Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

多星测控调度的遗传算法分析

针对多星过站冲突问题,以工程需求为导引,建立了多星测控调度模型,并采用遗传算法对其进行求解.从全局和局部搜索两种策略入手,以可用可见弧段为对象,设计了"全弧段"编码和基于协同进化的编码两种编码方式,给出了对应算法的实现流程和遗传操作算子,对两种编码方式的求解效率进行了分析.通过仿真对两种编码的求解质量与时间开销性能作了验证,由此得出了两种编码和对应搜索策略的适用范围.据此开发的系统已成功应用于航天顶层设计的辅助决策.     

空间交会近程导引段控制方法与控制算法

阐述了空间交会近程导引段控制方法与控制算法。停泊点转移控制采用终端控制法,以终点标称状态为控制目标;停泊点位置保持应用轨迹控制法原理。对转移控制,冲量制导的控制目标是终端位置,连续常推力制导的控制目标是终端位置和速度,可应用不同控制方式,对转移时间有不同影响。模拟计算结果表明,提出的控制方法及其算法是有效的。     

一种基于SPIHT算法的小波图像编码

在研究图像小波分解系数特点与SPIHT算法的基础上,针对SPIHT算法中三张链表在编码过程中以同一模式处理仍存在冗余,提出了一种基于SPIHT算法的小波图像编码。算法采用分区间处理,对LIP、LIS、LSP三张链表在不同的系数范围内采取不同的编码模式,当阈值减少时四邻域中同一量化级的重要系数个数明显增加,并且绝对数值较接近,编码时只保存这几个重要系数的平均值。给出了实验结果,并与原SPIHT算法比较,结果表明:文章给出的编码方法的编码性能优于原算法。     

球形粒子在流体中的跟随性

本文从Maxey和Riley的粒子运动基本方程出发,得到了球形固体粒子在相对流动雷诺数很小情形下的分析解。讨论了粒子跟随性对外力、初始条件和流场性质的依赖关系;对均匀湍流场,分析了不同密度比和扰动频率对跟随性的影响     

壁压法在低速闭口回流式风洞中的应用

本文介绍了由Hackett提出的一种估算大攻角洞壁干扰修正的壁压信息法。并利用四个几何相似、尺寸不同的平板机翼和翼-身组合体模型在南航NH-2风洞中进行了试验。试验和计算结果表明,该方法使用方便,修正结果准确可靠。但必须指出,对于试验段下游带有平衡缝的闭口回流风洞,洞壁测压数据需经适当的修正才能获得满意的结果。     

On suboptimal detection of 3-dimensional moving targets

The author designates matched filters that are completely characterized by the velocity of the target as assumed velocity filters (AVFs). Like most matched filtering techniques where the signal parameters range in a continuum, the AVF must be implemented suboptimally by partitioning the velocity space. The author investigates the possibility of using a signal-to-noise ratio (SNR) loss factor as the criterion for the partition. The loss factor is a measurement of the loss of SNR at the output of the matched filter due to mismatch of filter parameters. In the scenario of detecting a moving satellite from a ground-based sensor, because of the vast sky the sensor has to search, it is important to keep the number of filters minimal. The author shows that, with a fixed loss factor, the number of filters required for coverage increases linearly as the span of the two-dimensional velocity space increases quadratically. The rate of increase is further reduced when the loss factor is made proportional to expected target angular speed     

涡轮叶栅下游二次流损失增长的研究

本文采用了一低速涡轮叶栅在下游若干平面上测量了二次流的总压损失。经研究分析,得出了一套损失的经验公式,并与国外已发表的二次流损失关系式作了比较,对其中存在的疑点提出了看法。试验中采用一小型Kiel快速响应的压力探针,在微机控制下,迅速得到各个截面的总压损失系数平均值,大大提高了测量的速度和精确度。      

一个方便实用的旋翼数据库

本文介绍了一个以EXCEL和EXCEL VB建立的旋翼数据库。并以一个分库为例介绍了建立和使用方法。