电化学加工机器人动态性能设计与优化研究

工业机器人工作空间大、姿态灵活、可配置性高，且成本低，广泛应用于搬运、装配、喷涂和焊接等多个领域。但由于机器人末端轨迹精度不高，低速波动大，在电化学加工领域的应用很少。根据电化学加工低速、高轨迹精度特点，提出采用象限法设定电化学加工机器人工作区域，建立电化学加工机器人动力学优化函数，采用第三代非支配遗传算法NSGA-Ⅲ求解各设计参数最优Pareto解集，通过仿真和实验进行了动态性能测试验证。结果表明在设定工作区域内，电化学加工机器人直线轨迹精度可达0.073 mm，圆弧轨迹精度可达0.145 mm，低速工况下轨迹精度相比传统工业机器人提高近10倍。     

舰艇运动对导弹冷发射出筒的影响

针对舰载导弹垂直冷发射对导弹出筒轨迹和姿态偏差有一定要求的现状,研究舰艇运动对导弹冷发射出筒扰动问题。分析了舰艇运动中可能造成最大扰动的发射时刻。采用对可能最大值点仿真研究的方法,用动力学仿真软件ADAMS针对可能最大扰动时刻进行影响程度的定性研究。结果表明,5级海情对舰载导弹冷发射影响较大;舰艇运动最大过载时刻对导弹轨迹水平和竖直方向位移影响最大;在最大摇摆角时刻发射会导致导弹出现最大姿态偏角。     

The global response of terrestrial ionosphere to the December 2015 space weather event

This paper investigates the ionospheric storm of December 19–21, 2015, which was initiated by two successive CME eruptions that caused a G3 space weather event. We used the in situ electron density (N_e) and electron temperature (T_e) and the Total Electron Content (TEC) measurements from SWARM-A satellite, as well as the O/N₂ observations from TIMED/GUVI to study the ionospheric impact. The observations reveal the longitudinal and hemispherical differences in the ionospheric response to the storm event. A positive ionospheric storm was observed over the American, African and Asian regions on 20 December, and the next day showed a negative storm. Both these exhibited hemispheric differences. A positive storm was observed over the East Pacific region on 21 December. It is seen that the net effect of both the disturbance dynamo electric field and composition differences become important in explaining the observed variability in topside ionospheric densities. In addition, we also discuss the T_e variations that occurred as a consequence of the space weather event.