协同工作,是解决传统工业机器人难以应对的低成本、高效率、柔性化、复杂作业自动化难题的有效途径。论文在分析协作机器人产生背景和4种人机协作方式的基础上,描述了空客和BAE公司旨在提高质量和效率的未来工厂计划中的协作机器人项目,详细介绍了协作机器人在飞机装配中的应用研究实例,阐述了协作机器人本体设计、力感知与控制、机器人行为设计和自主学习等共性关键技术。未来协作机器人将以其安全、高效、柔性、智能的特点在工业生产中发挥更大的作用。     

Features of solar wind streams on June 21–28, 2015 as a result of interactions between coronal mass ejections and recurrent streams from coronal holes

Coronal sources and parameters of solar wind streams during a strong and prolonged geomagnetic disturbance in June 2015 have been considered. Сorrespondence between coronal sources and solar wind streams at 1 AU has been determined using an analysis of solar images, catalogs of flares and coronal mass ejections, solar wind parameters including the ionic composition. The sources of disturbances in the considered period were a sequence of five coronal mass ejections that propagated along the recurrent solar wind streams from coronal holes. The observed differences from typical in magnetic and kinetic parameters of solar wind streams have been associated with the interactions of different types of solar wind. The ionic composition has proved to be a good additional marker for highlighting components in a mixture of solar wind streams, which can be associated with different coronal sources.     

航天器单机内PCB焊点低气压放电试验研究

在轨航天器单机内部存在低气压放电风险,因此对于工作电压等级较高的PCB,需要采用放电防护工艺和措施。文章针对几种现有的放电防护工艺,试验测量了不同工艺条件下的焊点起晕电压。试验结果表明,球形焊点的起晕电压高于正常焊点;焊点之间是否开槽对起晕电压无明显影响;涂三防漆的焊点起晕电压显著高于未涂漆焊电极。试验结果能够为航天器用PCB焊点放电防护工艺评估提供指导。     

On the Precession of Saturn

The precession of Saturn under the effect of the gravity of the Sun, Jupiter and planet’s satellites has been investigated. Saturn is considered to be an axisymmetric (A = B) solid body close to the dynamically spherical one. The orbits of Saturn and Jupiter are considered to be Keplerian ellipses in the inertial coordinate system. It has been shown that the entire set of small parameters of the problem can be reduced to two independent parameters. The averaged Hamiltonian function of the problem and the integrals of evolutionary equations are obtained disregarding the effect of satellites. Using the small parameter method, the expressions for the precession frequency and the nutation angle of the planet’s axis of rotation caused by the gravity of the Sun and Jupiter are obtained. Considering the planet with satellites as a whole preceding around the normal to the unmovable plane of Saturn’s orbit, the satellites effect on the Saturn rotation is taken into account via the corrections in the formula for the undisturbed precession frequency. The satellites are shown to have no effect on the nutation angle (in the framework of the accepted model), and the disturbances from Jupiter to make the main contribution to the nutation angle evolution. The effect of Jupiter on the nutation angle and the precession period is described with regard to the attraction of satellites.     

The IBEX-Lo Sensor

The IBEX-Lo sensor covers the low-energy heliospheric neutral atom spectrum from 0.01 to 2 keV. It shares significant energy overlap and an overall design philosophy with the IBEX-Hi sensor. Both sensors are large geometric factor, single pixel cameras that maximize the relatively weak heliospheric neutral signal while effectively eliminating ion, electron, and UV background sources. The IBEX-Lo sensor is divided into four major subsystems. The entrance subsystem includes an annular collimator that collimates neutrals to approximately 7°×7° in three 90° sectors and approximately 3.5°×3.5° in the fourth 90° sector (called the high angular resolution sector). A fraction of the interstellar neutrals and heliospheric neutrals that pass through the collimator are converted to negative ions in the ENA to ion conversion subsystem. The neutrals are converted on a high yield, inert, diamond-like carbon conversion surface. Negative ions from the conversion surface are accelerated into an electrostatic analyzer (ESA), which sets the energy passband for the sensor. Finally, negative ions exit the ESA, are post-accelerated to 16 kV, and then are analyzed in a time-of-flight (TOF) mass spectrometer. This triple-coincidence, TOF subsystem effectively rejects random background while maintaining high detection efficiency for negative ions. Mass analysis distinguishes heliospheric hydrogen from interstellar helium and oxygen. In normal sensor operations, eight energy steps are sampled on a 2-spin per energy step cadence so that the full energy range is covered in 16 spacecraft spins. Each year in the spring and fall, the sensor is operated in a special interstellar oxygen and helium mode during part of the spacecraft spin. In the spring, this mode includes electrostatic shutoff of the low resolution (7°×7°) quadrants of the collimator so that the interstellar neutrals are detected with 3.5°×3.5° angular resolution. These high angular resolution data are combined with star positions determined from a dedicated star sensor to measure the relative flow difference between filtered and unfiltered interstellar oxygen. At the end of 6 months of operation, full sky maps of heliospheric neutral hydrogen from 0.01 to 2 keV in 8 energy steps are accumulated. These data, similar sky maps from IBEX-Hi, and the first observations of interstellar neutral oxygen will answer the four key science questions of the IBEX mission.     

Thermal and hydraulic characteristics of rough tubes including those with an inserted twisted band

The results of the experimental study of heat transfer and hydraulic resistance under forced convection and water boiling in tubes with continuous uniform roughness (formed by a metric imperfect profile thread) are presented; also given are the preliminary data for rough tubes with an inserted twisted band.     

一种空间燃料电池电源系统设计与实现

面向空间应用,依据某航天器任务期间的功耗需求,采用燃料电池和蓄电池的架构,对1kW燃料电池电源系统的设计与实现进行研究。构建了1kW燃料电池电源系统仿真模型,对系统设计原理进行了仿真验证,并研制了1kW燃料电池电源系统样机,对系统典型的负载阶跃工况进行了试验测试。试验测试结果表明,1kW燃料电池电源系统在半载阶跃变化时,母线电压波动小于5V,调节时间小于25μs;整个运行过程系统工作正常稳定,能够满足航天器空间应用需求。     

Fast measurements of parameters of the Solar Wind using the BMSW instrument

Design of the plasma spectrometer BMSW (Fast Monitor of the Solar Wind, possessing high temporal resolution) is described in the paper, as well as its characteristics and modes of operation. Some examples of measurements of various properties of the solar wind, made with this instrument installed onboard the high-apogee satellite Spektr-R, are presented.     

Solution of the five-layer beam bending problem using the calculus of variation

The paper deals with the problem of lateral bending for the five-layer panel with the lightweight filler that is reduced to the bending problem of a beam fixed at the end sections. To solve the differential equations describing the beam bending, the Euler-Lagrange variational principle is used.