绳驱动拟人臂机器人的动力学建模及张力分析

与传统的机械臂相比,绳驱动拟人臂机器人采用串并混联的结构形式,模拟了人手臂肌肉的并联驱动方式,但是,绳索的引入也增加了动力学分析的难度.将绳驱动拟人臂机器人视为基座、大臂、小臂和末端四连杆串联机构,采用迭代牛顿-欧拉法建立动力学方程的递推形式,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于动态最小预紧力的张力分配算法,求解出各绳索的驱动力.与未进行张力分配的方法及基于静态最小预紧力的方法相比,所提出的算法可使各绳索驱动力根据动态最小预紧力进行实时调节,满足了不同工作条件下机构的刚度要求.     

气动发动机输出扭矩无因次分析

针对气动发动机的工作过程,利用能量方程、气体状态方程、连续性方程及运动过程方程建立气动发动机的非线性微分方程组.选取合适的基准量,对所建立的微分方程组进行无因次化,得到无因次化的数学模型.利用MATLAB/Simulink仿真工具,对无因次数学模型进行研究,得到各无因次量对气动发动机输出扭矩的影响.从仿真结果可以看出,气动发动机的无因次转速、进气门面积比例因子、排气门面积比例因子以及进气持续角度对气动发动机的无因次输出扭矩影响较大.当发动机转速升高扭矩急剧下降时,可以通过调整进气门面积比例因子、排气门面积比例因子以及进气持续角度使输出扭矩恒定.     

Digital signal processing and numerical analysis for radar in geophysical applications

Numerical solutions for signal processing are described in this work as a contribution to study of echo detection methods for ionospheric sounder design. The ionospheric sounder is a high frequency radar for geophysical applications. The main detection approach has been done by implementing the spread-spectrum techniques using coding methods to improve the radar’s range resolution by transmitting low power. Digital signal processing has been performed and the numerical methods were checked. An algorithm was proposed and its computational complexity was calculated.     

Modelling and observing Jovian electron propagation times in the inner heliosphere

The propagation of Jovian electrons in interplanetary space was modelled by solving the relevant transport equation numerically through the use of stochastic differential equations. This approach allows us to calculate, for the first time, the propagation time of Jovian electrons from the Jovian magnetosphere to Earth. Using observed quiet-time increases of electron intensities at Earth, we also derive values for this quantity. Comparing the modelled and observed propagation times we can gauge the magnitude of the transport parameters sufficiently to place a limit on the 6 MeV Jovian electron flux reaching Earth. We also investigate how the modelled propagation time, and corresponding Jovian electron flux, varies with the well-known ∼13 month periodicity in the magnetic connectivity of Earth and Jupiter. The results show that the Jovian electron intensity varies by a factor of ∼10 during this cycle of magnetic connectivity.     

Testing the three-dimensional IRI-SIRMUP-P mapping of the ionosphere for disturbed periods

This paper describes the three-dimensional (3-D) electron density mapping of the ionosphere given as output by the assimilative IRI-SIRMUP-P (ISP) model for three different geomagnetic storms. Results of the 3-D model are shown by comparing the electron density profiles given by the model with the ones measured at two testing ionospheric stations: Roquetes (40.8°N, 0.5°E), Spain, and San Vito (40.6°N, 17.8°E), Italy. The reference ionospheric stations from which the autoscaled foF2 and M(3000)F2 data as well as the real-time vertical electron density profiles are assimilated by the ISP model are those of El Arenosillo (37.1°N, 353.3°E), Spain, Rome (41.8°N, 12.5°E), and Gibilmanna (37.9°N, 14.0°E), Italy. Overall, the representation of the ionosphere made by the ISP model is better than the climatological representation made by only the IRI-URSI and the IRI-CCIR models. However, there are few cases for which the assimilation of the autoscaled data from the reference stations causes either a strong underestimation or a strong overestimation of the real conditions of the ionosphere, which is in these cases better represented by only the IRI-URSI model. This ISP misrepresentation is mainly due to the fact that the reference ionospheric stations covering the region mapped by the model turn out to be few, especially for disturbed periods when the ionosphere is very variable both in time and in space and hence a larger number of stations would be required. The inclusion of new additional reference ionospheric stations could surely smooth out this concern.     

Seasonally steady planetary disturbances in the troposphere and stratosphere as seen in 30 years of NCEP reanalysis data

Zonal velocity and temperature daily global reanalysis data of 30 years are used to search seasonally steady planetary disturbances in the middle troposphere (400 hPa) and middle stratosphere (10 hPa). Significant wavenumber 1, 2 and 3 modes are found. Constant phase lines of zonal velocity 1 modes exhibit significant inclination angles with respect to the meridians. The winter hemisphere generally shows a more significant presence of structures. The Northern Hemisphere (NH) exhibits all over the year a larger amount of structures and more intense amplitudes than the Southern Hemisphere (SH). Middle latitudes exhibit the most significant cases and low latitudes the least significant ones. Longitudinally oriented land–sea transitions at ±$\pm$65° and −35° latitudes appear to play a significant role for the presence of steady planetary modes. The stratosphere exhibits a much simpler picture than the troposphere. Large scale structures with respectively NE–SW (NH) and NW–SE (SH) tilts in the observed temperature and zonal velocity constant phase lines recall the quasi-stationary Rossby wave trains that favor the poleward transport of angular momentum.     

Design and performance of a vacuum-UV simulator for material testing under space conditions

This paper describes the construction and performance of a VUV-simulator that has been designed to study degradation of materials under space conditions. It is part of the Complex Irradiation Facility at DLR in Bremen, Germany, that has been built for testing of material under irradiation in the complete UV-range as well as under proton and electron irradiation. Presently available UV-sources used for material tests do not allow the irradiation with wavelengths smaller than about 115 nm where common Deuterium lamps show an intensity cut-off. The VUV-simulator generates radiation by excitation of a gas-flow with an electron beam. The intensity of the radiation can be varied by manipulating the gas-flow and/or the electron beam.     

半捷联式导引头视线转率提取算法

捷联式光学导引头的探测装置直接固联于弹体上,许多现有的制导信息处理方法都不再适用.对半捷联式导引头进行研究,根据其与常平架式与捷联式导引头不同的配置方式,推导了滚仰式和偏航俯仰式半捷联导引头视线转率提取算法,并分析了影响半捷联导引头视线转率提取精度的主要因素及误差传递关系,通过Simulink仿真验证了算法的正确性.      

非接触检测大螺纹件的可行性

针对科研生产中大螺纹件检测费时费力、检测准确度不高的实际情况,提出以激光位移传感器作为非接触扫描测头,配以三坐标架框架及转台等附件,组建非接触检测大螺纹件的检测校准装置的方案。通过扫描螺纹牙型的实际轮廓,计算螺纹的综合参数,并与标准螺纹数据比对,判定螺纹的合格与否。同时,验证了该方法的可行性。