对象Petri网模型的并发软件仿真技术的研究

并发软件的性能评价是提高软件开发质量的重要手段之一．本文重点讨论了将面向对象与Ｐｅｔｒｉ网相结合的思想用于并发软件开发中的系统建模,以及基于对象Ｐｅｔｒｉ网（ＯＰＮ）的并发软件系统的仿真技术,同时,也探讨了实现一个基于ＯＰＮ的动态仿真工具所面临的关键技术和解决方法．实践结果表明,文中讨论的实现机制与处理方法是有效和可行的．     

膨胀磁场和太阳风粒子相互作用三维数值模拟

采用三维模型,使用混合网格质点法HPIC(Hybrid Particle-in-Cell)对膨胀的磁场和太阳风相互作用过程进行数值模拟.研究了线圈产生的偶极子磁场在注入等离子体后和太阳风粒子的相互作用过程,并对以不同速度入射的等离子体引起的太阳风粒子的变化和磁场变化进行了比较.研究结果表明,偶极子磁场和太阳风作用时会产生弓形激波,此时磁压等于太阳风粒子的动压,当向线圈产生的偶极子磁场中注入高能等离子体时引起磁场膨胀,膨胀的磁场将会排斥太阳风粒子向外运动,从而引起弓形激波的变化,增大与太阳风相互作用的面积,并且粒子入射速度越大,磁场膨胀越明显,与太阳风相互作用愈强.      

基于质量分配的空间机械臂刚度优化

刚度是空间机械臂的重要性能指标。在材料与构型确定的情况下,空间机械臂部件的刚度与部件的体积和质量正相关。由于空间机械臂的总质量受限,所以进一步提高刚度非常困难。文章提出一种在总质量一定的条件下,对空间机械臂的关节、臂杆等重要部件的质量指标进行优化分配,从而提高整体刚度的方法。在建立空间机械臂受力变形模型的基础上,通过分析部件受力变形与部件质量之间的关系,在总质量一定的约束条件下,以受力变形为目标函数,采用拉格朗日乘数法对部件的质量进行优化,得到使受力变形达到极小值的重要部件的质量指标。     

基于YOLOv5的红外目标检测算法

针对红外图像的特点,提出了一种YOLOv5-IF算法,采用基于残差机制的特征提取网络,实现了不同特征层之间信息的高效交互,能够得到更丰富的目标语义信息。通过改进YOLOv5的检测方案,增加更大尺度的检测头,有效提升了红外图像中小目标的检测概率。针对计算平台资源有限、算法实时性要求高等问题,设计了Detection Block模块,并由此构建了特征整合网络,该模块不仅能提升算法检测精度,还可有效缩减模型参数量。在FLIR红外自动驾驶数据集上,该算法的平均准确率(mAP)为74%,参数量仅19.5MB,优于现有算法。     

Evaluation and utilization of CloudSat and CALIPSO data to analyze the impact of dust aerosol on the microphysical properties of cirrus over the Tibetan Plateau

The present study elucidates on the evaluation of two versions (V3 and V4.10) of vertical feature mask (VFM) and aerosol sub-types data derived from the Cloud-Aerosol LiDAR and Infrared Pathfinder Satellite Observations (CALIPSO), and its utilization to analyze the impact of dust aerosol on the microphysical properties of cirrus over the Tibetan Plateau (TP). In conjunction to the CALIPSO, we have also used the CloudSat data to study the same during the summer season for the years 2007–2010 over the study area 25–40°N and 75–100°E. Compared to V3 of CALIPSO, V4.10 was found to have undergone substantial changes in the code, algorithm, and data products. Intercomparison of both versions of data products in the selected grid between 30–31°N and 83–84°E within the study area during 2007–2017 revealed that the VFM and aerosol sub-types are in good agreement of ～95.27% and ～82.80%, respectively. Dusty cirrus is defined as the clouds mixed with dust aerosols or existing in dust aerosol conditions, while the pure cirrus is that in a dust-free environment. The obtained results illustrated that the various microphysical properties of cirrus, namely ice water content (IWC), ice water path (IWP), ice distribution width (IDW), ice effective radius (IER), and ice number concentration (INC) noticed a decrease of 17%, 18%, 4%, 19%, and 10%, respectively due to the existence of dust aerosol, consistent with the classical “Twomey effect” for liquid clouds. Moreover, the aerosol optical depth (AOD) showed moderate negative correlations between ?0.4 and ?0.6 with the microphysical characteristics of cirrus. As our future studies, in addition to the present work undertaken, we planned to gain knowledge and interested to explore the impact of a variety of aerosols apart from the dust aerosol on the microphysical properties of cirrus in different regions of China.     

Task allocation strategies for cooperative task planning of multi-autonomous satellite constellation

In recent years, the application of imaging satellites has entered a completely new stage, with the new demands such as rapid response to emergency events, observation of large-scale regional targets and multivariate data fusion, the multi-autonomous satellite constellation has been proposed. This paper first designs the structure of multi-autonomous satellite constellation, and a centralized-distributed structure is proposed. This structure could improve the dynamic response capacity of the whole constellation. Then, this paper adds adapted filtering mechanism to single autonomous satellite online scheduling algorithm to enhance its performance. This article also pays more attention on task allocation strategies of the master satellite in constellation, and ten different task allocation strategies based on five dimensions are analyzed by simulation experiments. At last, this paper extracts several characteristic features of the regular observation targets and designs a selector based on support vector machine (SVM). This selector could select an appropriate strategy according to the features of each experiment scenario.     

空间目标碰撞预警中的一种高效筛选方法

在航天器碰撞预警工作中, 为节省计算时间, 需要从大量空间目标中筛选出 可能的危险目标, 计算碰撞概率等参量并进行风险评估. 通常采用的筛选方 法包括高度筛选、几何筛选和时间筛选三步, 不同文献中后两步筛选的算 法略有不同, 同时各方法均难以实现预报三天的快速碰撞预警. 本文通过充 分考虑一阶摄动项对目标轨道的影响, 改进了时间筛选算法, 并在其后增加 了距离筛选, 将筛除比例从通常的大约99%提高到99.97%, 为实现快速碰 撞预警工作提供了理论支持. 通过对实测数据的计算比较, 验证了方 法的正确性及高效性.     

四驱全地形车可变直径轮软土牵引特性分析

为解决常规地面车辆及传统车轮在沙地、滩涂等松软地域行驶或作业时存在通过性差、效率低、能耗大甚至无法行驶的问题,自主创新设计出四驱可变直径轮轻型全地形探测车,车轮具有可张开成为弹性步行轮和合拢成为刚性圆车轮2种工作轮态.基于贝克模型的经典地面力学理论,分别建立了可变直径轮张开轮及合拢轮态时与3种典型松软沙土交互作用关系的力学简化模型,计算并对比分析了可变直径轮两种工作轮态的挂钩牵引力和驱动力矩、牵引效率等随滑转率的变化关系及车轮接近角与沉陷量关系.结果表明车轮的挂钩牵引力、驱动力矩和牵引效率等均受到车轮滑转率及软土特性参数的制约,在松软路面上可变直径轮张开步行轮比合拢圆轮能产生更大的挂钩牵引力、驱动力矩、牵引效率和更小的沉陷量,更有利于提高车轮的软土牵引通过性.分析结果可作为后续实验研究对比的参考.     

Sliding mode tracking control for miniature unmanned helicopters

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability(GAS) of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative(PID) and linear-quadratic regulator(LQR) cascaded controller in the presence of wind gust disturbances.