基于误差相似性的移动机器人定位误差补偿

对由AGV承载的工业机器人组成的AGV式移动制孔机器人的定位误差补偿方法进行了研究。在面向飞机装配的AGV式移动制孔机器人系统中，利用激光跟踪仪构建坐标系，提出了AGV式移动制孔机器人机座坐标系的换站方法，能更好地适应飞机制造多品种、小批量的特点。基于对AGV式移动制孔机器人定位误差源的分析，利用定位误差相似性，提出针对AGV式移动制孔机器人的基于反距离加权定位误差的空间插值与补偿方法，克服了现有技术对于AGV式移动制孔机器人定位误差补偿的局限性。以AGV搭载的KUKA KR480型工业机器人制孔系统作为试验对象，通过试验选取最优网格步长，补偿结果表明，能将系统综合定位误差平均值由补偿前的1.045 mm降低到0.227 mm，最大绝对定位误差由补偿前的2.727 mm降低到0.478 mm，降低了82.47%，该方法能有效提高AGV式移动制孔机器人的绝对定位精度。     

Measuring the resilience of an airport network

Resilience is the ability of a system to withstand and stay operational in the face of an unexpected disturbance or unpredicted changes. Recent studies on air transport system resilience focus on topology characteristics after the disturbance and measure the robustness of the network with respect to connectivity. The dynamic processes occurring at the node and link levels are often ignored. Here we analyze airport network resilience by considering both structural and dynamical aspects. We develop a simulation model to study the operational performance of the air transport system when airports operate at degraded capacity rather than completely shutting down. Our analyses show that the system deteriorates soon after disruptive events occur but returns to an acceptable level after a period of time. Static resilience of the airport network is captured by a phase transition in which a small change to airport capacity will result in a sharp change in system punctuality. After the phase transition point, decreasing airport capacity has little impact on system performance. Critical airports which have significant influence on the performance of whole system are identified, and we find that some of these cannot be detected based on the analysis of network structural indicators alone. Our work shows that air transport system’s resilience can be well understood by combining network science and operational dynamics.     

直升机主减速器传动效率试验方法

基于传动效率直接、间接测试法测试原理,开展了某型直升机主减速器传动效率试验研究,对比分析了不同工况下传动效率变化规律。试验结果表明:主减速器传动效率与输入扭矩、滑油温度成正相关,与输入转速成负相关,在小扭矩状态下变化明显,且其随转速的变化率明显小于随扭矩的变化率;同时各工况下传动效率的间接测试结果均大于直接测试结果,随着输入扭矩的增加,间接测试与直接测试传动效率相对差值逐渐减小,而两者之差随转速变化不明显。误差分析结果表明:各工况下,采用间接测试法的测试极限误差均小于直接测试法,直接、间接测试法最大测试误差分别为1.28%、0.72%。     

Space debris cumulative flux considering the Interval Distance-based method

The availability of engineering models to estimate the risk from space debris is essential for space missions. According to current research, cumulative flux calculation is mostly carried out based on the equal-width interval discretization. The method discretizes the volume around the Earth into cells defined in earth centered inertial coordinates. The resulting debris flux onto a target object is shown to depend on the chosen size of the cells. To avoid a discretization error, this must be accounted for. In order to present reliable flux predictions for space mission, the algorithm improvement is an ongoing topic for the related research field. The aim of this study was to examine the discretization error during the cumulative flux determination process. Both the effect of interval step length and the orbital boundary are under investigation. Several typical orbits are selected as examples here and the 2018/01/03 TLE (Two Line Element) data published by the US Space Surveillance Network is used as the debris background in this paper. Furthermore, the Interval Distance-Based method for Discretization (IDD) is adopted in this paper. A position-centered flux determination method is introduced based on the IDD method. According to the example analysis, the IDD used in the flux calculation process provides results which are less affected by the interval step-size setup; and the orbital boundary has no effect on the calculation process. In other words, the discretization error is significantly reduced. The position-centered method provided a possible suggestion for the improvement of space debris environment models.     

