基于虚拟现实的空间机器人共享控制系统及其仿真

研究了一种基于虚拟现实的空间机器人共享控制系统及其仿真。首先提出了一种增强型虚拟现实仿真系统方案，并建立了空间机器人仿真的虚拟环境。其次开发了基于此虚拟环境的自主与遥控相结合的共享控制系统，最后进行了计算机仿真研究。     

Simulation and experimental investigation on a dynamic lateral flow mode in trepanning electrochemical machining

An appropriate flow mode of electrolyte has a positive effect on process efficiency, surface roughness, and machining accuracy in the electrochemical machining(ECM) process. In this study, a new dynamic lateral flow mode, in which the electrolyte flows from the leading edge to the trailing edge, was proposed in trepanning ECM of a diffuser. Then a numerical model of the channel was set up and simulated by using computational fluid dynamics software. The result showed that the distribution of the flow field was comparatively uniform in the inter-electrode gap. Furthermore, a fixture was designed to realize this new flow mode and then corresponding experiments were carried out. The experimental results illustrated that the feeding rate of the cathode reached 2 mm/min, the best taper angle was about 0.4°, and the best surface roughness was up to Ra= 0.115 lm. It reflects that this flow mode is suitable and effective, and can also be applied to machining other complex structures in trepanning ECM.     

Experimental study of hydrogen-rich/oxygen-rich gas-gas injectors

Five types of coaxial injectors were investigated experimentally using hot hydrogen-rich gas and oxygen-rich gas, which were respectively provided by a GH2/GO2 hydrogen-rich perburner and a GH2/GO2 oxygen-rich preburner. The injectors were the shear coaxial injector, the oxidizer post expansion coaxial injector, the fuel impinging coaxial injector, the central body coaxial injector, and the shear tri-coaxial injector. The characteristic velocity efficiency and the combustor＇s wall temperatures were obtained for different design parameters through the experiments. It can be con- cluded that angles of the oxidizer post expansion and the fuel impinging have little influence on the combustion performance and the wall temperatures. The contact area between fuel and oxidizer and the mass flow rate have significant impacts on the combustion performance. The shear tri-coaxial injector has the best combustion performance but also the highest wall temperatures among the five types of injectors.     

虚拟人力资源及其模式研究

虚拟人力资源是随着虚拟组织出现和知识经济的兴起而产生的新的人力资源的管理方式。近年来,随着信息技术的进一步升级,虚拟人力资源也出现了新的变化和演进。本文讨论了虚拟人力资源的定义,虚拟人力资源产生的理论背景,并较为完整地梳理了包括众包在内的虚拟人力资源的各种模式。     

试用暗物质理论解释惯性和惯性力的物理机制(上)

基于对暗物质的多年探讨,我们认为宇宙空间是具有质量、相对均匀、连续稳定和有相当弹性暗物质群体(DMG)的空间.自然、宇宙万物终生处于群体引力制约之中,它们因此也获得了相应的惯性.本文立足于上述的宇宙空间,借助宇宙学原理、马赫原理和爱因斯坦等效原理,提出了物质客体的惯性机制和被称为虚力的惯性力机制 同时本文也解读所有惯...     

Virtual target guidance-based distributed model predictive control for formation control of multiple UAVs

The paper proposes a Virtual Target Guidance (VTG)-based distributed Model Predictive Control (MPC) scheme for formation control of multiple Unmanned Aerial Vehicles (UAVs). First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem (FHOCP) can be solved by swarm intelligent optimization algorithm. Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance. Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function. Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.     

Experimental comparison between aircraft fuel tank inerting processes using NEA and MIG

Fuel tank inerting technologies are able to reduce the fire risk by injection of inert gas into the ullage or fuel, the former called ullage washing and the latter fuel scrubbing. The Green On-Board Inert Gas Generation System (GOBIGGS) is a novel technology based on flameless catalytic combustion, and owning to its simple structure and high inerting efficiency, it has received a lot of attentions. The inert gas in the GOBIGGS is mainly comprised of CO₂, N₂, and O₂ (hereinafter, Mixed Inert Gas (MIG)), while that in the On-Board Inert Gas Generation System (OBIGGS), which is one of the most widely used fuel tank inerting technologies, is Nitrogen-Enriched Air (NEA). The solubility of CO₂ is nearly 20 times higher than that of N₂ in jet fuels, so the inerting capability and performance are definitely disparate if the inert gas is selected as NEA or MIG. An inerting test bench was constructed to compare the inerting capabilities between NEA and MIG. Experimental results reveal that, if ullage washing is adopted, the variations of oxygen concentrations on the ullage and in the fuel are nearly identical no matter the inert gas is NEA or MIG. However, the ullage and dissolved oxygen concentrations of MIG scrubbing are always higher than those of NEA scrubbing.     

虚拟量仪——一种新的量仪设计思想

从虚拟仪器和虚拟现实技术出发，提出了虚拟量仪这一新概念，并对虚拟量仪的定义、特点、优点、结构形式以及虚拟量仪设计的基本思想、基本内容和关键技术作了分析。     

基于XML的Web制造资源数据交换

本文以MS SQL Server2000作为数据资源的服务平台，对制造资源进行深入、细致的分析，从而创建与制造资源相关的所有数据库，并在ⅡS中配置SQLXML支持，创建ⅡS虚拟目录，通过使用XML、XSL、SQL等语言编辑模板并将该摸板保存在所创建的虚拟目录下，以实现与数据库的映射，然后通过HTTP直接实现与服务器数据库的连接，从而实现利用XML在分布式网络上进行制造资源数据的查询、修改、删除以及更新等操作，以实现进行制造资源的全面管理与资源共享。     

虚拟仪器在高校电工实验室中的应用

针对传统电工实验室存在的问题，在分析虚拟仪器的优点基础上，提出了将虚拟信号发生器及频谱分析仪引入实验教学的意义，论述了虚拟仪器在高校电工实验室的可行性和有效性。