Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

A salient edges detection algorithm of multi-sensor images and its rapid calculation based on PFCM kernel clustering

Multi-sensor image matching based on salient edges has broad prospect in applications, but it is difficult to extract salient edges of real multi-sensor images with noises fast and accurately by using common algorithms. According to the analysis of the features of salient edges, a novel salient edges detection algorithm and its rapid calculation are proposed based on possibility fuzzy C-means （PFCM） kernel clustering using two-dimensional vectors composed of the values of gray and texture. PFCM clustering can overcome the shortcomings that fuzzy C-means （FCM） cluster- ing is sensitive to noises and possibility C-means （PCM） clustering tends to find identical clusters. On this basis, a method is proposed to improve real-time performance by compressing data sets based on the idea of data reduction in the field of mathematical analysis. In addition, the idea that kernel-space is linearly separable is used to enhance robustness further. Experimental results show that this method extracts salient edges for real multi-sensor images with noises more accurately than the algorithm based on force fields and the FCM algorithm; and the proposed method is on average about 56 times faster than the PFCM algorithm in real time and has better robustness.     

Transient simulation of regression rate on thrust regulation process in hybrid rocket motor

The main goal of this paper is to study the characteristics of regression rate of solid grain during thrust regulation process. For this purpose, an unsteady numerical model of regression rate is established. Gas–solid coupling is considered between the solid grain surface and combustion gas.Dynamic mesh is used to simulate the regression process of the solid fuel surface. Based on this model, numerical simulations on a H2O2/HTPB(hydroxyl-terminated polybutadiene) hybrid motor have been performed in the flow control process. The simulation results show that under the step change of the oxidizer mass flow rate condition, the regression rate cannot reach a stable value instantly because the flow field requires a short time period to adjust. The regression rate increases with the linear gain of oxidizer mass flow rate, and has a higher slope than the relative inlet function of oxidizer flow rate. A shorter regulation time can cause a higher regression rate during regulation process. The results also show that transient calculation can better simulate the instantaneous regression rate in the operation process.     

乌鲁木齐塔台管制区的冲突点及调配方法

一、管制调配预案的制定方法管制调配预案是空中交通管制员在遵循有关的管制单位之间的管制协议,空中交通管制的政策法规的前提下,以保障空中和地面的航空器安全、有序、快速、顺畅的运行为目的,根据进港航空器的预计到达时间、出港航班的预计起飞时间、当前的空中交通情况以及     

田捷砚凌空飞撷西部大地之美

应该感谢摄影家田捷砚数年数以百次不知倦怠的艰辛西部航拍之旅，以及他在某种高度上忘我创作的数以万张的精彩图片，让我们心驰神往的境界变成可观可感的实际图像。[编按]     

天基信息支援对导弹攻防作战的效用分析

分析了空天一体作战天基装备系统——军事卫星,对导弹攻防作战重要的信息支援效用。建立并阐述了天基军事卫星信息系统信息支援下导弹攻防作战过程模型和影响图模型,对模型进行了详细的分析讨论。     

TopPixelLoss:类别不均衡的遥感影像语义分割损失函数

针对遥感影像中类别不均衡的小目标分割效果不理想的问题，提出了一种类别不均衡小目标二分类分割的损失函数——TopPixelLoss损失函数。首先计算出每个像素的交叉熵，然后将所有像素的交叉熵按从大到小进行排序，随后确定一个K值作为阈值，筛选出前K个交叉熵最大的像素，最后对于筛选出的K个像素交叉熵取平均，做为损失值。在ISPRS 提供的 Vaihingen 数据集上，使用PSPNet网络与普通交叉熵、FocalLoss、TopPixelLoss三种损失函数分别对车辆进行二分类分割试验。结果表明，不同的K值，使用TopPixelLoss损失函数的平均交并比（MIoU）、F1-score、准确度（ACC）都最高;当K值为5×104时效果最佳，MIoU、F1-score、ACC分别比FocalLoss提高了3.0%、5.0%、0.1%。TopPixelLoss损失函数是一种针对类别不均衡分割非常有效的损失函数     

一种冲击响应谱试验设备校准装置的研制

介绍了冲击响应谱基本概念及其试验设备的分类与工作原理，参考现行冲击试验台检定规程提出了针对该设备的校准方法，设计了一种基于虚拟仪器技术的新型冲击响应谱试验设备校准装置，给出了典型冲击波形（半正弦、矩形、后峰锯齿）的冲击响应谱仿真计算结果并进行了验证，计算结果与理论结果完全一致，证明算法准确可靠，能够实现对冲击响应谱试验设备的校准。     

Predicting performance in manually controlled rendezvous and docking through spatial abilities

Manually controlled rendezvous and docking (manual RVD) is a challenging space task for astronauts. This study aims to identify spatial abilities that are critical for accomplishing manual RVD. Based on task analysis, spatial abilities were deduced to be critical for accomplishing manual RVD. 15 Male participants performed manual RVD task simulations and spatial ability tests (the object-manipulation spatial ability and spatial orientation ability). Participants’ performance in the test of visualization of viewpoints (which measures the spatial orientation ability) was found to be significantly correlated with their manual RVD performance, indicating that the spatial orientation ability in the sense of perspective taking is particularly important for accomplishing manual RVD.     

民用飞机辅助动力装置进气系统防火适航条款解读及试验研究

民用飞机辅助动力装置(简称APU)安装在飞机后机身APU舱内。APU舱作为民用飞机适航审查过程中的指定火区,需要经过严格的防火密封性验证。确保APU舱火区内可能发生的火灾危险不会传播到飞机的其他区域,影响到APU系统乃至整个飞机的安全运行。APU系统通过进气系统穿越APU舱防火墙与外界大气连通,为APU正常工作提供新鲜空气。进气系统穿越防火墙对APU舱的防火密封能力提出了很大考验。民用飞机适航审定也对APU进气系统防火性能提出了详细的适航条款要求。从APU进气系统防火适航条款解读入手,通过某型民用飞机APU进气系统防火适航审定实例,对进气系统防火从设计角度进行了研究,并且对适航审查时需要重点关注的防火密封区域进行了试验研究。