Optimal target grasping of a flexible space manipulator for a class of objectives

Space graspers are complex systems, composed by robotic arms placed on an orbiting platform. In order to fulfil the manoeuvres’ requirements, it is necessary to properly model all the forces acting on the space robot. A fully nonlinear model is used to describe the dynamics, based on a multibody approach. The model includes the orbital motion, the gravity gradient, the aerodynamic effects, as well as the flexibility of the links. The present paper aims to design, thanks to nonlinear optimization algorithms, a class of manoeuvres that, given the same target to be grasped, are characterized by different mission objectives. The grasping mission can be performed with the objective to minimize the power consumption. Collision avoidance constraints can be also added when the target is equipped with solar panels or other appendices. In some cases, large elastic displacements should be expected, possibly leading to an inaccurate positioning of the end-effector. Therefore, different design strategies can require that the manoeuvre is accomplished with minimum vibrations’ amplitude at the end-effector. Performance of the different strategies is analyzed in terms of control effort, trajectory errors, and flexible response of the manipulator.     

首款国产大飞机发动机技术特点及其市场前景浅析

未来20年C919飞机群整体需要5000台份发动机,LEAP-X1C有可能将占到2500～3500台份;而SF-A和SF-B将占到1500～2500台份。这样的市场预测值对于LEAP-X1C与SF-A和SF-B来讲都是相当可观的。     

A starting system of warning the critical conditions for a single-rotor helicopter

We consider the function, the problems being solved and the construction principles for a starting system of warning the critical regimes for a single-rotor helicopter at parking, taxiing and maneuvering on the ground, takeoff and landing as well as at descending and hovering regimes. The structural-functional scheme and the algorithms of system channel warning are presented.     

The role of Venesat-1 satellite in promoting development in Venezuela and Latin America

Built in cooperation with China, at the end of 2008 the Bolivarian Republic of Venezuela launched its first telecommunications satellite which operates in C, Ku and Ka bands. Using published and unpublished information, this report describes the potential role of the Venesat-1 satellite in promoting development in Venezuela and Latin America. The core of Venezuelan space policy has deep social roots and includes several applications in order to provide telecommunications services to people in all areas of the country. Potential roles of the Venezuelan Satellite in local and regional development include: strengthening environmental tele-education and telemedicine programs; improving disaster management through short-term development of broad networks to monitor environmental and meteorological features; coordination of emergency responses and humanitarian assistance using data and satellite communications; poverty reduction; and biodiversity conservation – communication networks could also be used to relay information about detected fires within protected areas faster, and to improve surveillance activities within them with in order to reduce illegal hunting, logging, habitat loss and fragmentation. Because the area covered by the satellite goes beyond Venezuela’s borders, its applications could have enormous relevance for human development at the regional level; they could be fundamental tools for bringing sustainable development into Latin America, by building capacity and increasing awareness among decision makers and lay people.     

The Space within Fisherman's Folly: Playing with a Puzzle in Mereotopology

Abstract

In this paper we propose a spatial ontology for reasoning about holes, rigid objects and a string, taking a classical puzzle as a motivating example. In this ontology the domain is composed of spatial regions whereby a theory about holes is defined over a mereotopological basis. Within this theory we define a data structure, named chain, that facilitates a clear and efficient representation of the puzzle states and its solution.     

Determination of maximum deflection in transverse bending of parallelogram plates using the conformal radiuses ratio

A problem of transverse bending of elastic isotropic parallelogram plates under the action of uniformly distributed load is considered. The plate sides are either pivoted or rigidly restrained. To determine the value of maximum plate deflection, it is proposed that an interpolation technique with respect to form factor be used; and as a geometrical argument, an inner-outer conformal radius ratio can be applied instead of the form factor.     

A working hypothesis for connections between electrically-induced changes in cloud microphysics and storm vorticity,with possible effects on circulation

This paper outlines, and explores the uncertainties in, hypothesized connections between a series of processes that could explain two long-standing puzzles; those of (1) the observed winter storm vorticity responses to atmospheric energy inputs that change the ionosphere–earth current density, J_z, that appear to involve storm invigoration, and (2) changes in anti-cyclonic blocking and circulation that include the observed colder winters in Great Britain and western Europe at solar minima, and especially at extended solar minima. A working hypothesis for the mechanism responsible for (1) is that the flow of J_z through conductivity gradients, as in stratified cloud layers and fog, especially with sea-salt aerosol haze over the high latitude winter oceans, deposits electric changes on droplets and aerosol particles; most importantly on cloud condensation nuclei (CCN). These electric charges modulate scavenging of the particles in clouds and haze layers, increasing the concentration of small CCN and decreasing the concentration of large CCN. When further cloud formation occurs there is increased concentration of small droplets and decreased concentration of large ones, reducing coalescence and the production of rain. Thus updrafts carry more liquid water above the freezing level, and there the increased production of ice releases more latent heat and invigorates the updraft (the Rosenfeld mechanism), leading to increased vorticity. Here we explore the major uncertainties for the reality of the above chain of physical processes. A consequence of cumulative cyclonic vorticity increases is increases in downstream anti-cyclonic blocking. A further working hypothesis for (2) is that the invigoration may be large enough to contribute to the observed increases in blocking in winters at solar minima (high J_z) in the North Atlantic, that result in colder winters in the UK and northern Europe.