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11.
基于多臂自由飞行空间机器人多臂协调操使负载沿着期望的轨迹运动并且控制负载所受的内力为目的,在多臂自由飞行空间机器人系统协调操作的动力学方程基础上,推导了各个机械臂协调操作负载按期望轨迹运动时各个机械臂关节的驱动力矩的计算方法;给出了作用在负载的内力的定义,根据关节力矩计算方法和PID反馈控制原理,建立了多臂自由飞行空间机器人协调操作负载时的位置和内力的控制算法;讨论了所提出的控制算法的稳定性问题,得到了负载的位置误差和内力误差的约束条件。通过仿真实验证明该控制算法能够使负载的实际位姿和内力收敛到期望的轨迹和内力。 相似文献
12.
本给出了系统安全性评价的AHP方法,叙述了该方法的基本步骤,并以沈阳某集团公司热处理弹簧厂评价的实例说明了该方法的有效性。 相似文献
13.
李园庭 《南昌航空工业学院学报》1997,(2):62-66
本文讨论了下面问题的分歧点的存在性:-pxi〔(1+|u|2)p2-1uxi〕=μu+f(x,u),x∈RNu(x)→0,当|x|→+∞时,u0,μ∈R1,N>p≥2{证明了μ=0是上述问题的分歧点。 相似文献
14.
一种可伸缩空间机械臂及其应用分析 总被引:1,自引:0,他引:1
介绍一种能够完成多关节型空间机械臂所能承担的大部分空间任务 ,而且应用更简便的可伸缩空间机械臂 ,对其空间应用做出了一些设想 ,简单讨论了其应用的一些相关问题 ,肯定了其可行性和实用性。 相似文献
15.
经营机制创新是中小型外贸企业摆脱困境的必由之路。针对目前面临的主要问题,从外部环境及企业自身经营机制缺陷方面对中小型外贸企业生存环境进行分析,并从实现经营机制创新角度探讨改善现状的方法,力图找出中小型外贸企业经营机制创新的突破点。 相似文献
16.
Astronomy and space science, including their associated basic research activities, enjoy broad popular backing. People generally
support them, and say that they follow their results with interest. This article summarizes some of the detailed results of
public surveys in the United States, focusing on popular opinions and attitudes, and the somewhat paradoxical finding that
despite being interested and supportive, people are often ignorant about the basic facts. I explore some of the reasons for
the popularity of space science, and suggest ways of justifying space science research in the broader context of science research.
I argue that vigorous and innovative education and outreach programs are important, and can be made even more effective.
This revised version was published online in June 2006 with corrections to the Cover Date. 相似文献
17.
A numerical procedure for the calculation of the transonic dip of airfoils in the time domain is presented. A viscous-inviscid aerodynamic interaction method is taken to calculate the unsteady aerodynamic loads. In the present case the integral boundary layer equations are coupled with the Transonic Small Disturbance (TSD) Potential Equation. The coupling between structural motion and aerodynamic loads is carried out using State Space equation. It is solved by State Transition Matrix technique. Results are presented for NACA 64A010 and NLR 7301 airfoils with structural data from Isogai and DLR, respectively. Comparisons show good agreement with other numerical results. Certain deviations of experimental data taken from literature need more insight in the detailed test conditions. 相似文献
18.
The significance of external influences on the environment of Earth and its atmosphere has become evident during recent years.
Especially, on time scales of several hundred years, the cosmogenic isotope concentration during the Wolf-, Spoerer-, Maunder-
and Dalton-Minimum indicates an increased cosmic ray flux. Because these grand minima of solar activity coincide with cold
periods, a correlation of the Earth climate with the cosmic ray intensities is plausible. Any quantitative study of the effects
of energetic particles on the atmosphere and environment of the Earth must address their transport to Earth and their interactions
with the Earth’s atmosphere including their filtering by the terrestrial magnetosphere. The first problem is one of the fundamental
problems in modern cosmic ray astrophysics, and corresponding studies began in the 1960s based on Parker’s cosmic ray modulation
theory taking into account diffusion, convection, adiabatic deceleration, and (later) the drift of energetic particles in
the global heliospheric magnetic field. It is well established that all of these processes determining the modulation of cosmic
rays are depending on parameters that are varying with the solar magnetic cycle. Therefore, the galactic cosmic ray intensities
close to Earth is the result of a complex modulation of the interstellar galactic spectrum within the heliosphere. The modern
view of this cosmic ray modulation is summarized in our contribution. 相似文献
19.
ected g 《桂林航天工业高等专科学校学报》2006,(2)
with primary goat embryonic fibroblast showed no difference from traditional feederlayer-based culture method used in mouse and human. The putative primary EG colonies were multilayer clumps ofcompact cel 相似文献
20.
Steven D. Howe 《Space Policy》2001,17(4):275-283
The potential benefits to humankind of space exploration are tremendous. Space is not only the final frontier but is also the next marketplace. The orbital space above Earth offers tremendous opportunities for both strategic assets and commercial development. The critical obstacle retarding the use of the space around the Earth is the lack of low cost access to orbit. Further out, the next giant leap for mankind will be the human exploration of Mars. Almost certainly within the next 30 years, a human crew will brave the isolation, the radiation, and the lack of gravity to walk on and explore the Red planet. Both of these missions will change the outlook and perspective of every human being on the planet. However, these missions are expensive and extremely difficult. Chemical propulsion has demonstrated an inability to achieve orbit cheaply and is a very high-risk option to accomplish the Mars mission. An alternative solution is to develop a high performance propulsion system. Nuclear propulsion has the potential to be such a system. The question will be whether humanity is willing to take on the challenge. 相似文献