双框架飞机蒙皮检测机器人切换运动控制方法

针对一种双框架飞机蒙皮检测机器人,通过分析该机器人在飞机表面上的受力情况,在飞机表面该机器人受到了非完整约束,基于牛顿-欧拉法建立了机器人非完整约束动力学模型。根据机器人机械结构和运动步态分析,将该非完整机器人系统分为子系统A和子系统B。为了实现机器人在飞机表面运动,采用反演技术和快速Terminal滑模控制相结合的思想对系统设计了控制器,提出了一种反演-滑模控制方法;对于非完整机器人子系统A和子系统B,设计了一种基于事件驱动的切换策略,实现了机器人对期望轨迹的全局渐近跟踪,并利用Lyapunov稳定性证明系统的跟踪误差收敛。仿真和试验表明,采用该切换策略和反演-滑模控制方法,双框架飞机蒙皮检测机器人可以在飞机表面自由运动并进行损伤检测,具有良好的可靠性和稳定性。     

Application of small-size antennas for estimation of angles of arrival of HF signals scattered by ionospheric irregularities

A modification of the Doppler Interferometry Technique is suggested to enable estimating angles of arrival of comparatively broadband HF signals scattered by random irregularities of the ionospheric plasma with the use of small-size weakly directional antennas. The technique is based on the measurements of cross-spectra phases of the probe radiation recorded at least in three spatially separated points. The developed algorithm has been used to investigate the angular and frequency-time characteristics of HF signals propagating at frequencies above the maximum usable one (MUF) for the direct radio path Moscow-Kharkiv. The received signal spectra show presence of three families of spatial components attributed, respectively, to scattering by plasma irregularities near the middle point of the radio path, ground backscatter signals and scattering of the sounding signals by the intense plasma turbulence associated with auroral activations. It has been shown that the regions responsible for the formation of the third family components are located well inside the auroral oval. The drift velocity and direction of the auroral ionosphere plasma have been determined. The obtained estimates are consistent with the classical conception of the ionospheric plasma convection at high latitudes and do not contradict the results of investigations of the auroral ionosphere dynamics using the SuperDARN network.     

基于访问数据模式的Cache缺失预测模型

为缓解SMT上线程对Cache的争用，提出了基于访问数据模式的Cache缺失预测模型ADM。使用模型对线程访存轨迹进行分析和计算，以两个线程在下一个时间片的访存地址信息作为模型的输入，预测Cache缺失情况并以此作为线程间Cache争用指标。 ADM实现了针对共享数据访问和私有数据访问两种模式的缺失计算方法，对比分析表明，ADM加入了对共享数据情况的分析过程，分别计算针对不同模式访存序列，结果更为精确，仿真试验表明，Cache缺失预测模型结果与目前同类模型的预测结果相比，误差分布在合理的范围内，当两个访存序列中有较多共享数据时，使用SMM方法计算结果将更为准确，证明了对访问模式进行划分的必要性。     

Genetic differentiation induced by spaceflight treatment of Cistanche deserticola and identification of inter-simple sequence repeat markers associated with its medicinal constituent contents

The dried, fleshy stems of Cistanche deserticola (Orobanchaceae) are popular tonics in Traditional Chinese Medicine (TCM) to treat the inability of kidney in expelling extra fluid in the body, causing fluid retention, and reform reproductive system. However, the wild plants of C. deserticola have become endangered due to habitat downsizing and over-harvesting for its medicinal usages. The present research was carried out for the following purposes: (1) promoting the space-breeding research; (2) providing molecular evidence for agricultural selective breeding; and (3) protecting this endangered herbal medicine and conserving its genetic resources.     

激励机制在大学英语教学中的运用

建立英语教学的激励机制,充分发挥学生的学习潜能,可采取创设语言环境,组织学生参加活动,利用外部动机和内部动机,激发学生对学习内容的直接兴趣等具体措施,以便使每一位学生都有同样的机会发挥自己的英语才能     

The Relativistic Proton Spectrometer (RPS) for the Radiation Belt Storm Probes Mission

The Relativistic Proton Spectrometer (RPS) on the Radiation Belt Storm Probes spacecraft is a particle spectrometer designed to measure the flux, angular distribution, and energy spectrum of protons from ～60 MeV to ～2000 MeV. RPS will investigate decades-old questions about the inner Van Allen belt proton environment: a nearby region of space that is relatively unexplored because of the hazards of spacecraft operation there and the difficulties in obtaining accurate proton measurements in an intense penetrating background. RPS is designed to provide the accuracy needed to answer questions about the sources and losses of the inner belt protons and to obtain the measurements required for the next-generation models of trapped protons in the magnetosphere. In addition to detailed information for individual protons, RPS features count rates at a 1-second timescale, internal radiation dosimetry, and information about electrostatic discharge events on the RBSP spacecraft that together will provide new information about space environmental hazards in the Earth’s magnetosphere.     

