遥操作机器人神经网络Smith预估控制(英文)

针对遥操作机器人通讯通道中存在的时延 ,提出了一种神经网络 Smith预估控制方法。控制系统适合于时延不变但未知的情况。控制系统包括主控制器和从系统两部分。从系统采用动态神经网络辨识机器人的动态模型 ,神经网络权重在线学习 ,用神经网络的输出对非线性系统进行局部非线性补偿 ,将非线性系统线性化。主系统针对线性化的从系统 ,采用 Smith预估控制解决时延问题并保证系统的性能品质。通过李雅普诺夫稳定理论保证了时延控制系统的稳定性。对两关节机器人的仿真结果说明了该方法的有效性。     

卡氏天线副面补偿技术中副面焦点坐标调整量的高精度数据拟合

基于新疆110m射电望远镜预研项目、南山天线改造计划和国家对航天领域的战略需求,对大型卡氏天线主面板变形的副面实时补偿作了深入研究。简单介绍了副面补偿的理论模型并用静力分析法得出若干特殊仰角下的调整量,进而运用MATLAB对调整量进行了高精度的数据拟合。给出了线性最小二乘法和正交多项式最小二乘法2种拟合方法拟合模型方程,通过误差分析从不同方面对比了拟合方法的效果,在阶数为4、精确至小数点后15位时,2种拟合方法的误差差值数量级为10-13 mm,且小于零。最终选择并应用精度更高的正交多项式最小二乘拟合方法在特定的俯仰角度范围内生成了部分调整量数据,为副反射面在任意俯仰角下的补偿过程创造了条件,满足了天文观测和航天深空探测对数据准确性和系统可靠性的要求,具有一定的实用性。     

奥巴马的私斗

巴拉克·奥巴马是一个令人难以捉摸的人物,无论其对手还是拥护者都将他视为一个谜。不知为何,2008年竞选活动中的奥巴马似乎变成了一个截然不同的奥巴马总统。两个奥巴马不仅在政治上是不同的,在心理上也是不同的。那个温和派的、使人安心的奥巴马不见了,取而代之的是一个更为冷静超然、难以读懂的奥巴马。美国人难以对这个奥巴马做出反应,因为他们不确定其源自哪里,受到了什么激发。关于奥巴马,我们真正了解到的有多少呢?     

民用航空维修市场预测

2005年,民用航空维修市场的总值达到388亿美元. 根据TeamSAI和BACK航空解决方案的预测,受劳动力成本触底反弹和发动机大修业务上升等因素的影响,未来5年全球民用航空维修市场的综合年度增长率(CAGR)为4.7%,到2011年民航维修市场总值达到488亿美元.之后的5年,即2012～2016年,全球民用航空维修市场的CAGR为4.4%,到2016年,总值将达到606亿美元.     

A Generic Plug-and-Play Navigation Fusion Strategy for Land Vehicles in GNSS-Denied Environment

Achieving accurate navigation information by integrating multiple sensors is key to the safe operation of land vehicles in global navigation satellite system(GNSS)-denied environment. However,current multi-sensor fusion methods are based on stovepipe architecture,which is optimized with custom fusion strategy for specific sensors. Seeking to develop adaptable navigation that allows rapid integration of any combination of sensors to obtain robust and high-precision navigation solutions in GNSS-denied environment,we propose a generic plug-and-play fusion strategy to estimate land vehicle states. The proposed strategy can handle different sensors in a plug-and-play manner as sensors are abstracted and represented by generic models,which allows rapid reconfiguration whenever a sensor signal is additional or lost during operation. Relative estimations are fused with absolute sensors based on improved factor graph,which includes sensors' error parameters in the non-linear optimization process to conduct sensor online calibration. We evaluate the performance of our approach using a land vehicle equipped with a global positioning system(GPS) receiver as well as inertial measurement unit(IMU),camera,wireless sensor and odometer. GPS is not integrated into the system but treated as ground truth. Results are compared with the most common filtering-based fusion algorithm. It shows that our strategy can process low-quality input sources in a plug-and-play and robust manner and its performance outperforms filtering-based method in GNSS-denied environment.     

单元数字化机载雷达的自适应杂波对消

本文描述了用于大型单元数字化阵列雷达（EDAR）的多层自适应波束形成方法。各阵列单元的距离相关增益自适应（RDGA）提供了有效的杂波对消。机载截击（AI）雷达的模拟试验验证了这种方法的效率，并说明了它相对于阵列中随机相位误差和幅度误差的稳定性。     

Science Missions Using CubeSats

As the role of missions and experiments carried out in outer space becomes more and more essential in our understanding of many earthly problems, such as resource management, environmental problems, and disaster management, as well as space science questions, thanks to their lower cost and faster development process CubeSats can benefit humanity and therefore, young scientists and engineers have been motivated to research and develop new CubeSat missions. Not very long after their inception, CubeSats have evolved to become accepted platforms for scientific and commercial applications. The last couple of years showed that they are a feasible tool for conducting scientific experiments, not only in the Earth orbit but also in the interplanetary space. For many countries, a CubeSat mission could prompt the community and young teams around the world to build the national capacity to launch and operate national space missions. This paper presents an overview of the key scientific and engineering gateways opened up to the younger scientific community by the advent and adaptation of new technology into CubeSat missions. The role of cooperation and the opportunities for capacity-building and education are also explored. Thus, the present article also aims to provide useful recommendations to scientists, early-career researchers, engineers, students, and anyone who intends to explore the potential and opportunities offered by CubeSats and CubeSats-based missions.      

Progress of Space Medicine Research in China

With the approaching of the Chinese Space Station (CSS) era, the focus of space medicine applications and related research has shifted to addressing the astronauts' health support in long-duration spaceflights, including nutrition, countermeasure against the physiological effects of weightlessness, medical monitoring and support, psychology status, etc., and accordingly the human experiments to simulate long-duration weightlessness have been carried out. Increasingly, basic research has been put forward in the key areas, such as space bone loss, cardiovascular dysfunction and the molecular mechanisms underlying radiobiological effects. Moreover, specific novel research fields, such as hypometabolism technology, were explored. The research projects in the field of space medicine experiment, as an important aspect of the Chinese Space Station's application, have been officially approved and launched.      

PBL保障走向何方?

资金、供应链、时间、全球化和度量标准的改变,影响着飞机和发动机的 PBL 合同。     

航空公司降低成本的途径

维修成本是航空公司运营成本的一部分。迫于经济压力,航空公司和维修企业采取了多种措施,降低不必要的维修开支,以达到节省成本、增加收益的目的。