Positioning error compensation of an industrial robot using neural networks and experimental study

Due to the characteristics of high efficiency, wide working range, and high flexibility,industrial robots are being increasingly used in the industries of automotive, machining, electrical and electronic, rubber and plastics, aerospace, food, etc. Whereas the low positioning accuracy,resulted from the serial configuration of industrial robots, has limited their further developments and applications in the field of high requirements for machining accuracy, e.g., aircraft assembly.In this paper, a...     

宽频带中频相位计的研制

比较全面地介绍了-宽带中频相位计的研制过程。论述了相位计的工作原理,给出了系统框图。对各个部件的设计做了介绍,并给出了相位计所达到的技术指标。还介绍了系统测试方法和检定方法,对系统的误差做了分析,并给出了理论计算误差与实测误差的对应关系,提出了今后的进一步设想。     

IPSec VPN误码传输控制的研究与应用

IPSec VPN为网络创建安全连接的虚拟私网提供了灵活的实现手段,使用户可以避免租用昂贵的专线而采用公网就可以实现广泛的电子商务活动;在IPSec隧道通信协议实现VPN的基础上,详细研究了VPN双极性信号误码率的传输控制,得出了提高带宽B比增加信噪比S/N更有效的结论,并讨论了数字密钥在提高通信系统安全的应用前景。     

Navigation message designing with high accuracy for NAV

Navigation message designing with high accuracy guarantee is the key to efficient navigation message distribution in the global navigation satellite system（GNSS）. Developing high accuracy-aware navigation message designing algorithms is an important topic. This paper investigates the high-accuracy navigation message designing problem with the message structure unchanged.The contributions made in this paper include a heuristic that employs the concept of the estimated range deviation（ERD） to improve the existing well-known navigation message on L1 frequency（NAV） of global positioning system（GPS） for good accuracy service; a numerical analysis approximation method（NAAM） to evaluate the range error due to truncation（RET） of different navigation messages; and a basic positioning parameters designing algorithm in the limited space allocation. Based on the predicted ultra-rapid data from the ultra-rapid data from the international GPS service for geodynamic（IGU）, ERDs are generated in real time for error correction.Simulations show that the algorithms developed in this paper are general and flexible, and thus are applicable to NAV improvement and other navigation message designs.     

部件自动对接过程中的运动规划及精度控制

本文针对飞机大部件自动对接的装配过程,建立了部件运动的数学模型,完成了部件的运动规划,并将其转换为定位器的运动。同时,分析了实际过程中误差产生的原因,并提出相应的补偿方法。该方法已应用于某型号飞机的对接装配中,结果表明,该补偿方法能够非常有效地提高对接精度。     

中继卫星星间天线指向误差传播率研究

基于中继卫星星间天线对用户航天器的跟踪规律,建立了准确的误差传递模型,并对分析结果进行了仿真验证。文中首先定义了误差传递模型所需的各类坐标系;然后使用微分方法分别建立了中继卫星轨道误差传递模型、中继卫星姿态误差传递模型,分析了滚动角、俯仰角和偏航角与指向精度之间的关系,以及位置保持控制对指向精度的影响;最后借助于STK软件的轨道计算功能,使用蒙特卡罗方法进行数学仿真,仿真结果验证了误差传递模型的准确性。     

Uncertainties in the measurement of the atmospheric velocity due to balloon-gondola pendulum-like motions

Balloons lead to the highest vertical resolution of air velocity data actually attainable from atmospheric soundings. However, the pendulum-like motion of the balloon-gondola system may significantly affect these measurements if the distance between balloon and gondola is large. This may prevent the study of the highest vertical resolution range obtained. Also, if not appropriately discriminated, these fluctuations could be confused with small scale or turbulent oscillations of the atmosphere. It is shown from simple energy considerations that horizontal and vertical wind velocity perturbations introduced in the observations by the pendulum motion may usually be comparable to typical measurements. Vertical velocity data that were obtained with an instrumented gondola in a zero pressure balloon, which typically reach the lower stratosphere, are analyzed and found to be in agreement with the above statements. The pendulum-like behavior in this sounding seems to be stimulated by the buoyant oscillation of the atmosphere.     

二进制对称信道差错源的模拟

提出一种应用ｍ序列的伪随机特性模拟二进制对称信道（ＢＳＣ）差错源的方法。分析ＢＳＣ的差错特性，给出模拟ＢＳＣ差错源的电路框图，并用计算机对模拟结果进行了统计检验。检验结果证明模拟结果与ＢＳＣ的理论差错特性十分接近。证明提出的方法具有很好的应用价值。     

北斗卫星导航系统测量误差指标体系

围绕北斗卫星导航系统中的伪距测量误差，全面分析系统的测量原理，提出系统误差指标体系的构建流程，构建基于误差层次分解方法的北斗卫星导航系统测量误差指标体系，指标体系由1个系统层指标、3个准则层指标、11个要素层指标和36个基础指标等51个指标组成。同时，结合实例，从卫星下行链路的绝对时延的测试需求，引出了绝对时延的测试问题，定义星载导航任务处理单元对外1PPS信号的输出口作为卫星的时间零点，给出需要测试的绝对时延的路径组成。根据目前系统的实际情况，通过每一部分的测试误差，求出整个绝对时延的测量误差精度。     

Calibration of robotic drilling systems with a moving rail

Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot＇s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations.The calibration of the robot is based on error similarity and inverse distance weighted interpolation.The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85%to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.