双臂机器人协调动力学及其优化

通过引入“虚铰”概念，将双臂机器人协调动力学问题统一归结为约束多体系统的动力学问题。利用子系统牛顿－欧拉递推法获得的单臂机器人的动力学方程以及静力传递与速度传递间的对偶关系，很方便地导出了双臂机器人的动力学方程与回路约束方程，回路约束方程的建立无需增加额外的计算。此外，文中还对双臂机器人协调动力学的求解及其优化问题进行了讨论，最后以一搬运双臂机器人为例进行了动力学的计算机辅助优化，获得了令人满意的结果。文中所得结论对双臂机器人的设计与控制均具有一定的参考价值。     

热线风速仪X型探针的一种新标定方法

一种用于热线风速仪X型探针标定的简捷而准确的方法,借助于理想流动角和无量纲速度参数H,将传统X型探针全速度-偏航角标定问题通过几个函数关系来代替,简化了标定过程,而且具有较高的精度。     

KM6水平舱消防灭火系统介绍

消防灭火系统是KM6水平舱的重要组成系统之一。由于舱内环境的特殊性,使得该系统不同于普通的消防灭火系统。针对KM6水平舱舱内的特殊环境,本文章分析了消防灭火系统的关键问题,提出了解决的具体方案,结合目前国际上先进的消防灭火技术,设计提出了适合KM6水平舱特殊环境的消防灭火系统具体方案。系统经过调试后表明：该系统设计理念先进,能很好的地满足水平舱“人-船-服”联合试验的需要。     

材料和尺寸参数对Rainbow型压电换能器发电能力的影响

给出了一种多方向振动能量收集装置的设计结构.为研究Rainbow型压电换能器材料、尺寸参数对其发电能力的影响,根据压电材料的机电耦合方程和对换能器的力学理论分析,建立了Rainbow型压电换能器开路电压与输出电能的数学模型.对开路电压模型进行了仿真验证,仿真结果与理论分析一致.对输出电能理论模型的数值模拟分析表明,金属基片的宽度与厚度、换能结构初始曲率半径的增大将会引起换能结构两片压电薄膜输出电能的降低;金属基片长度、压电薄膜宽度的增大将会引起两片压电薄膜输出电能的增加;压电薄膜长度、厚度的增大将会使得两片压电薄膜输出电能先增加后减小;铍青铜基片换能器要优于钢基片换能器;换能器弧形内侧压电薄膜的输出电能都要大于外侧压电薄膜.最后,结合Rainbow型压电换能器的力学分析给出了分析结果的合理解释.     

基于协调权的案例学习群决策分类方法

基于案例学习的决策方法具有易于理解、贴近实际决策过程的优点,成为当前决策领域的一个研究热点。文中针对如何有效地集成不同决策专家提供的案例信息,提出了一种基于协调权的案例学习群决策模型用以解决多属性分类决策问题。该方法首先针对各决策者给出不同案例数据,通过构建混合整数规划模型,识别出具有一致案例信息重要度最大化的典型案例集。然后设计了分类阈值远离程度最大化模型,以此确定兼容各个决策者案例信息的指标权重（协调权）和最优分类阈值,由此构建一致性的效用函数并应用获得的阈值进行分类决策。最后通过案例研究以及与其他模型的比较分析,验证了方法的可行性。     

Brines in seepage channels as eluants for subsurface relict biomolecules on Mars?

Water, vital for life, not only maintains the integrity of structural and metabolic biomolecules, it also transports them in solution or colloidal suspension. Any flow of water through a dormant or fossilized microbial community elutes molecules that are potentially recognizable as biomarkers. We hypothesize that the surface seepage channels emanating from crater walls and cliffs in Mars Orbiter Camera images results from fluvial erosion of the regolith as low-temperature hypersaline brines. We propose that, if such flows passed through extensive subsurface catchments containing buried and fossilized remains of microbial communities from the wet Hesperian period of early Mars (approximately 3.5 Ga ago), they would have eluted and concentrated relict biomolecules and delivered them to the surface. Life-supporting low-temperature hypersaline brines in Antarctic desert habitats provide a terrestrial analog for such a scenario. As in the Antarctic, salts would likely have accumulated in water-filled depressions on Mars by seasonal influx and evaporation. Liquid water in the Antarctic cold desert analogs occurs at -80 degrees C in the interstices of shallow hypersaline soils and at -50 degrees C in salt-saturated ponds. Similarly, hypersaline brines on Mars could have freezing points depressed below -50 degrees C. The presence of hypersaline brines on Mars would have extended the amount of time during which life might have evolved. Phototrophic communities are especially important for the search for life because the distinctive structures and longevity of their pigments make excellent biomarkers. The surface seepage channels are therefore not only of geomorphological significance, but also provide potential repositories for biomolecules that could be accessed by landers.     

Harnessing functional food strategies for the health challenges of space travel—Fermented soy for astronaut nutrition

Astronauts face numerous health challenges during long-duration space missions, including diminished immunity, bone loss and increased risk of radiation-induced carcinogenesis. Changes in the intestinal flora of astronauts may contribute to these problems. Soy-based fermented food products could provide a nutritional strategy to help alleviate these challenges by incorporating beneficial lactic acid bacteria, while reaping the benefits of soy isoflavones. We carried out strain selection for the development of soy ferments, selecting strains of lactic acid bacteria showing the most effective growth and fermentation ability in soy milk (Streptococcus thermophilus ST5, Bifidobacterium longum R0175 and Lactobacillus helveticus R0052). Immunomodulatory bioactivity of selected ferments was assessed using an in vitro challenge system with human intestinal epithelial and macrophage cell lines, and selected ferments show the ability to down-regulate production of the pro-inflammatory cytokine interleukin-8 following challenge with tumour necrosis factor-alpha. The impact of fermentation on vitamin B1 and B6 levels and on isoflavone biotransformation to agluconic forms was also assessed, with strain variation-dependent biotransformation ability detected. Overall this suggests that probiotic bacteria can be successfully utilized to develop soy-based fermented products targeted against health problems associated with long-term space travel.     

旋翼—机体耦合动力稳定性的主动控制现状与发展

直升机的地面共振和空中共振主动控制技术是一种新兴的很有发展潜力的技术。目前的控制方法包括桨距控制法和后缘附翼控制法。本文综述国内外学者在这一领域的理论研究工作,并加以评论,指出存在的问题和将来的研究方向。     

4m×3m风洞风工程试验段研制

介绍了气动中心低速所４ｍ×３ｍ风洞增设风工程试验段的方案选择、结构设计。这个试验段长１４．５ｍ、宽４ｍ、高２．２ｍ,不改动原风洞结构、装拆方便,可较好地模拟大气边界层、并已成功地应用于风工程试验。