重访机制驱动的多无人机协同动目标搜索方法

为实现多无人机高效捕获灰色任务区域内的移动目标,考虑传感器探测概率与虚警概率,提出了重访机制驱动的协同搜索规划（RMD-CSP）方法,以降低目标遗漏与误判概率。考虑无人机飞行性能约束,以最大化任务执行效能为目标建立多无人机协同搜索模型。根据目标先验信息初始化环境搜索信息图（包括目标概率分布图、环境不确定度图与环境搜索状态图）,利用无人机实时探测信息,基于贝叶斯准则持续更新搜索信息图。定制基于环境不确定度更新的重访机制,通过增加长时间未被重访区域的环境不确定度,引导无人机搜索该区域,降低移动目标的遗漏概率;定制基于目标函数权重更新的重访机制,引导无人机快速重访发现新的疑似目标的区域,对疑似目标进行再次确认,减少由于传感器虚警概率造成的目标误判概率。采用滚动时域规划架构,将搜索规划问题分解为一系列短时域规划问题,提升了求解效率。在典型任务想定下,通过数值仿真试验验证了所提方法的有效性。仿真结果表明,RMD-CSP能够在秒级时间内生成每个时域的搜索航迹,相比于光栅式搜索方法与标准的概率启发式搜索方法,能够引导无人机捕获更多的移动目标,同时减少误判次数,有效提升了多无人机协同搜索的任务效能。     

带弹性元件扑翼机构的动力学分析及实验

为研究扑翼飞行器传动机构的能量特性,以特拉华大学机械系统实验室所研制样机为原型进行了建模。引入气动项和拉力弹簧建立了完整的动力学模型。分析发现,气动项的力矩峰值为惯性项的4.8倍,对电机的转矩峰值的影响起主要作用。运用正交法进行仿真发现,引入拉力弹簧可以使电机转矩峰值最大降低77.5%,与理论分析相符合。进一步的物理实验验证了理论分析和仿真结果的正确性,并得到了当弹簧的连接点位置为185 mm、原长为200 mm及刚度为0.1 N/mm时实验结果取得最优值,可为扑翼机传动机构的优化设计提供依据。此外,引入弹性元件也可有效降低电机的转速波动,进而为仿生扑翼飞行器的生产和实践应用提供理论指导。     

飞机座舱盖串级PID加温控制系统设计

座舱盖加温加载试验台是验证飞机飞行时的气动加温和气动加载是否会引发座舱盖疲劳破坏的最有 效途径之一,但在设计与搭建试验台的过程中,不可避免地会遇到座舱盖表面温度场滞后和超调等问题。在交 流换热给座舱盖加温的背景下,对加温系统进行建模,分别给出串级 PID 调节器和加温控制系统的设计方案, 并对控制效果进行分析。结果表明:本文设计的加温控制系统有效地解决了加温过程中温度场滞后及超调的 问题,且灵敏度较高。     

玻璃纤维增强酚醛基复合材料平均线胀系数测试影响因素

研究了保温时间、升温速率、预处理温度等对玻璃纤维增强酚醛基复合材料线胀系数测试的影响。结果表明,玻璃纤维增强酚醛基复合材料在加热条件下进一步固化,造成样品收缩与样品受热膨胀相抵消,升温曲线出现平台。因此,测试前应对样品进行预处理,处理温度高于试样最终的测试温度,低于样品固化温度,以免材料内部结构发生变化;设置合适的升温速率,升温速率低,增加了时间成本,升温速率太高,测温热电偶引入的误差增加,且不均匀的加热使试样产生热应力,影响试验结果。     

Testing the blast wave model with Swift GRBs

The complex structure of the light curves of Swift GRBs (e.g. superimposed flares and shallow decay) has made their interpretation and that of the blast wave caused by the burst, more difficult than in the pre-Swift era. We aim to constrain the blast wave parameters: electron energy distribution, p, density profile of the circumburst medium, k, and the continued energy injection index, q. We do so by comparing the observed multi-wavelength light curves and X-ray spectra of a Swift sample to the predictions of the blast wave model.     

Variable stiffness design of redundantly actuated planar rotational parallel mechanisms

Redundantly actuated planar rotational parallel mechanisms (RAPRPMs) adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their stiffness. The geometrical parameters of the mechanism impact the performances of modulating stiffness. Analytical expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness. A novel method of variable stiffness design was presented to optimize the geometrical parameters of the mechanism. The stiffness variation with the internal force was maximized. The dynamic change of stiffness with the dynamic location of the mechanism was minimized, and the robustness of stiff-ness during the motion of the mechanism was ensured. This new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.     

The coronal context of transition region explosive events

Transition region explosive events are observed throughout the quiet Sun and represent an interesting local heating phenomenon. The coronal counterparts of these events, if they exist, were not observed in a sounding rocket campaign dedicated to this objective. The coronal instrument complement on the SOHO spacecraft provides an opportunity to extend this search for the coronal counterparts of the transition region explosive events, as well as to explore the correspondence of explosive events with large scale coronal structures, such as with coronal dark lanes.     

高层建筑热水采暖系统运行改造

在高层建筑热水采暖系统中,论述了简单的将直接连接改造成间接连接,会造成室内采暖系统供、回水温度下降;散热器的传热系数κ值下降;散热器的散热量减少约20%;采暖温度下降约25.6%,达不到采暖的设计温度。在此基础上,提出高层建筑热水采暖室内系统同步改造的理念。     

往复轴密封间隙内磁性液体流动状态的研究

为了解决往复轴磁性液体密封中存在的问题,研究了往复轴以不同速度和行程运动时,密封间隙内磁性液体的流动状态,重点研究了往复轴密封间隙内磁性液体流动机理、往复轴运动所带走磁性液体的量、往复轴磁性液体密封的失效原因及往复轴磁性液体密封新结构的设计.实践表明所设计的新结构在某些应用场合是非常有效的.