Temporal and Spatial Variation of the Ion Composition in the Ring Current

A global view of the ring current ions is presented using data acquired by the instrument MICS onboard the CRRES satellite during solar maximum. The variations of differential intensities, energy spectra, radial profile of the energetic particles and the origin of the magnetic local time (MLT) asymmetry of the ring current have been investigated in detail. O⁺ ions are an important contributor to the storm time ring current. Its abundance in terms of number density increases with increasing geomagnetic activity as well as its energy density. However, a saturation value for the energy density of O⁺ ions has been found. The low-energy H⁺ ions show a dramatic intensification and a rapid decay. However, its density ratio during the storm maximum is almost constant. On the other hand, high-energy H⁺ ions first exhibit a flux decrease followed by a delayed increase. Its density ratio shows an anti-correlation with the storm intensity. Both the positions of the maximum flux of O⁺ and He⁺ depend on storm activity: they move to lower altitudes in the early stage of a storm and move back to higher L-values during the recovery phase. Whereas the position of H⁺ and He⁺⁺ show almost no dependence on the Dst index. The energy density distributions in radial distance and magnetic local time show drastic differences for different ion species. It demonstrates that the ring current asymmetry mainly comes from oxygen and helium ions, but not from protons. The outward motion of O⁺ around local noon may have some implications for oxygen bursts in the magnetosheath during IMF Bz negative conditions as observed by GEOTAIL.     

旋转叶片干摩擦阻尼结构模型及分析方法研究综述

旋转叶片是航空发动机的关键部件,其振动特性及振动抑制技术对发动机的性能和结构完整性、工作可靠性产生重要的影响,在各类叶片振动抑制方法中,干摩擦阻尼结构应用最为广泛。首先,详细地阐述了旋转叶片干摩擦阻尼器动力学建模及其发展现状;然后,介绍了旋转叶片干摩擦阻尼结构减振特性分析方法及其发展现状,最后,提出了基于不同结构形式的叶片-地(B-G)型和叶片-叶片(B-B)型、基于接触面相互作用的干摩擦阻尼数学模型、基于接触点描述的干摩擦阻尼接触模型以及根据相对运动关系形成的干摩擦接触运动模型,以期为旋转叶片减振结构的建模设计、提高可靠性和效率、减振延寿等方面提供理论和技术支持。     

灵巧壁面移动机器人运动学和动力学研究

灵巧壁面移动机器人是一个约束可变的系统,其可控性问题有待于证实.针对履带驱动方式具有非完整约束的性质,利用李群理论和微分几何的分析方法,对各种构型情况下灵巧壁面移动机器人运动学和动力学特性进行了研究,证明了灵巧壁面移动机器人的可控性,建立了机器人动力学方程,为机器人控制器的设计提供了理论指导.      

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.     

集群无人机队形重构及虚拟仿真验证

队形重构是集群无人机（UAV）控制的重要问题，指无人机按照要求安全、无碰撞地从一个队形变换到另一个队形，其难点在于快速规划最优安全轨迹并控制无人机进行轨迹姿态的高精度跟踪。针对集群无人机队形重构的上述问题，首先，基于CAPT（Concurrent Assignment and Planning of Trajectories）算法，解决了多无人机的目标分配和轨迹生成的实时性问题，实现了集群无人机的最优安全路径规划；其次，提出一种有限时间多变量积分滑模连续控制算法，解决了无人机轨迹姿态的高精度跟踪问题，并通过MATLAB仿真验证了该控制算法的有效性；最后，为了更加真实直观地演示无人机三维仿真效果，建立了基于Gazebo-ROS的无人机仿真平台，实现了12架四旋翼无人机队形重构"建模-仿真-可视化"的一体化仿真演示，验证了上述路径规划算法和轨迹姿态控制算法的有效性。     

北斗卫星通信导航信号激励器的方案设计和应用

根据北斗卫星系统工作原理,提出了北斗卫星通信导航信号激励器的方案设计和在直升机型号设计中的应用。该激励器具有模拟北斗卫星通信导航信号的功能,其作用是在航电系统地面综合联试中,为机载北斗接收机和组合导航系统提供激励信号。     

人工肌肉夹持力的变结构控制

本文推导了一种气动人工肌肉系统的数学模型。探讨了用变结构系统理论实现人工肌肉夹持力控制的方法。给出了仿真和实验结果。人工肌肉既可以输出力(力矩),又可以调节刚性,是一种在柔顺运动控制中很有应用前途的新型作动器。     

天线互耦和激励对MIMO—OFDM系统抗干扰性能的影响

在简介MIMO-OFDM系统基本原理的基础上,讨论天线单元的耦合和激励对MIMO-OFDM系统抗干扰性能的影响。采用MVDR波束形成算法,通过仿真例子可以看出,当天线单元实际存在互耦和激励误差时天线的抗干扰性能较理想情况会有所下降,表明要充分保持MIMO-OFDM的抗干扰性能需要考虑互耦效应和激励误差。     

不动点类的代数注记

本文利用不动点类的代数化，决定复迭空间的基本群的正规子群H的构成因素及其性质，研究不动点类与H不动点类的关系。