未知空间目标纹理缺失表面三维重建算法

针对传统三维重建方法难以对纹理缺失表面进行完整重建的问题,提出一种基于深度学习与截断符号距离函数(TSDF)融合的未知目标三维表面完整重建算法。首先设计一种基于深度学习的图像逐像素深度估计框架,通过在训练过程中引入多个复杂结构模型,提高该深度估计框架的泛化能力;其次,利用TSDF对各帧图像所估计的深度信息进行融合,实现对纹理缺失区域的空间目标完整三维重建。根据仿真校验,对于300 mm尺寸的卫星模型图像,像素深度估计平均误差约为13 mm,通过TSDF融合后尺寸精度误差小于5.10%。实验结果表明该算法可以对未知空间目标光学图像进行逐像素深度估计,并获得目标完整的三维结构与纹理信息,有效解决无纹理区域的重建结构缺失问题。     

再入轨迹多约束模型预测静态凸规划方法

针对大升阻比可重复使用飞行器再入滑翔轨迹规划问题,提出了一种基于自适应分段Chebychev伪谱离散的多约束模型预测静态凸规划算法(P-CMPCP),实现了全量终端状态约束及多过程约束作用下再入轨迹的高精度迭代解算。考虑倾侧角翻转导致控制量不连续,传统规划方法难以同时严格满足终端位置、角度约束,且过程约束易超限,采用自适应分段伪谱离散策略,构建全程飞行状态及过程性能指标约束对各配点处控制调整量的敏感度关系,从而将非线性最优控制问题转化为静态凸规划问题,并利用内点法对各分段控制量进行了协调优化。本文所提方法无需对动力学模型进行简化或近似处理,即能以少量积分运算使轨迹满足再入全量模型约束,且控制量平滑,数值精度优于传统规划方法。     

模块化空间折展机构研究现状与展望

模块化空间折展机构具有拓展灵活、通用性好、适应性强等特点,可满足长距离深空探测、长期在轨空间站建设和超广域卫星通信等重大航天工程对大型/超大型空间折展机构的需求,是一种新型关键的航天装备.针对应用需求,阐述了模块化空间折展机构领域的研究进展,重点介绍了伸展臂、太阳翼和空间可展开天线等3类折展机构中具有模块化特征的典型构...     

Mesh-dependence of Material with Softening Behavior

The issue of mesh-dependence emerges when the conventional continuum damage model is applied to handling the softening behavior. In order to circumvent the mesh-dependence, the non-local theory is introduced into the conventional damage model and the finite element formulas are derived for two-dimensional gradient-enhanced damage model. A new element is proposed in which the basic unknown quantities are displacement, non-local equivalent strain and the gradient of non-local equivalent strain. The element and constitutive equation proposed in this article are added to the finite element software ABAQUS through user subroutine UEL. Numerical results show that the gradient-enhanced damage model can eliminate the mesh-dependence and is effective for dealing with the issue of softening behavior.     

Reachable domain of spacecraft with a single tangent impulse considering trajectory safety

The reachable domain of the two-body transfer orbit with a single upper-bounded tangent impulse is studied. Three cases are analyzed for either the magnitude of the tangent impulse or the initial impulse point being free, or both being free. For a fixed impulse magnitude and a free initial impulse point, the initial orbit is proved to be one of the envelopes of the reachable domain. Moreover, the trajectory safety for the transfer orbit requires a lower bound on the perigee altitude and an upper bound on the apogee altitude. Then the ranges of the impulse magnitude and the initial true anomaly can be obtained by solving quadratic and cubic inequalities, respectively. If both constraints are required for an arbitrary impulse point, the range of the impulse magnitude is obtained with impulses at the perigee and the apogee. Several numerical examples with different eccentricities are provided to show the geometry of the reachable domain and to verify the proposed method.     

On-orbit determination and adjustment of electrostatic accelerometer lever arm

In order to ensure the proof mass center of electrostatic accelerometer (EA) is fixed at the center of gravity of satellite as precisely as possible, an on-orbit determination and adjustment strategy of EA lever arm is presented in this paper. The EA lever arm is determined using the observations of EA, gyro and magnetometer first. Then it is adjusted by screw slider mechanism. The simulation results demonstrate that the proposed strategy can be carried out several times to yield better accuracy. Meanwhile, the optimal geographic location for EA lever arm determination along each axis is found.     

氦气流量和加工时间对大气等离子体温度的影响

通过红外热像仪对大气压下等离子体加工熔石英中的氦气流量和加工时间进行温度分析,分别得到氦气流量与加工时间对等离子体温度的联系.实验得出随着氦气流量的增加,等离子体温度先增加到峰值随后减小:随着加工时间的增加,温度增加至一定温度范围后基本保持稳定.     

Modified Rake architecture for GNSS receiver in a multipath environment

Multipath is one of the major error sources in satellite-based navigation systems. This paper proposes a new anti-multipath architecture, named Modified Rake (MRake), for Global Navigation Satellite System (GNSS) receiver. The architecture derives from RAKE receiver in communication system. It can track direct-path and multipath components separately from the received signal without consumption of much hardware resources or complex calculation. The MRake architecture uses an Amplitude Estimation Unit (AEU) to estimate the amplitude of each component, and a noncoherent DLL to adaptively control its time-delay. Since the receiver only uses the direct-path signal to calculate the user's position, the tracked multipath components are subtracted from the composite signal to reduce the multipath effect, and thus to reduce tracking error. MRake receiver shows better performance or consumes much fewer resources than traditional anti-multipath techniques.     

Grasping Strategy in Space Robot Capturing Floating Target

When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. “Dynamic grasping area” is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance.