Positioning error compensation for parallel mechanism with two kinematic calibration methods

Compared with serial mechanisms, the parallel mechanism (PM) theoretically exhibited higher positioning accuracy, dynamic performance, strength-to-weight ratio, and lower manufacturing cost, but they had not been widely used in the practical application. One key issue, positioning accuracy, which directly affected their performance and was greatly influenced by the errors of kinematic structure parameters was analyzed. To effectively enhance the positioning precision of PMs, a novel modeless kinematic calibration method, namely the split calibration, was presented and its compensation effect of the positioning error was comprehensively compared with that of an integrated method on two different types of PMs. A strange phenomenon-correct and incorrect identified results were derived from two different PMs by the same integrated method, respectively-which had not been reported yet was discovered, and the origin of it was revealed utilizing numerical simulations. Finally, respective merits and drawbacks of these two methods obtained in this paper provided underlying insights to guide the practical application of the kinematic calibration for PMs.     

DSMC量子动理学模型在火星再入流动中的应用

为解决化学反应模型高温数据缺乏的难题，探索DSMC方法量子动理学（QK）模型在实际中的应用，本文将该模型进一步应用于火星探测器稀薄气动特性的数值预测。通过计算探路者号在85 km、95 km和110 km高度的稀薄绕流，评估了QK模型的性能和稀薄气体效应的影响规律。结果表明，QK模型不依赖宏观的化学反应速率系数，适用于火星再入流动计算。化学反应及其模型对气动力的影响很小，但对气动热特性的影响不容忽略，考虑化学反应后的驻点热流可以下降约12%~14%。     

铝合金搅拌摩擦焊表面冷喷涂层的结构与耐蚀性

采用冷喷涂技术在2219铝合金搅拌摩擦焊接头上制备Al涂层,以提高搅拌摩擦焊接头耐蚀性。通过数字显微镜、扫描电镜、电化学工作站对Al涂层的结构及耐蚀性进行表征。结果表明:冷喷Al涂层质量良好,孔隙率仅为0.77%,涂层内部存在等轴晶、细化晶粒以及拉长晶粒,涂层界面以机械咬合为主,涂层/接头区界面质量明显优于涂层/母材区界面;电化学数据显示,涂层腐蚀敏感性较低,自腐蚀电位和腐蚀电流密度均低于热影响区,冷喷涂层降低了搅拌摩擦焊接头的腐蚀敏感性;晶间腐蚀实验表明,腐蚀6 h后,涂层最大腐蚀深度仅为热影响区最大腐蚀深度的50%,证明冷喷涂技术显著改善了搅拌摩擦焊接头的耐腐蚀性。     

地球同步轨道卫星混合推进转移轨道特性分析

以地球同步轨道卫星转移轨道设计为背景，针对全化学推进燃料消耗大和全电推进转移时间长的问题，开展了化学 电混合推进转移轨道优化设计与特性分析。首先，讨论了轨道倾角和近地点幅角变化对混合推进转移轨道的影响。研究表明，在混合推进优化设计中需要将轨道倾角作为优化变量之一。然后，以近地点半径、远地点半径、轨道倾角为优化变量生成搜索网格，得到过渡轨道集。针对每条过渡轨道，构建化学推进转移段和电推进转移段。其中化学推进段采用单圈兰伯特转移解算，电推进段采用混合法优化。最后，以燃料消耗和转移时间为指标，在搜索域内开展解算分析，研究了混合推进轨道在整个搜索域内的变化趋势。该方法可以提供具有不同燃料消耗和转移时间的混合推进转移解集，拓宽了解空间，可供轨道设计人员根据任务约束灵活选用。     

强化词块训练 提高英语听说能力

以词块教学理论为依据,分析在听说教学中进行词块训练的可行性。研究词块训练在听说课堂中的具体实施过程,并通过问卷调查和访谈结果,论证了听说课上引入词块理念能提高英语学习者听说能力从而提出词块学习对语言习得的有效性。     

铝合金化学氧化溶液中氟化氢铵测定方法的改进研究

化学氧化液中氟化氢铵的量是影响氧化膜质量的一个重要参数，为了提高氧化膜的质量，需对氟化氢铵的含量进行控制分析。通过探讨改变氢氧化钠溶液的浓度、加入量和加入方式，控制干过滤前溶液pH值的方法，解决了三氧化二铬沉淀不完全的问题，改进了加入的指示剂的种类，解决了滴定终点不易确认的问题。经多次重复测定，验证了该方法的可行性。     

一种推广的靶效应模型及其对剂量-存活率的拟合探讨

辐射生物物理模型对于准确、有效地评估空间辐射引起的生物损伤及风险具有重要意义。目前较为流行的基于地基模拟的“靶效应模型”和“非靶效应模型”，是进一步探索空间辐射生物物理模型的基础。在考虑了辐射的非靶效应和机体复杂的修复过程的基础上，将传统理论中“击中”即“失活”的线性关系进行了推广，提出了基于否定算子的靶效应模型。通过对辐射钝感和敏感的两类细胞辐射实验中剂量与细胞存活率数据进行拟合发现，对于正常皮肤成纤维细胞的存活率数据，经典的靶学说与基于否定算子的改进靶效应模型都有较好的拟合效果；而对于人类胚胎肝细胞的存活率数据，基于否定算子的改进靶效应模型的拟合结果明显优于传统的靶学说模型。拟合结果中的模型参数值在人成纤维细胞和胚胎肝细胞中明显不同，说明了本模型的参数与传能线密度，细胞的种类、以及修复能力等物理和生物因素有关。     

Modified fast Fourier transform in FBMC for satellite communications

In this paper,a Doppler scaling fast Fourier transform (Doppler-FFT) algorithm for filter bank multi-carrier (FBMC) is proposed,which can efficiently eliminate the impact of the Doppler scaling in satellite communications.By introducing a Doppler scaling factor into the butterfly structure of the fast Fourier transform (FFT) algorithm,the proposed algorithm eliminates the differences between the Doppler shifts of the received subcarriers,and maintains the same order of computational complexity compared to that of the traditional FFT.In the process of using the new method,the Doppler scaling should be estimated by calculating the orbital data in advance.Thus,the inter-symbol interference (ISI) and the inter-carrier interference (ICI) can be completely eliminated,and the signal to interference and noise ratio (SINR) will not be affected.Simulation results also show that the proposed algorithm can achieve a 0.4 dB performance gain compared to the frequency domain equalization (FDE) algorithm in satellite communications.     

高校思政课教学中“以理服人”的路径探析

高校思政课教学最突出的特点是其理论性很强,这也正是学生觉得枯燥无味的地方,而这一年龄段的学生,其思维的独立性、全面性、深刻性与批判性有了很大发展,喜欢探究事情背后的原因。因此,要增强高校思政课教学实效,关键还在于思政课教师在教学活动中能否"以理服人",而要做到"以理服人",就要求教师要加强科研,以科研促教学;要创新教学方法和艺术,培养学生理论联系实际的能力;在教学过程中处理好政治性与学术性的关系。     

A novel stability prediction approach for thin-walled component milling considering material removing process

The milling stability of thin-walled components is an important issue in the aviation manufacturing industry,which greatly limits the removal rate of a workpiece.However,for a thin-walled workpiece,the dynamic characteristics vary at different positions.In addition,the removed part also has influence on determining the modal parameters of the workpiece.Thus,the milling stability is also time-variant.In this work,in order to investigate the time variation of a workpiece's dynamic characteristics,a new computational model is firstly derived by dividing the workpiece into a removed part and a remaining part with the Ritz method.Then,an updated frequency response function is obtained by Lagrange's equation and the corresponding modal parameters are extracted.Finally,multi-mode stability lobes are plotted by the different quadrature method and its accuracy is verified by experiments.The proposed method improves the computational efficiency to predict the time-varying characteristics of a thin-walled workpiece.