太阳宇宙线在电离层D层中的电离

本文根据带电粒子对D层大气电离的理论,导出了太阳宇宙线在D层的电子产生率Q(h)的表达式,并计算了不同级别的太阳宇宙线事件、不同能谱参数下,Q(h)在极区随高度的分布。结果表明,不同级别、不同能谱的太阳宇宙线事件在极区产生的电离有显著的差别。同一级别,能谱指数γ越大,在较高的高度上电子产生率越大;能谱指数越小,在较低的高度上电子产生率越大。电子产生率的分布曲线出现明显的双峰,一个峰位于60公里左右,另一个峰位于85公里左右。前一个峰主要由太阳宇宙线中质子产生的,后一个峰主要是z≥2的重粒子成分产生的。本文所得结果明显好于Velinov等人的结果。      

刀刃法在轨MTF测量性能分析

文章主要研究采用刀刃法测量在轨遥感器的MTF。刀刃法MTF测量准确程度如何,需要有一个定量的客观的评价,文章用仿真的方法对MTF测量精度进行了检验,对于噪声对MTF的影响进行了研究。     

无人直升机飞行控制系统设计

基于直升机非线性动力学方程 ,在简化悬停和低速飞行模态的推力扭矩模型的基础之上 ,用多变量线性鲁棒控制、遗传模糊控制和非线性跟踪控制等 3种不同方法 ,设计了飞行控制系统 ,并通过各种飞行仿真验证了飞行控制性能 ,分析与比较了这 3种方法的特点     

Temporal and Spatial Variation of the Ion Composition in the Ring Current

A global view of the ring current ions is presented using data acquired by the instrument MICS onboard the CRRES satellite during solar maximum. The variations of differential intensities, energy spectra, radial profile of the energetic particles and the origin of the magnetic local time (MLT) asymmetry of the ring current have been investigated in detail. O⁺ ions are an important contributor to the storm time ring current. Its abundance in terms of number density increases with increasing geomagnetic activity as well as its energy density. However, a saturation value for the energy density of O⁺ ions has been found. The low-energy H⁺ ions show a dramatic intensification and a rapid decay. However, its density ratio during the storm maximum is almost constant. On the other hand, high-energy H⁺ ions first exhibit a flux decrease followed by a delayed increase. Its density ratio shows an anti-correlation with the storm intensity. Both the positions of the maximum flux of O⁺ and He⁺ depend on storm activity: they move to lower altitudes in the early stage of a storm and move back to higher L-values during the recovery phase. Whereas the position of H⁺ and He⁺⁺ show almost no dependence on the Dst index. The energy density distributions in radial distance and magnetic local time show drastic differences for different ion species. It demonstrates that the ring current asymmetry mainly comes from oxygen and helium ions, but not from protons. The outward motion of O⁺ around local noon may have some implications for oxygen bursts in the magnetosheath during IMF Bz negative conditions as observed by GEOTAIL.     

灵巧壁面移动机器人运动学和动力学研究

灵巧壁面移动机器人是一个约束可变的系统,其可控性问题有待于证实.针对履带驱动方式具有非完整约束的性质,利用李群理论和微分几何的分析方法,对各种构型情况下灵巧壁面移动机器人运动学和动力学特性进行了研究,证明了灵巧壁面移动机器人的可控性,建立了机器人动力学方程,为机器人控制器的设计提供了理论指导.      

Obstacle avoidance handling and mixed integer predictive control for space robots

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector’s desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.     

人工肌肉夹持力的变结构控制

本文推导了一种气动人工肌肉系统的数学模型。探讨了用变结构系统理论实现人工肌肉夹持力控制的方法。给出了仿真和实验结果。人工肌肉既可以输出力(力矩),又可以调节刚性,是一种在柔顺运动控制中很有应用前途的新型作动器。     

月壤剖面锥型螺旋刃成孔钻头设计

针对月壤剖面钻进成孔探测需求,提出一种锥型螺旋刃成孔钻头,建立其钻进排屑性能的理论模型,并以此开展钻头结构参数的优化设计。在此基础上,分析螺旋刃切削姿态及其切削参数,基于直线刃平面切削理论建立锥型螺旋刃成孔钻头钻进切削负载预估模型,开展锥型螺旋刃成孔钻头模拟月壤剖面钻进负载特性试验验证。研究结果表明,相比于直线刃钻头,锥型螺旋刃成孔钻头的钻进排屑性能更优,而且钻进切削负载模型与试验结果具有较好的吻合度。研究成果对我国拟实施的月面钻取采样工程具有重要的借鉴价值。     

空间机器人一体化仿真系统的研究与实现

为对空间机器人关键算法进行验证和评估,开发了一套一体化仿真系统。该系统基于模块化设计思想,由遥测遥控接口、轨迹规划与控制、系统动力学模型、系统3D几何模型、相机成像模型、图像处理与位姿测量、碰撞检测与安全预警等模块组成。其中,3D实体模型及仿真场景由OSG(Open Scene Graph)建立,各关键模块的算法采用C语言编程实现,可对空间机器人执行在轨任务的关键算法进行闭环验证。最后对两种典型工况进行了仿真实验,结果表明了该系统的有效性。     

超硬刀具和材料的研究与应用

超硬复合材料是一种非常有发展前途的刀具材料,金刚石和立方氮化硼是其中的2种,在应用领域具有较好的互补性.先进的切削技术离不开先进的刀具,超硬刀具符合现代高速、高效、低成本以及环保的要求,是一种理想的切削刀具.切削加工是现代制造业应用最广泛的加工技术之一.据统计,国外切削加工在整个制造加工中所占比例约为80%～85%,国内则高达90%.