基于人工地标的移动机器人定位与调整技术

在飞机大型构件测量领域,针对测量设备自动化转站时存在移动机器人无法准确到达站位的问题,提出了采用基于人工地标的移动机器人定位与调整技术实现转站时的精确定位。其次,设计了一种人工地标,给出使用激光跟踪仪的地标标定工装以及标定方法,通过该方法可得到地标在全局坐标系下的坐标。同时,介绍了地标的编码与位姿的解算方法,以及移动机器人位姿调整策略。最后,试验表明,人工地标测量的位置和角度误差均较小,移动机器人通过人工地标的定位与调整后的精度可以满足自动化转站的精度要求。     

Al/Ni含能多层膜在Al2O3陶瓷/不锈钢焊接中的应用

采用磁控溅射设备,生长AuSn合金做焊料层、Al/Ni含能多层膜做热量提供层,实现了不锈钢和Al_2O_3间的异质材料自蔓延高温扩散焊。利用SEM、XRD和DSC等测试手段表征AuSn合金和Al/Ni含能多层膜的微观形貌、相成分和放热量;用万能试验机测试焊接接头的力学性能。结果表明,AuSn合金的质量比基本达到80∶20,而多层膜的层状结构清晰,反应热达到1 239 J/g。焊接实验结果表明,仅使用AuSn焊料时,剪切强度仅为46 MPa,在增加Al/Ni含能多层膜后,其剪切强度可达90 MPa,强度提高了约一倍。焊接接头的界面显微形貌和相结构研究表明,剪切强度的增强主要是Al/Ni多层膜提供了额外能量使得界面处的反应剧烈,陶瓷金属化层与中间层的反应加剧,形成了新的反应生成物。     

基于Kalman滤波的变体飞行器T-S模糊控制

针对变体飞行器的跟踪控制问题,提出了一种基于Kalman滤波的T-S模糊控制方法。考虑飞行器系统状态不可测,引入惯导数据作为辅助信息,利用Kalman滤波算法融合飞控信息与惯导信息实现状态估计。由于变体飞行器在不同变形结构下气动特性变化较大,为便于控制器设计,采用小扰动线性化方法得到飞行器在不同平衡点处的局部线性模型,并通过状态反馈方法设计局部控制器,局部线性模型和局部控制器通过模糊集和模糊规则聚合成一个连续光滑的全局T-S模糊模型和T-S模糊控制器。通过综合Kalman滤波器与T-S模糊控制器得到一个基于Kalman滤波的T-S模糊控制器。仿真结果表明,该控制器在变形过程中能够实现状态估计,保证飞机的跟踪性能。     

基于RANS/LES混合方法的分离流动模拟

飞行器在大迎角、快速俯仰机动时,流场中含有大尺度、非定常的涡结构,传统雷诺平均Navier-Stokes （RANS）模型不能准确模拟流场结构,根据国际上相关研究的发展趋势,需要采用混合RANS/大涡模拟（LES）模型来对复杂分离流动进行准确模拟。本文对基于分区混合与湍流尺度混合的双重RANS/LES混合计算模型进行发展与应用。通过典型简化模型的静、动态湍流大分离流动,测试和验证所采用的脱体涡模拟（DES）类方法,重点研究改进的延迟DES （IDDES）模型在动态问题应用中的正确性和有效性,并对所采用的数值模拟方法和相应的计算软件的可靠性、鲁棒性以及精度进行了考核验证。典型算例包括超声速圆柱底部流动、跨声速方腔流动、NACA0015机翼深失速分离涡模拟等。计算表明：发展的IDDES类混合计算模型可有效解决对数层不匹配的问题;对于定态非定常分离流动,DES、DDES、IDDES等模型计算结果差别不大,随着流动的非定常特性增强,IDDES模型的优势逐渐显现;对于动态非定常分离流动,则需要采用IDDES类模型。