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.     

Experimental investigation on a cavity-step-actuated supersonic oscillating jet

Wind tunnel testing is conducted at different back pressures in a vacuum-type wind tun-nel for a novel supersonic fluidic oscillator which consists of a two-dimensional Laval nozzle, a rect-angular cavity and a backward step, to obtain its characteristics and the conditions for jet oscillating. The experimental results show that periodic asymmetrical flipping of the supersonic jet appears over certain nozzle pressure ratio (NPR) range according to schlieren visualization and pressure fluctuations. The jet flipping appears only when the jet is over expanded. The normal-ized average amplitude of the lateral pressure difference acting on the roofs of the cavity and the step varies around 0.2 while the periodic flipping appears. The supersonic jet periodic flipping fre-quencies obtained from the experiments agree well with those from the modified Rossiter mode for cavity-step acoustic resonance, but further investigations are needed to discover the underlying mechanism for the jet flipping.     

Survey of orbital dynamics and control of space rendezvous

Rendezvous orbital dynamics and control （RODC） is a key technology for operating space rendezvous and docking missions. This paper surveys the studies on RODC. Firstly, the basic relative dynamics equation set is introduced and its improved versions are evaluated. Secondly, studies on rendezvous trajectory optimization are commented from three aspects： the linear rendez- vous, the nonlinear two-body rendezvous, and the perturbed and constrained rendezvous. Thirdly, studies on relative navigation are briefly reviewed, and then close-range control methods including automated control, manual control, and telecontrol are analyzed. Fourthly, advances in rendezvous trajectory safety and robust analysis are surveyed, and their applications in trajectory optimization are discussed. Finally, conclusions are drawn and prospects of studies on RODC are presented.     

可控肥皂膜气柱界面与激波相互作用的实验研究

基于肥皂膜技术提出了一种生成气柱界面的简单方法。形成的界面不需要支撑网格,因此初始条件可以很好地控制。在水平激波管中结合高速纹影开展了平面激波与二维或三维气柱界面作用的实验。纹影照片显示实验结果杂波更少,演变中的界面也比文献的结果更对称。此外,还特别研究了由极小曲面特征导致的三维效应,发现三维效应使界面的演变和发展变慢了。本研究将有助于更多了解三维性对Richtmyer-Meshkov不稳定性发展的影响。     

“后方法”时代基础英语立体教学模式构建

"后方法"是一种基于语境的教学主张和一系列宏观策略,并从根本上超越传统"教学法"概念的外语教学思想,它不是否定教学法而是强调将各种教学法"本土化"。在后方法教学观指导下,通过教学观念、教学手段、教学内容、教学形式、教学评价等的立体化,构建基础英语立体教学模式,实现教师教学实践理论化,践行"教师赋权"和"学习者自主"。     

基于FFT的抑制载波捕获技术

介绍三种基于快速傅里叶变换(FFT)的开环抑制载波捕获技术,并对这些算法进行性能分析及仿真.结果表明,基于FFT的交错符号积分技术,在低符号信噪比时引入的信噪比损失最小,适用于深空接收机中抑制载波捕获.     

Numerical investigation on the shock wave transition in a three-dimensional scramjet isolator

The scramjet isolator, which is used to prevent the hypersonic inlet from disturbances that arise from the pressure rise in the scramjet combustor due to the intense turbulent combustion, is one of the most critical components in hypersonic airbreathing propulsion systems. Any engineering error that is possible in the design and manufacturing procedure of the experimental model, and the intense heat release in the scramjet combustor, may cause the performance of the isolator to decrease, leading to its lack of capability in supporting the back pressure. The coupled implicit Reynolds Averaged Navier–Stokes (RANS) equations and the two-equation standard k?ε turbulent model have been employed to numerically simulate the flow fields in a three-dimensional scramjet isolator. The effects of the divergent angle and the back pressure on the shock wave transition and the location of the leading edge of the shock wave train have been estimated and discussed. The obtained results show that the present numerical results are in very good agreement with the available experimental shadow-pictures, and the numerical method is more suitable for capturing the shock wave train and predicting the location of the leading edge of the shock wave train in the scramjet isolator than the present two-dimensional numerical methods. This is due to the small width-to-height ratio of the isolator and the intense three-dimensional flow structures. On increasing the divergent angle of the scramjet isolator, the static pressure along the central symmetrical line of the isolator decreases sharply. This is due to the strong expansion wave generated at the entrance of the isolator, and when the divergent angle of the isolator is sufficiently large, namely 1.5°, a zone of negative pressure is formed just ahead of the leading edge of the shock wave train. At the same time, the shock wave train varies from being oblique to being normal, and then back to oblique. With an increase in the prescribed back pressure at the exit of the scramjet isolator, the leading edge of the shock wave train moves forward towards the entrance of the isolator, and when the back pressure is sufficiently large, unstart conditions in the hypersonic inlet can take place if the shock train reaches the inlet.     

雅江峡谷里飘出的悠远牧歌

如黛的森林包围着绒毯一般的草地，散落其中的牛羊，随处可见的玛尼堆和褪色的五彩经幡……初看雅江，似乎与川西高原的任一处别无二致。然而细细深入，在雅砻江以东的祝桑乡地区，小木窗上绘着美丽图案的石头民居，温软动听的语言，以及悠扬雅致的锅庄……一切都体现出古老神秘的木雅文化所特有的母性亲近感；而以西160多公里的西俄洛乡却处处牧歌豪放，一派典型的康巴画卷。只要你探身而入，雅江的自然与人文之美自会让你沉醉。     

丁羟胶重均官能度及其与推进剂最佳固化参数相关性的研究

重均官能度具有按当量数分数加和的性质。利用实验数据统计处理的方法,证明了丁羟胶重均官能度与推进剂最佳固化参数线性相关,为选择丁羟固体推进剂的配方和装药最佳固化参数提供了依据。