Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

换位思考——谈思想政治教育效果

高校肩负着培养和造就社会主义事业建设和接班人的要使命,思想工作在青年学生综合素质的形成和提高中着重要的地位和作用。笔者主要从学生角度谈谈提高思政治教育效果的几点思考和启示。     

Ionospheric gas dynamics of satellites and diagnostic probes

The gas dynamics of interactions of a tenuous ionosphere with moving satellites and probes that have bearings on the diagnostics of the ionosphere are discussed. Emphasis is on the cases where the body is moving at mesothermal speeds, namely intermediate between the thermal speeds of ions and electrons of the ambient ionosphere. Methods of collision-free plasma kinetics with self-consistent field are used. The development of the topics for discussion starts with stationary Langmuir probe which entails the basic mechanism of body-plasma interaction that becomes further intricated as the body moves at a higher and higher speed. Applications of the theory of plasma interaction to meteors which move in the ionosphere are also presented.     

Thoracic sonography for pneumothorax: the clinical evaluation of an operational space medicine spin-off

The recent interest in the use of ultrasound (US) to detect pneumothoraces after acute trauma in North America was initially driven by an operational space medicine concern. Astronauts aboard the International Space Station (ISS) are at risk for pneumothoraces, and US is the only potential medical imaging available. Pneumothoraces are common following trauma, and are a preventable cause of death, as most are treatable with relatively simple interventions. While pneumothoraces are optimally diagnosed clinically, they are more often inapparent even on supine chest radiographs (CXR) with recent series reporting a greater than 50% rate of occult pneumothoraces. In the course of basic scientific investigations in a conventional and parabolic flight laboratory, investigators familiarized themselves with the sonographic features of both pneumothoraces and normal pulmonary ventilation. By examining the visceral–parietal pleural interface (VPPI) with US, investigators became confident in diagnosing pneumothoraces. This knowledge was subsequently translated into practice at an American and a Canadian trauma center. The sonographic examination was found to be more accurate and sensitive than CXR (US 96% and 100% versus US 74% and 36%) in specific circumstances. Initial studies have also suggested that detecting the US features of pleural pulmonary ventilation in the left lung field may offer the ability to exclude serious endotracheal tube malpositions such as right mainstem and esophageal intubations. Applied thoracic US is an example of a clinically useful space medicine spin-off that is improving health care on earth.     

一般层合板矩形单元的几何刚度矩阵

本文简述了求解结构稳定性问题的有限元理论基础。用张量的形式指导了一般层合板矩形单元的节点力和节点位移关系方程，详细推导了一般层合板四节点矩形单元的几何刚度矩阵的公式及其显式。     

超声速燃烧实验研究(Ⅱ)

用电弧加热空气,对带有突扩台阶后扩张形,入口M_a=2.1和3.0的超声速燃烧室进行了实验研究,并对两种不同燃烧室长度、煤油和氢气在垂直和平行喷射下的燃烧状况作了比较。     

三级旋流头部装置末级文氏管喉道面积对出口流场的影响试验研究

文氏管对涡流器具有重要的引流作用.通过改变第III级文氏管的喉道面积大小,探究了其对三级涡流器出口流场的影响.应用粒子图像测速仪(PIV)对三头部试验件的涡流器出口流场进行分析,发现中间涡流器的两个漩涡中心的径向距离随着第III级文氏管喉道面积的增加呈现先减小后增大的趋势.相邻三级涡流器出口流场会叠加,致使中间涡流器的...     

直升机后缘襟翼驱动器迟滞现象仿真与抑制

直升机后缘襟翼多采用压电驱动器作为驱动元件，但是在使用过程中压电驱动器迟滞会对其振动控制性能产生不利影响，因此针对压电驱动器迟滞开展了迟滞建模与抑制研究。通过实验研究了压电驱动器在不同驱动频率下的迟滞特性，采用Bouc-Wen模型对驱动器迟滞现象进行了建模，并采用粒子群算法（PSO）辨识模型参数，与实际测量迟滞曲线进行了对比，在10~60 Hz范围内所建立的迟滞模型能够较为精确地描述压电驱动器迟滞现象。建立了基于Bouc-Wen逆模型的前馈补偿控制与PID反馈控制相结合的复合控制策略，实验结果显示该控制策略能够在10~60 Hz较宽的频率范围内有效抑制该压电驱动器迟滞现象。建立了考虑驱动器迟滞的主动控制后缘襟翼振动控制动力学模型，并对中等速度稳态前飞条件下后缘襟翼振动控制性能进行了仿真，仿真结果显示驱动器迟滞会在一定程度上削弱振动控制性能，而采用复合控制可以提高后缘襟翼旋翼振动控制性能。     

基于机器视觉的轻型梁三维振动测量方法

振动测量是状态检测和故障诊断的方法之一，针对传统接触式测量方法中存在负载效应等问题，对基于机器视觉的三维振动测量方法进行了研究。首先，基于视频相位的二维振动测量方法，提取出相机所采集图像中被测目标的二维振动数据。然后，在二维振动测量方法的基础上，结合双目立体视觉，设计了一种基于机器视觉的三维振动测量方法。最后，进行了悬臂梁的振动测量实验。结果表明:所提方法可以实现无接触和无标记的振动测量，并能准确测量出三维的振动信息。