Velocity pointing error analysis for symmetric spinning thrusting Cubesat

To solve the problem of thrust vector misalignment from the Cubesat center of mass during orbital maneuver, spin-stabilized method is applied to eliminate velocity pointing error. Spinning thrusting Cubesat model involves the effects of mass variation and jet damping is established. Analytical solutions for the angular velocity, nutation angle, Euler angle, and inertial velocity with nonzero initial conditions are derived. Simulations show that the analytical solutions closely match numerical simulations. Based on the analytical solutions, the velocity pointing error influencing factors is analyzed. The results show that the velocity pointing error caused by initial transverse velocity, nutation angle and transverse disturbance torque can be reduced by raising the spin rate, but the initial Euler angle need to be limited. Also, the spinning thrusting maneuver can allow for a lower spin rate by increasing the axial moment of inertia.     

单站GPST/GLONASST时差监测研究

精密定时/授时是全球导航卫星系统（GNSS）中重要的一部分。每个GNSS都维护有自己的参考时间,尽管他们都向协调世界时溯源,但各系统间可能存在着几十甚至几百ns的偏差。要充分利用各个系统的卫星资源进行统一定位和授时服务就必须准确确定各个系统间的时差。文中分析了基于空间信号法的单站时差监测原理,提出了利用GPS/GLONASS多模双频接收机输出的两个系统的观测数据、导航电文以及标准共视数据监测GLONASST与GPST的时差方法。利用BIPM T公报公布的相关数据对130d的时差监测结果进行了评定。结果表明,130d中,时差监测结果消除系统差后与T公报结果最大偏差优于8ns,证明监测结果是有效可用的。     

弹载遥测系统总体关键技术的研究与应用

弹载遥测系统主要用于导弹飞行试验过程中,完成导弹飞行试验数据的采编、调制、传输,与地面遥测设备配合完成试验数据远距离获取,即遥测任务。遥测数据为导弹及分系统设计验证、故障分析、试验结论评判等提供数据依据,是导弹研制过程中极其重要、必不可少的测量系统。结合导弹遥测系统技术发展趋势及笔者近年来创新性工程设计经验,详细阐述了包括弹载遥测系统架构设计、可编程式采编技术、优化供电技术及射频综合化技术等总体关键性技术,为弹载遥测系统提供总体设计新思路。     

Software defect prevention based on human error theories

Software defect prevention is an important way to reduce the defect introduction rate.As the primary cause of software defects,human error can be the key to understanding and preventing software defects.This paper proposes a defect prevention approach based on human error mechanisms:DPeHE.The approach includes both knowledge and regulation training in human error prevention.Knowledge training provides programmers with explicit knowledge on why programmers commit errors,what kinds of errors tend to be committed under different circumstances,and how these errors can be prevented.Regulation training further helps programmers to promote the awareness and ability to prevent human errors through practice.The practice is facilitated by a problem solving checklist and a root cause identification checklist.This paper provides a systematic framework that integrates knowledge across disciplines,e.g.,cognitive science,software psychology and software engineering to defend against human errors in software development.Furthermore,we applied this approach in an international company at CMM Level 5 and a software development institution at CMM Level 1 in the Chinese Aviation Industry.The application cases show that the approach is feasible and effective in promoting developers' ability to prevent software defects,inde pendent of process maturity levels.     

VGA视频信号测量方法

本文论述了VGA视频信号一些重要参数的测量方法,提供了测试VGA视频信号的可操作手段.利用这些测量方法能够很方便地对VGA视频信号进行分析,有助于查找问题.     

一种在轨改善偏置动量卫星控制精度的方法

对多个偏置动量卫星在轨飞行的遥测数据观察后发现．其中一些卫星的X轴和Z轴控制误差较大，且有明显的常值偏差存在．对这一现象进行分析，从偏置动量卫星的控制原理上找到了姿态偏差较大的原因，进而提出修正方法．在轨飞行测试表明：原姿态超差的偏置动量卫星采用本方法后，姿态控制精度得到明显改善，证明了本方法行之有效．