具有方向特性的X角点的亚像素检测定位

X角点被广泛应用于相机标定与可见光视觉跟踪系统,不仅具有位置信息,还可以具有方向信息.针对X角点的精确位置检测和方向检测,提出了一种利用X角点对称性的检测与定位算法——对称性计算算子(SC,Symmetry Calculation),简称SC算子.该算法主要由两部分组成.先利用对称性计算值确定X角点像素位置,然后基于二次曲线拟合及直线相交求亚像素位置.通过角点定位实验,仿真分析高斯噪声和畸变对定位精度及鲁棒性的影响,并与Harris算法及Micron Tracker系统进行比较.实验表明,本文方法能有效检测X角点,排除其他类型的角点和干扰点,具有较高的定位精度和鲁棒性.      

重力梯度对自由漂浮空间机器人姿态扰动分析

分析重力梯度对在轨运行的自由漂浮空间机器人姿态运动影响。由Lagrange方法建立自由漂浮空间机器人受重力梯度扰动的非线性动力学模型。首先,考虑无控关节自由状态,分析重力梯度对关节运动的影响。其次,利用相平面轨迹分析重力梯度对自由漂浮系统姿态运动影响。最后,由速度偏差曲线分析重力梯度对机械臂的影响。结果表明,当作用时间接近轨道周期或更长时,重力梯度引起的关节偏差已十分显著,且这种扰动作用主要由轨道偏心率决定;关节锁定时俯仰姿态受扰运动有周期振动与翻滚两种形式,若初始角速度满足一定限值可以保证俯仰运动不发生翻滚;当机械臂长时间工作时,忽略重力梯度将产生明显的末端定位误差。     

Influence of lunar topography on simulated surface temperature

The surface temperature of the Moon is one of the essential parameters for the lunar exploration, especially to evaluate the Moon thermophysical features. The distribution of the temperature is heavily influenced by the Moon topography, which, however, is rarely studied in the state-of-art surface temperature models. Therefore, this paper takes the Moon topography into account to improve the surface temperature model, Racca model. The main parameters, such as slopes along the longitude and latitude directions, are estimated with the topography data from Chang’E-1 satellite and the Horn algorithm. Then the effective solar illumination model is then constructed with the slopes and the relative position to the subsolar point. Finally, the temperature distribution over the Moon surface is obtained with the effective illumination model and the improved Racca model. The results indicate that the distribution of the temperature is very sensitive to the fluctuation of the Moon surface. The change of the surface temperature is up to 150 K in some places compared to the result without considering the topography. In addition, the variation of the surface temperature increases with the distance from the subsolar point and the elevation, along both latitude and longitude directions. Furthermore, the simulated surface temperature coincides well with the brightness temperature in 37 GHz observed by the microwave sounder onboard Chang’E-2 satellite. The corresponded emissivity map not only eliminates the influence of the topography, but also hints the inherent properties of the lunar regolith just below the surface. Last but not the least, the distribution of the permanently shadowed regions (PSRs) in the lunar pole area is also evaluated with the simulated surface temperature result.     

同轴撞击气-气喷嘴数值模拟和实验

为进一步深入研究喷嘴结构参数对气-气掺混燃烧特性的影响,针对氢向氧斜喷带撞击角度的气-气喷嘴开展了实验和数值模拟.实验研究了撞击角度对燃烧效率和燃烧室壁面温度的影响,数值仿真分析了撞击角度对喷注面板和氧喷嘴管壁温的影响.结果表明:随着氢向氧撞击角度的增大,推进剂燃烧效率、燃烧室壁面和氧喷嘴出口管壁面热载降低;氢向氧撞击角度的引入,增大了喷注面板热载.      

液体火箭燃烧尾焰冲击干扰效应数值研究

火箭发射时其燃烧尾焰的冲击干扰效应对发射稳定性和发射架、导流槽等地面设施有重要影响。文章采用压力隐式算子分裂算法,通过求解Navier-Stokes方程,对氢氧液体火箭发动机燃烧室内燃烧过程与尾焰流场进行了一体化数值计算,得到了火箭发射后尾焰与地面撞击产生的冲击流场。结果表明:尾焰流场计算模型、方法与结果合理;尾焰冲击干扰效应会大幅度提高地面附近的压力和温度;火箭尾焰撞击地面后,高温区出现在离地面一定距离的高温层内,此时地面附近为低速区;尾焰对其正下面的地面区域产生冲击最大,主要干扰区域集中于半径为15 m的圆形区域。     

气动力辅助椭圆轨道转移技术研究

研究了两种共面椭圆轨道最优转移方法--基于单纯推力的双脉冲对称转移和基于气动力辅助变轨技术的协同机动方法。推导了双脉冲对称转移问题中转移椭圆轨道的求解公式,采用遗传算法求解最优变轨点位置,给出了变轨脉冲的计算方法。将气动力辅助对称转移过程分为3段：真空飞行段、大气飞行段、真空飞行段。以能量最小为性能指标,将大气飞行段轨迹优化问题转化为标准最优控制问题模型,并利用Gauss伪谱法进行求解,得到“巡航+滑行+巡航+滑行”的大气最优飞行轨迹。最后对两种转移方法进行详细比较,指出初始椭圆轨道近地点越接近大气层,气动力辅助对称转移方法比双脉冲对称转移方法越节省能量。     

空间微小碎片撞击对太阳能电池性能影响

文章利用中国科学院空间科学与应用研究中心的等离子体驱动微小碎片加速器,进行了空间微小碎片累积撞击太阳能电池的模拟试验。之后,利用体式显微镜统计出太阳能电池表面的撞击坑,并测量了撞击前后太阳能电池的开路电压、短路电流、最大输出功率等参数的变化。试验结果与理论分析揭示了引起太阳能电池功率衰减的主要原因是碎片累积撞击导致的太阳能电池表面损伤。     

Adaptive path planning for unmanned aerial vehicles based on bi-level programming and variable planning time interval

This paper presents an adaptive path planner for unmanned aerial vehicles (UAVs) to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming (BLP) and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles (SAMs) are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.     

S波段锁相环调频发射机设计

调频技术是遥测通信技术中的关键技术之一.介绍准两点注入式锁相调频发射机的基本工作原理以及相应的理论分析,随后提出电路的具体实现方案.测试结果表明,发射机调频工作时相位噪声在偏离中心频率10kHz处不低于-83.3dBc,杂散抑制超过70dBc.理论分析和实验表明,准两点注入式锁相调频发射机具有平坦的宽带调制特性,能够满...     

一种非链式非完整球形机器人的反步轨迹跟踪控制器(英文)

Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.