Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system

This paper proposes a method for planning the three-dimensional path for low-flying unmanned aerial vehicle(UAV) in complex terrain based on interfered fluid dynamical system(IFDS) and the theory of obstacle avoidance by the flowing stream. With no requirement of solutions to fluid equations under complex boundary conditions, the proposed method is suitable for situations with complex terrain and different shapes of obstacles. Firstly, by transforming the mountains, radar and anti-aircraft fire in complex terrain into cylindrical, conical, spherical, parallelepiped obstacles and their combinations, the 3D low-flying path planning problem is turned into solving streamlines for obstacle avoidance by fluid flow. Secondly, on the basis of a unified mathematical expression of typical obstacle shapes including sphere, cylinder, cone and parallelepiped, the modulation matrix for interfered fluid dynamical system is constructed and 3D streamlines around a single obstacle are obtained. Solutions to streamlines with multiple obstacles are then derived using weighted average of the velocity field. Thirdly, extra control force method and virtual obstacle method are proposed to deal with the stagnation point and the case of obstacles’ overlapping respectively. Finally, taking path length and flight height as sub-goals, genetic algorithm(GA) is used to obtain optimal 3D path under the maneuverability constraints of the UAV. Simulation results show that the environmental modeling is simple and the path is smooth and suitable for UAV. Theoretical proof is also presented to show that the proposed method has no effect on the characteristics of fluid avoiding obstacles.     

Semi-analytic Solution of Steady Temperature Fields During Thin Plate Welding

Usually, it is very difficult to find out an analytical solution to thermal conduction problems during high temperature welding. Therefore, as an important numerical approach, the method of lines (MOLs) is introduced to solve the temperature field characterized by high gradients. The basic idea of the method is to semi-discretize the governing equation of the problem into a system of ordinary dif-ferential equations (ODEs) defined on discrete lines by means of the finite difference method, by which the thermal boundary condition with high gradients are directly embodied in formulation. Thus the temperature field can be obtained by solving the ODEs. As a numeri-cal example, the variation of an axisymmetrical temperature field along the plate thickness can be obtained.     

大功率高速泵的振动监测系统及其应用

大功率高速泵的振动问题是影响安全稳定运行的重要因素。针对GSB-W7高速泵的结构特点,建立了合适的振动监测系统,能够持续监测泵的振动状态,保护机组及整个工艺流程的安全运行并为故障诊断提供依据。以某台高速泵的振动数据为例,进行数据分析,认为轴振动位移偏大主要是由动不平衡量引起的,经动平衡处理后该高速泵的振动特性得到明显改善。结果表明,该振动监测系统在机组保护和故障诊断方面是可行的。     

Studies on urine treatment by biological purification using Azolla and UV photocatalytic oxidation

The amount of water consumed in space station operations is very large. In order to reduce the amount of water which must be resupplied from Earth, the space station needs to resolve the problems of water supply. For this reason, the recovery, regeneration and utilization of urine of astronauts are of key importance. Many investigations on this subject have been reported. Our research is based on biological absorption and, purification using UV photocatalytic oxidation techniques to achieve comprehensive treatment for urine. In the treatment apparatus we created, the urine solution is used as part of the nutrient solution for the biological components in our bioregenerative life support system. After being absorbed, the nutrients from the urine were then decomposed, metabolized and purified which creates a favorable condition for the follow-up oxidation treatment by UV photocatalytic oxidation. After these two processes, the treated urine solution reached Chinese national standards for drinking water quality (GB5749-1985).     

卫星导航系统综合分析处理软件PANDA及研究进展

简要介绍了卫星导航系统综合处理软件卫星精密定轨定位综合分析软件（PANDA）的数据处理方法与策略,重点阐述了PANDA软件目前的新进展,并对PANDA软件的进一步的发展进行了讨论。软件目前的研究进展以及与国外研究水平的比较表明,PANDA软件具有很好的发展前景,可作为基础性研究的软件平台,可为我国自主导航系统及卫星应用项目的发展提供技术支持。     

面向叶片型面的五轴联动柔性数控砂带抛光技术

针对叶片型面抛光,在分析五轴联动数控砂带抛光可行性的基础上,设计并开发了五轴联动柔性数控砂带抛光机。提出了接触轮与叶片型面有效贴合的概念,并通过改善抛光工具、采用柔性抛光技术和控制抛光轴矢量来实现砂带与叶片型面的有效贴合。抛光轴矢量由抛光位点处法矢和接触轮进给矢量计算获得,既实现了砂带与叶片型面的有效贴合,而且满足抛光轮接触压力方向与柔性机构收缩方向基本一致的要求。抛光轨迹规划采用等参数线法,抛光行距根据抛光带宽确定。最后进行抛光实验,结果为精抛后粗糙度达到0.25~0.39μm,抛光前后叶型轮廓度变化0.007mm,抛光去除量在0.010~0.016mm之间,满足图纸要求。通过实验表明,五轴联动数控砂带抛光叶片型面可行,采用本文所述技术能够满足叶片型面抛光要求。     

RESEARCH ON DYNAMICAL BEHAVIOR AND DESIGN OF CONTROL PARAMETER FOR NONLINEAR MAGNETIC-CONTROL SYSTEM

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工程设计计算模型图形接口程序的设计与应用

工程设计计算中，计算模型通常利用计算机进行图形显示，可使计算模型变得更为直观，选用AUTOCAD软件为工作平台，不仅可满足图形显示的要求，而且应用软件本身强大的绘图编辑功能，还可以对图形进行加工修改，满足工程设计计算的需要。本文介绍了工程设计计算模型与AUTOCAD接口程序的设计方法，并结合实例阐述了其应用和意义。     

多传感器静态数据分配问题的匈牙利解法

多目标多传感器数据关联中的分配问题一直是数据融合领域中的一个关键问题，众多的研究都提出了一系列不同的方法来解决这个NP-hard问题，本文提出了用2维分配问题的匈牙利解法来解决该问题，给出求解2－D，3－D分配的方法，经仿真计算表明，该法能较大程度地降低计算量，是一种实用性很好的方法，同时也值得向更高维的情况作进一步的研究和仿真比较。     

汽车桩考数据采集发送系统中的抗干扰处理

本主要讨论了以单片机控制的汽车桩考系统中数据采集／发送模块的抗干扰处理过程及其本思路和方法，针对汽车桩考的特点，结合长期实践的经验，总结出了一套行之有效的抗干扰方法。该方法也可应用于其它的小型控制系统之中。