基于误差相似性的移动机器人定位误差补偿

对由AGV承载的工业机器人组成的AGV式移动制孔机器人的定位误差补偿方法进行了研究。在面向飞机装配的AGV式移动制孔机器人系统中，利用激光跟踪仪构建坐标系，提出了AGV式移动制孔机器人机座坐标系的换站方法，能更好地适应飞机制造多品种、小批量的特点。基于对AGV式移动制孔机器人定位误差源的分析，利用定位误差相似性，提出针对AGV式移动制孔机器人的基于反距离加权定位误差的空间插值与补偿方法，克服了现有技术对于AGV式移动制孔机器人定位误差补偿的局限性。以AGV搭载的KUKA KR480型工业机器人制孔系统作为试验对象，通过试验选取最优网格步长，补偿结果表明，能将系统综合定位误差平均值由补偿前的1.045 mm降低到0.227 mm，最大绝对定位误差由补偿前的2.727 mm降低到0.478 mm，降低了82.47%，该方法能有效提高AGV式移动制孔机器人的绝对定位精度。     

从酝酿到决策——民用飞机预发展阶段工作分析

对比军机和民机项目研制目标的差异，指出民机项目的最终目标是追求商业成功。通过对民机项目各阶段投入比例的对比，强调了预发展阶段有奠定项目基调、指明发展方向和降低研制风险的作用,明确了预发展阶段工作的两大任务是飞机定义和概念方案迭代、优化,并对预发展阶段的工作内容进行划分，将其分为市场分析与飞机定义、可行性研究及初步设计三部分内容，阐述了各部分的承接关系、内部工作流程与做法。指出市场分析与飞机定义部分的输出成果是以飞机定义文件呈现，并由飞机定义评审会确定；可行性研究部分的重点是方案的展开和迭代，其中市场验证是方案优选的重要参考依据；初步设计部分要持续关注市场验证与技术环境研究工作。最后总结了民用飞机预发展阶段工作的市场指向性、科学性和相关投入的必要性。     

Flight dynamics characteristics of canard rotor/wing aircraft in helicopter flight mode

The aerodynamic layout of the Canard Rotor/Wing(CRW) aircraft in helicopter flight mode differs significantly from that of conventional helicopters. In order to study the flight dynamics characteristics of CRW aircraft in helicopter mode, first, the aerodynamic model of the main rotor system is established based on the blade element theory and wind tunnel test results. The aerodynamic forces and moments of the canard wing, horizontal tail, vertical tail and fuselage are obtained via theoretical analysis and empirical formula. The flight dynamics model of the CRW aircraft in helicopter mode is developed and validated by flight test data. Next, a method of model trimming using an optimization algorithm is proposed. The flight dynamics characteristics of the CRW are investigated by the method of linearized small perturbations via Simulink. The trim results are consistent with the conventional helicopter characteristics, and the results show that with increasing forward flight speed, the canard wing and horizontal tail can provide considerable lift,which reflects the unique characteristics of the CRW aircraft. Finally, mode analysis is implemented for the linearized CRW in helicopter mode. The results demonstrate that the stability of majority modes increases with increasing flight speed. However, one mode that diverges monotonously,and the reason is that the CRW helicopter mode has a large vertical tail compared to the conventional helicopter. The results of the dynamic analysis provide optimization guidance and reference for the overall design of the CRW aircraft in helicopter mode, and the model developed can be used for control system design.     

A scheduling strategy to inter-satellite links assignment in GNSS

By introducing inter-satellite link (ISL), the dependence of the global navigation satellite system (GNSS) on ground infrastructure can be reduced and its performance enhanced via inter-satellite ranging and communication. Owing to platform restrictions, there are usually fewer onboard Ka-band ISL antennas than the number of visible satellites, which poses a problem when optimizing the inter-satellite links assignment of the GNSS. In this study, to optimize inter-satellite ranging and communication, a multi-objective optimization model is built and a scheduling strategy is proposed for the inter-satellite links assignment scheduling problem. The position dilution of precision (PDOP) of links and the transmission time-delay of telemetry data are set as the ranging performance and communication metrics, respectively. We regard the links assignment in each slot as a general graph-matching problem, and apply the Blossom algorithm to obtain the maximum matching. We then generate and optimize the satellite sequences for whole slots using non-dominated sorting genetic algorithm II (NSGA-II). The simulation scenes include 10,080 epochs of GNSS constellation, and the simulation results show that the performance of the proposed strategy is better than that of other methods published recently, and can provide various solutions to meet the different preferences of system managers.     

RNP运行对机载飞行管理系统功能性影响分析

通过对RNP运行规范进行剖析、梳理其对飞行管理系统提出的功能需求，在保持飞行管理系统功能框架的前提下，将需求分配至可执行的子功能模块。随后对所涉关键技术进行研究，为RNP导航的机载实现奠定基础。     

微纳卫星混合推进技术研究综述

首先介绍了微纳卫星混合推进系统的特点与优势,总结了星载混合推进技术的发展现状,并结合微纳卫星动力系统要求,指出了星载混合推进技术的发展趋势及存在的问题.然后在此基础上,从卫星工程应用的角度,重点综述了星载混合推进系统需攻克的主要关键技术,包括先进一体化制造、可靠低功耗多次点火启动、比冲提升、高效燃烧等,并分析了相应关键...     

基于UML的可执行模型实现机制研究

模型驱动开发(MDD)是由OMG提出的通用软件开发标准,旨在解决软件开发过程中遇到的需求多变以及重复开发等问题。模型驱动开发一般使用UML作为建模语言,然而UML是一种符号化语言系统,其语义采用自然语言描述,是半形式化语言,无法精确和严格描述模型行为从而实现模型的验证。为了解决这个问题,提出一种UML模型验证的方法,其核心是xUML的状态图,xUML是UML的增强子集,拥有精确的语义。并在分析Rhapsody可执行框架OXF的基础上,设计并实现了一个模型可执行框架。最后通过一个模型执行的例子验证了该框架的可用性。     

空间大型结构体组装接口设计及装配性能分析

为满足超大型(公里级)空间结构在轨组装的需求,设计了一种全新的空间大型结构体组装接口并对其装配性能进行了详细的分析。首先,详细设计了一种纯机械式双锁定组装接口。其次,通过建立接口运动学模型,对组装接口的容差性能进行了分析,得出 X 方向容差为14.25 mm, Z 方向容差为15.84 mm,绕 X,Y,Z 三个轴的角度容差分别为5.65°、5.51°和5.34°。最后,对对接接口进行了ADAMS仿真分析,验证了容差分析的正确性,得到了对接机构接触力与静摩擦系数、机械臂推力、碰撞锥角之间的非线性影响关系,为空间对接机构的设计奠定了基础。